diff --git a/CMakeLists.txt b/CMakeLists.txt index 4f6c09e..860659a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -37,6 +37,7 @@ if(Octree_BUILD_TEST) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests/octree_test) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests/sdf_test) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests/udf_test) + add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests/search_assign_test) endif() enable_testing() @@ -44,4 +45,5 @@ if(Octree_BUILD_TEST) add_test(NAME octree_test COMMAND $) add_test(NAME sdf_test COMMAND $) add_test(NAME udf_test COMMAND $) + add_test(NAME search_assign_test COMMAND $) endif() \ No newline at end of file diff --git a/include/Octree/VoxelDenseData.h b/include/Octree/VoxelDenseData.h index ea70cd8..f242748 100644 --- a/include/Octree/VoxelDenseData.h +++ b/include/Octree/VoxelDenseData.h @@ -14,13 +14,14 @@ #include #include #include +#include namespace Octree { /** * All Dense value will be sampled use coordinate [0, 1]^3 */ class VoxelDenseData { - protected: + public: int _x, _y, _z; // 3D range [start with 0] std::vector value; @@ -45,6 +46,16 @@ namespace Octree { * @return */ int get_array_index(int x, int y, int z) const; + + public: + // TODO: 测试用，会删除 + void neg_at_pos(int x, int y, int z) { + value[get_array_index(x, y, z)] = -abs(value[get_array_index(x, y, z)]); + } + + void neg_at_index(uint32_t ind){ + value[ind] = -abs(value[ind]); + } }; } diff --git a/tests/search_assign_test/.gitignore b/tests/search_assign_test/.gitignore new file mode 100644 index 0000000..298482a --- /dev/null +++ b/tests/search_assign_test/.gitignore @@ -0,0 +1 @@ +test-path.h \ No newline at end of file diff --git a/tests/search_assign_test/CMakeLists.txt b/tests/search_assign_test/CMakeLists.txt new file mode 100644 index 0000000..68e52a6 --- /dev/null +++ b/tests/search_assign_test/CMakeLists.txt @@ -0,0 +1,6 @@ +configure_file( + "${CMAKE_CURRENT_SOURCE_DIR}/test-path.h.in" + "${CMAKE_CURRENT_SOURCE_DIR}/test-path.h" +) +add_executable(search_assign_test main.cpp search_assign.cpp search_assign.h) +target_link_libraries(search_assign_test Octree pMesh) diff --git a/tests/search_assign_test/main.cpp b/tests/search_assign_test/main.cpp new file mode 100644 index 0000000..b93e410 --- /dev/null +++ b/tests/search_assign_test/main.cpp @@ -0,0 +1,114 @@ +/** + * ------------------------------------ + * @author: Weipeng Kong + * @date: 2021/11/17 + * @email: yjxkwp@foxmail.com + * @site: https://donot.fit + * @description: + * ------------------------------------ +**/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "Octree/udf/UDFOctree.h" +#include "Octree/OctreeBuilder.h" +#include "Octree/OctreeTraverser.h" +#include "Octree/udf/UDFTraversalSampler.h" +#include "test-path.h" +#include "search_assign.h" + + +int main() { + pMesh::io::fs_path data_base_path = TEST_DATA_BASE_PATH; + BOOST_LOG_TRIVIAL(debug) << "base data path is " << boost::filesystem::absolute(data_base_path); + bool use_udf = true; + auto out_mc_path = data_base_path / (use_udf? "sphere-udf-mc.obj": "sphere-sdf-mc.obj"); + + Eigen::AlignedBox aabb(Eigen::Vector3d(0,0,0), Eigen::Vector3d(1, 1, 1)); + + int aabb_res_x = 20; + int aabb_res_y = 20; + int aabb_res_z = 20; + int aabb_len = aabb_res_x * aabb_res_y * aabb_res_z; + + double x0 = 0; + double y0 = 0; + double z0 = 0; + double R = 1.2; + + auto sphere_shape = [=](double x, double y, double z) { + return sqrt(pow(x - x0, 2) + pow(y - y0, 2) + pow(z - z0, 2)) - R; + }; + Octree::UDFOctree octree(0, Octree::AABB(aabb.min(), aabb.max())); + octree.get_root()->udf = std::make_shared(std::vector(aabb_len), aabb_res_x, aabb_res_y, + aabb_res_z); + auto &udf_data = *octree.get_root()->udf; + BOOST_LOG_TRIVIAL(debug) << "Calculating UDF"; + + for (int x = 0; x < aabb_res_x; ++x) { + double pos_x = ((aabb_res_x - x) * aabb.min().x() + x * aabb.max().x()) / (1.0 * aabb_res_x); + for (int y = 0; y < aabb_res_y; ++y) { + double pos_y = ((aabb_res_y - y) * aabb.min().y() + y * aabb.max().y()) / (1.0 * aabb_res_y); + for (int z = 0; z < aabb_res_z; ++z) { + double pos_z = ((aabb_res_z - z) * aabb.min().z() + z * aabb.max().z()) / (1.0 * aabb_res_z); + + int ind = udf_data.get_array_index(x, y, z); + if(use_udf) + udf_data.value[ind] = abs(sphere_shape(pos_x, pos_y, pos_z)); + else + udf_data.value[ind] = sphere_shape(pos_x, pos_y, pos_z); + } + } + } + BOOST_LOG_TRIVIAL(debug) << "End computing UDF"; + + if(use_udf) { + int start[3] = {aabb_res_x/2, aabb_res_y/2, aabb_res_z/2}; + double block_size[3]; + // TODO: + double threshold = 0; + search_assign(udf_data, start, threshold); + } + + if (1) { + Eigen::MatrixXd GV; + Eigen::RowVector3i res; + const int s = 200; + igl::voxel_grid(aabb, s, 1, GV, res); + + // compute values + std::cout << "Computing distances..." << std::endl; + Eigen::VectorXd S = Eigen::VectorXd(GV.rows()), B; + + { + for (int i = 0; i < GV.rows(); ++i) { + auto node = octree.map_node(GV.row(i)); + if (node == nullptr) { + S[i] = 1000; + } else { + S[i] = node->get_udf(GV.row(i)); + } + } + } + std::cout << "Marching cubes..." << std::endl; + Eigen::MatrixXd SV, BV; + Eigen::MatrixXi SF, BF; + + igl::marching_cubes(S, GV, res(0), res(1), res(2), 0, SV, SF); + igl::writeOBJ(out_mc_path.string(), SV, SF); + } + return 0; +} diff --git a/tests/search_assign_test/search_assign.cpp b/tests/search_assign_test/search_assign.cpp new file mode 100644 index 0000000..475d02a --- /dev/null +++ b/tests/search_assign_test/search_assign.cpp @@ -0,0 +1,79 @@ +/** + * ------------------------------------ + * @author: Weipeng Kong + * @date: 2021/12/6 + * @email: yjxkwp@foxmail.com + * @site: https://donot.fit + * @description: + * ------------------------------------ +**/ + +#include "search_assign.h" +#include +#include + +bool *visited; + +void +dfs_for_assigning(Octree::UDFData &udf, int current_x, int current_y, int current_z, int ind, const double threshold, + std::function recorder) { + if (visited[ind] || ind == -1) return; + visited[ind] = true; + + if (abs(udf.value[ind]) < threshold) { + return; +// double pos[] = {current_x * 1.0, current_y * 1.0, current_z * 1.0, udf.value[ind]}; +// recorder(pos); + } + + udf.value[ind] = -abs(udf.value[ind]); + + // sub routine + for (int i = -1; i <= 1; ++i) { + int x = current_x + i; + if (x < 0 || x >= udf._x) continue; + + for (int j = -1; j <= 1; ++j) { + int y = current_y + j; + if (y < 0 || y >= udf._y) continue; + + for (int k = -1; k <= 1; ++k) { + int z = current_z + k; + if (z < 0 || z >= udf._z) continue; + + int next_ind = udf.get_array_index(x, y, z); + dfs_for_assigning(udf, x, y, z, next_ind, threshold, recorder); + } + } + } + + // sub routine +// for (auto nb: neighbors) { +// if (nb[0] < 0 || nb[0] >= udf._x || +// nb[1] < 0 || nb[1] >= udf._y || +// nb[2] < 0 || nb[2] >= udf._z) { +// continue; +// } else { +// int next_ind = udf.get_array_index(nb[0], nb[1], nb[2]); +// dfs_for_assigning(udf, nb[0], nb[1], nb[2], next_ind, threshold, recorder); +// } +// } +} + +void search_assign(Octree::UDFData &udf, int *start, double threshold) { + visited = new bool[udf._x * udf._y * udf._z]; + + pMesh::Triangle3dMesh point_cloud; + auto recoder = [&](const double *pos) { +// point_cloud.vertices.emplace_back(pMesh::Triangle3dMesh::VertexField()) +// std::cout << pos[0] << " " << pos[1] << " " << pos[2] << std::endl; + }; + + // TODO: 选取开始点 + int next_ind = udf.get_array_index(start[0], start[1], start[2]); + dfs_for_assigning(udf, start[0], start[1], start[2], next_ind, threshold, recoder); + // TODO: 爆栈问题 + + delete visited; + visited = nullptr; +}; \ No newline at end of file diff --git a/tests/search_assign_test/search_assign.h b/tests/search_assign_test/search_assign.h new file mode 100644 index 0000000..7431270 --- /dev/null +++ b/tests/search_assign_test/search_assign.h @@ -0,0 +1,34 @@ +/** + * ------------------------------------ + * @author: Weipeng Kong + * @date: 2021/12/6 + * @email: yjxkwp@foxmail.com + * @site: https://donot.fit + * @description: 测试DFS赋值 + * ------------------------------------ +**/ + +#ifndef OCTREE_SEARCH_ASSIGN_H +#define OCTREE_SEARCH_ASSIGN_H + +#include "Octree/udf/UDFData.h" + + +/** + * _________________________ + * | | | | + * | | | | + * |_______|_______|_______| + * | | ↑ | | + * | | ← d → | | + * |_______|___↓___|_______| + * | | | | + * | | | | + * |_______|_______|_______| + */ + +void search_assign(Octree::UDFData &udf, int *start, double threshold); + + + +#endif //OCTREE_SEARCH_ASSIGN_H diff --git a/tests/search_assign_test/test-path.h.in b/tests/search_assign_test/test-path.h.in new file mode 100644 index 0000000..0e3ea76 --- /dev/null +++ b/tests/search_assign_test/test-path.h.in @@ -0,0 +1,16 @@ +/** + * ------------------------------------ + * @author: Weipeng Kong + * @date: 2021/12/1 + * @email: yjxkwp@foxmail.com + * @site: https://donot.fit + * @description: + * ------------------------------------ +**/ + +#ifndef OCTREE_SDF_TEST_PATH_H +#define OCTREE_SDF_TEST_PATH_H + +#define TEST_DATA_BASE_PATH "@TEST_DATA_BASE_PATH@" + +#endif //OCTREE_SDF_TEST_PATH_H diff --git a/tests/udf_test/main.cpp b/tests/udf_test/main.cpp index cfbbe29..059e11a 100644 --- a/tests/udf_test/main.cpp +++ b/tests/udf_test/main.cpp @@ -12,6 +12,7 @@ #include #include #include +#include #include #include #include