Format file and class name and complete annotation

include/Octree/OctreeBase.h → include/Octree/BaseOctree.h

@@ -8,8 +8,8 @@
  * ------------------------------------
 **/
 
-#ifndef OCTREE_OCTREEBASE_H
-#define OCTREE_OCTREEBASE_H
+#ifndef OCTREE_BASEOCTREE_H
+#define OCTREE_BASEOCTREE_H
 
 #include <memory>
 #include <utility>
@@ -19,7 +19,7 @@
 #include "AABB.h"
 
 namespace Octree {
-    class OctreeBase;
+    class BaseOctree;
 
     class OctreeNode;
 
@@ -30,8 +30,8 @@ namespace Octree {
     using std::array;
 
 #if 0
-    using octree_sptr = shared_ptr<OctreeSDF>;
-    using octree_wptr = weak_ptr<OctreeSDF>;
+    using octree_sptr = shared_ptr<SDFOctree>;
+    using octree_wptr = weak_ptr<SDFOctree>;
 #endif
 
     using ocnode_sptr = shared_ptr<OctreeNode>;
@@ -40,26 +40,24 @@ namespace Octree {
 
 
     struct OctreeNode : public std::enable_shared_from_this<OctreeNode> {
-        friend class OctreeBase;
+        friend class BaseOctree;
+        friend class OctreeBuilder;
 
+    protected:
         uint32_t level;
         array<ocnode_sptr, 8> children;
         ocnode_ptr father;
         AABB aabb;
-
-#if 0
-        struct AABB {
-            double min_x, max_x;
-            double min_y, max_y;
-            double min_z, max_z;
-        } aabb;
-#endif
-
         set<uint32_t> tri_ids;
 
     public:
         explicit OctreeNode(ocnode_ptr father, const AABB &aabb, uint32_t level);
 
+        /**
+         * Insert a face index into `tri_ids`
+         * TODO: This function and property `tri_ids` are considered to be discarded
+         * @param tri
+         */
         void insert_triangle_id(uint32_t tri);
 
         /**
@@ -67,33 +65,71 @@ namespace Octree {
          */
         void split_if_no_children();
 
+        /**
+         * Make sub node via aabb
+         * @param aabb
+         * @return
+         */
         virtual ocnode_sptr make_child(const AABB &aabb);
 
+        /**
+         * If this node is a leaf
+         * @return
+         */
         bool is_leaf() const;
 
+        /**
+         * Return all-8 sub node
+         * @return
+         */
         array<ocnode_sptr, 8> get_children() const;
 
+        /**
+         * Find the leaf that contains the @param pos
+         * @param pos
+         * @return
+         */
         ocnode_sptr map_node(const Eigen::Vector3d &pos);
     };
 
-    class OctreeBase {
+    class BaseOctree {
     public:
         uint32_t max_level;
 
         ocnode_sptr root;
 
     public:
-        explicit OctreeBase(uint32_t max_level, const AABB &aabb);
+        explicit BaseOctree(uint32_t max_level, const AABB &aabb);
 
-        explicit OctreeBase(uint32_t max_level, ocnode_sptr root);
+        explicit BaseOctree(uint32_t max_level, ocnode_sptr root);
 
+    public:
+        /**
+         * Find the leaf that contains the @param pos
+         * @param pos
+         * @return
+         */
         ocnode_sptr map_node(const Eigen::Vector3d &pos);
 
+        /**
+         * Return the root node
+         * @return
+         */
         ocnode_sptr get_root() const { return root; }
 
+        /**
+         * Return the max_level
+         * @return
+         */
         uint32_t get_max_level() const { return max_level; }
+
+        /**
+         * Get the aabb of root
+         * @return
+         */
+        AABB aabb() const;
     };
 }
 
 
-#endif //OCTREE_OCTREEBASE_H
+#endif //OCTREE_BASEOCTREE_H

include/Octree/OctreeBuilder.h

@@ -19,7 +19,7 @@
 
 namespace Octree {
 
-    class OctreeBase;
+    class BaseOctree;
     class OctreeNode;
 
     using ocnode_sptr = std::shared_ptr<OctreeNode>;
@@ -28,9 +28,9 @@ namespace Octree {
     public:
         const uint32_t max_depth;
         const pMesh::Triangle3dMesh<> &mesh;
-        OctreeBase &octree;
+        BaseOctree &octree;
 
-        explicit OctreeBuilder(const pMesh::Triangle3dMesh<> &mesh, OctreeBase &octree);
+        explicit OctreeBuilder(const pMesh::Triangle3dMesh<> &mesh, BaseOctree &octree);
 
         void build();
 
@@ -51,6 +51,10 @@ namespace Octree {
         */
         void insert_triangle_to_leaf(OctreeNode &node, uint32_t tid);
 
+        /**
+         * Clean up the leaves that not contain any triangle to reduce memory
+         * @param node
+         */
         void clean_up(ocnode_sptr &node);
     };
 }

include/Octree/OctreeIO.h

@@ -16,7 +16,7 @@
 
 namespace Octree {
 
-    class OctreeBase;
+    class BaseOctree;
     class OctreeNode;
 
     class OctreeIO {
@@ -26,10 +26,10 @@ namespace Octree {
 
     class OctreeSaver : public OctreeIO {
     private:
-        const OctreeBase &octree;
+        const BaseOctree &octree;
 
     public:
-        explicit OctreeSaver(const OctreeBase &octree);
+        explicit OctreeSaver(const BaseOctree &octree);
 
         void save(const fs_path &path);
 
@@ -39,10 +39,10 @@ namespace Octree {
 
     class OctreeLoader : public OctreeIO {
     private:
-        OctreeBase &octree;
+        BaseOctree &octree;
 
     public:
-        explicit OctreeLoader(OctreeBase &octree);
+        explicit OctreeLoader(BaseOctree &octree);
 
         void load(const fs_path &path);
     };

include/Octree/OctreeSDF.h

@@ -1,53 +0,0 @@
-/**
- * ------------------------------------
- * @author: Weipeng Kong
- * @date: 2021/11/30
- * @email: yjxkwp@foxmail.com
- * @site: https://donot.fit
- * @description: 
- * ------------------------------------
-**/
-
-#ifndef OCTREE_OCTREESDF_H
-#define OCTREE_OCTREESDF_H
-
-#include "OctreeBase.h"
-
-
-namespace Octree {
-    class SDFData;
-
-    class OctreeSDFNode;
-
-    using sdfdata_sptr = shared_ptr<SDFData>;
-
-    using ocsdfnode_sptr = shared_ptr<OctreeSDFNode>;
-    using ocsdfnode_wptr = weak_ptr<OctreeSDFNode>;
-    using ocsdfnode_ptr = OctreeSDFNode *;
-
-    struct OctreeSDFNode : public OctreeNode {
-    public:
-        sdfdata_sptr sdf;
-
-    public:
-        explicit OctreeSDFNode(ocnode_ptr father, const AABB &aabb, uint32_t level);
-
-        double get_sdf(const Eigen::Vector3d &pos);
-
-        ocnode_sptr make_child(const AABB &aabb) override;
-    };
-}
-
-namespace Octree {
-    class OctreeSDF : public OctreeBase {
-    public:
-        explicit OctreeSDF(uint32_t max_level, const AABB &aabb);
-
-        ocsdfnode_sptr map_node(const Eigen::Vector3d &pos){return std::static_pointer_cast<OctreeSDFNode>(OctreeBase::map_node(pos));}
-
-        ocsdfnode_sptr get_root() const { return std::static_pointer_cast<OctreeSDFNode>(root); }
-    };
-}
-
-
-#endif //OCTREE_OCTREESDF_H

include/Octree/OctreeTraverser.h

@@ -11,7 +11,7 @@
 #ifndef OCTREE_OCTREETRAVERSER_H
 #define OCTREE_OCTREETRAVERSER_H
 
-#include "OctreeBase.h"
+#include "BaseOctree.h"
 
 namespace Octree {
     class OctreeTraverser {
@@ -21,21 +21,41 @@ namespace Octree {
             BFS
         };
     protected:
-        const OctreeBase &octree;
+        const BaseOctree &octree;
 
     private:
         const TraverseStrategy strategy;
 
     public:
-        explicit OctreeTraverser(const OctreeBase &octree, const TraverseStrategy strategy = DFS);
+        /**
+         * Constructor
+         * @param octree
+         * @param strategy
+         */
+        explicit OctreeTraverser(const BaseOctree &octree, const TraverseStrategy strategy = DFS);
 
+        /**
+         * Start traversing
+         */
         void traverse();
 
+        /**
+         * Function called when node is visited
+         * @param node
+         */
         virtual void visit_node(OctreeNode &node);
 
     private:
+        /**
+         * Breadth-first search
+         * @param node
+         */
         void dfs(ocnode_sptr node);
 
+        /**
+         * Depth-first search
+         * @param root
+         */
         void bfs(ocnode_sptr root);
     };
 }

include/Octree/OctreeUDF.h

@@ -1,56 +0,0 @@
-/**
- * ------------------------------------
- * @author: Weipeng Kong
- * @date: 2021/11/30
- * @email: yjxkwp@foxmail.com
- * @site: https://donot.fit
- * @description: 
- * ------------------------------------
-**/
-
-#ifndef OCTREE_OCTREEUDF_H
-#define OCTREE_OCTREEUDF_H
-
-
-
-#include "OctreeBase.h"
-
-
-namespace Octree {
-    class UDFData;
-
-    class OctreeUDFNode;
-
-    using udfdata_sptr = shared_ptr<UDFData>;
-
-    using ocudfnode_sptr = shared_ptr<OctreeUDFNode>;
-    using ocudfnode_wptr = weak_ptr<OctreeUDFNode>;
-    using ocudfnode_ptr = OctreeUDFNode *;
-
-    struct OctreeUDFNode : public OctreeNode {
-    public:
-        udfdata_sptr udf;
-
-    public:
-        explicit OctreeUDFNode(ocnode_ptr father, const AABB &aabb, uint32_t level);
-
-        double get_udf(const Eigen::Vector3d &pos);
-
-        ocnode_sptr make_child(const AABB &aabb) override;
-    };
-}
-
-namespace Octree {
-    class OctreeUDF : public OctreeBase {
-    public:
-        explicit OctreeUDF(uint32_t max_level, const AABB &aabb);
-
-        ocudfnode_sptr map_node(const Eigen::Vector3d &pos) { return std::static_pointer_cast<OctreeUDFNode>(OctreeBase::map_node(pos)); }
-
-        ocudfnode_sptr get_root() const { return std::static_pointer_cast<OctreeUDFNode>(root); }
-    };
-}
-
-
-
-#endif //OCTREE_OCTREEUDF_H

include/Octree/SDFOctree.h

@@ -0,0 +1,56 @@
+/**
+ * ------------------------------------
+ * @author: Weipeng Kong
+ * @date: 2021/11/30
+ * @email: yjxkwp@foxmail.com
+ * @site: https://donot.fit
+ * @description: 
+ * ------------------------------------
+**/
+
+#ifndef OCTREE_SDFOCTREE_H
+#define OCTREE_SDFOCTREE_H
+
+#include "BaseOctree.h"
+
+
+namespace Octree {
+    class SDFData;
+
+    class SDFOctreeNode;
+
+    using sdfdata_sptr = shared_ptr<SDFData>;
+    using ocsdfnode_sptr = shared_ptr<SDFOctreeNode>;
+    using ocsdfnode_wptr = weak_ptr<SDFOctreeNode>;
+    using ocsdfnode_ptr = SDFOctreeNode *;
+
+    struct SDFOctreeNode : public OctreeNode {
+    public:
+        sdfdata_sptr sdf;
+
+    public:
+        explicit SDFOctreeNode(ocnode_ptr father, const AABB &aabb, uint32_t level);
+
+        double get_sdf(const Eigen::Vector3d &pos);
+
+        ocnode_sptr make_child(const AABB &aabb) override;
+    };
+}
+
+namespace Octree {
+    class SDFOctree : public BaseOctree {
+    public:
+        explicit SDFOctree(uint32_t max_level, const AABB &aabb);
+
+        ocsdfnode_sptr map_node(const Eigen::Vector3d &pos) {
+            return std::static_pointer_cast<SDFOctreeNode>(BaseOctree::map_node(pos));
+        }
+
+        ocsdfnode_sptr get_root() const {
+            return std::static_pointer_cast<SDFOctreeNode>(root);
+        }
+    };
+}
+
+
+#endif //OCTREE_SDFOCTREE_H

include/Octree/SDFTraversalSampler.h

@@ -18,32 +18,37 @@
 #include <Eigen/Dense>
 
 namespace Octree {
-    class OctreeSDFNode;
-    class OctreeSDF;
+    class SDFOctreeNode;
+
+    class SDFOctree;
 
     class SDFTraversalBuilder : public OctreeTraverser {
 
         const pMesh::Triangle3dMesh<> &mesh;
         const double sample_step;
 
-        struct QueryBox{
-            OctreeSDFNode &node;
+        struct QueryBox {
+            SDFOctreeNode &node;
             int start;
             int len;
         };
         std::vector<QueryBox> query_boxes;
 
     public:
-        explicit SDFTraversalBuilder(const OctreeSDF &octree, const pMesh::Triangle3dMesh<> &mesh, const double sample_step, const TraverseStrategy strategy = DFS);
+        explicit SDFTraversalBuilder(const SDFOctree &octree, const pMesh::Triangle3dMesh<> &mesh,
+                                     const double sample_step, const TraverseStrategy strategy = DFS);
 
         void build();
 
         void visit_node(OctreeNode &node) override;
     };
 
+}
+
+namespace Octree {
     class SDFTraversalSampler : public OctreeTraverser {
     public:
-        explicit SDFTraversalSampler(const OctreeBase &octree, const TraverseStrategy strategy = DFS);
+        explicit SDFTraversalSampler(const BaseOctree &octree, const TraverseStrategy strategy = DFS);
 
         void visit_node(OctreeNode &node) override;
     };

include/Octree/UDFOctree.h

@@ -0,0 +1,57 @@
+/**
+ * ------------------------------------
+ * @author: Weipeng Kong
+ * @date: 2021/11/30
+ * @email: yjxkwp@foxmail.com
+ * @site: https://donot.fit
+ * @description: 
+ * ------------------------------------
+**/
+
+#ifndef OCTREE_UDFOCTREE_H
+#define OCTREE_UDFOCTREE_H
+
+
+#include "BaseOctree.h"
+
+
+namespace Octree {
+    class UDFData;
+
+    class UDFOctreeNode;
+
+    using udfdata_sptr = shared_ptr<UDFData>;
+    using ocudfnode_sptr = shared_ptr<UDFOctreeNode>;
+    using ocudfnode_wptr = weak_ptr<UDFOctreeNode>;
+    using ocudfnode_ptr = UDFOctreeNode *;
+
+    struct UDFOctreeNode : public OctreeNode {
+    public:
+        udfdata_sptr udf;
+
+    public:
+        explicit UDFOctreeNode(ocnode_ptr father, const AABB &aabb, uint32_t level);
+
+        double get_udf(const Eigen::Vector3d &pos);
+
+        ocnode_sptr make_child(const AABB &aabb) override;
+    };
+}
+
+namespace Octree {
+    class UDFOctree : public BaseOctree {
+    public:
+        explicit UDFOctree(uint32_t max_level, const AABB &aabb);
+
+        ocudfnode_sptr map_node(const Eigen::Vector3d &pos) {
+            return std::static_pointer_cast<UDFOctreeNode>(BaseOctree::map_node(pos));
+        }
+
+        ocudfnode_sptr get_root() const {
+            return std::static_pointer_cast<UDFOctreeNode>(root);
+        }
+    };
+}
+
+
+#endif //OCTREE_UDFOCTREE_H

include/Octree/UDFTraversalSampler.h

@@ -12,28 +12,29 @@
 #define OCTREE_SDFTRAVERSALSAMPLER_H
 
 #include "OctreeTraverser.h"
-#include "SDFData.h"
 #include "UDFData.h"
-
 #include <utility>
 #include <pMesh/mesh/TriangleMesh.h>
 #include <Eigen/Dense>
 
 namespace Octree {
+    class UDFOctreeNode;
+    class UDFOctree;
+
     class UDFTraversalBuilder : public OctreeTraverser {
 
         const pMesh::Triangle3dMesh<> &mesh;
         const double sample_step;
 
         struct QueryBox{
-            OctreeNode &node;
+            UDFOctreeNode &node;
             int start;
             int len;
         };
         std::vector<QueryBox> query_boxes;
 
     public:
-        explicit UDFTraversalBuilder(const OctreeBase &octree, const pMesh::Triangle3dMesh<> &mesh, const double sample_step, const TraverseStrategy strategy = DFS);
+        explicit UDFTraversalBuilder(const BaseOctree &octree, const pMesh::Triangle3dMesh<> &mesh, const double sample_step, const TraverseStrategy strategy = DFS);
 
         void build();
 
@@ -42,7 +43,7 @@ namespace Octree {
 
     class UDFTraversalSampler : public OctreeTraverser {
     public:
-        explicit UDFTraversalSampler(const OctreeBase &octree, const TraverseStrategy strategy = DFS);
+        explicit UDFTraversalSampler(const BaseOctree &octree, const TraverseStrategy strategy = DFS);
 
         void visit_node(OctreeNode &node) override;
     };

include/Octree/VoxelDenseData.h

@@ -46,8 +46,6 @@ namespace Octree {
          */
         int get_array_index(int x, int y, int z) const;
     };
-
-
 }
 
 #endif //OCTREE_VOXELDENSEDATA_H

src/OctreeBase.cpp → src/BaseOctree.cpp

@@ -8,23 +8,31 @@
  * ------------------------------------
 **/
 
-#include "Octree/OctreeBase.h"
+#include "Octree/BaseOctree.h"
 
 
-Octree::ocnode_sptr Octree::OctreeBase::map_node(const Eigen::Vector3d &pos) {
+Octree::ocnode_sptr Octree::BaseOctree::map_node(const Eigen::Vector3d &pos) {
     auto fd = (root == nullptr) ? nullptr : root->map_node(pos);
     return fd;
     return fd == nullptr ? root : fd;
 }
 
-Octree::OctreeBase::OctreeBase(uint32_t max_level, const Octree::AABB &aabb) :
-        OctreeBase(max_level, std::make_shared<OctreeNode>(nullptr, aabb, 0)) {
+Octree::BaseOctree::BaseOctree(uint32_t max_level, const Octree::AABB &aabb) :
+        BaseOctree(max_level, std::make_shared<OctreeNode>(nullptr, aabb, 0)) {
 }
 
-Octree::OctreeBase::OctreeBase(uint32_t max_level, Octree::ocnode_sptr root) : max_level(max_level), root(root) {
+Octree::BaseOctree::BaseOctree(uint32_t max_level, Octree::ocnode_sptr root) : max_level(max_level), root(root) {
 
 }
 
+Octree::AABB Octree::BaseOctree::aabb() const {
+    if(root == nullptr){
+        return AABB();
+    }else{
+        return root->aabb;
+    }
+}
+
 
 Octree::OctreeNode::OctreeNode(ocnode_ptr father, const Octree::AABB &aabb, uint32_t level) : father(father),
                                                                                               level(level),

src/OctreeBuilder.cpp

@@ -9,7 +9,7 @@
 **/
 
 #include "../include/Octree/OctreeBuilder.h"
-#include "Octree/OctreeBase.h"
+#include "Octree/BaseOctree.h"
 #include <set>
 
 #if 0
@@ -20,14 +20,12 @@ struct OctreeNodeBuilder{
 #endif
 
 
-Octree::OctreeBuilder::OctreeBuilder(const pMesh::Triangle3dMesh<> &mesh, Octree::OctreeBase &octree):
- mesh(mesh), max_depth(octree.get_max_level()), octree(octree)
-{
+Octree::OctreeBuilder::OctreeBuilder(const pMesh::Triangle3dMesh<> &mesh, Octree::BaseOctree &octree) :
+        mesh(mesh), max_depth(octree.get_max_level()), octree(octree) {
 
 }
 
 
-
 void Octree::OctreeBuilder::build() {
     for (int i = 0; i < mesh.f_size(); ++i) {
         this->insert_triangle(*octree.root, i);

src/OctreeIO.cpp

@@ -9,14 +9,14 @@
 **/
 
 #include "../include/Octree/OctreeIO.h"
-#include "Octree/OctreeBase.h"
+#include "Octree/BaseOctree.h"
 
 namespace SerializationTool{
 
 
 }
 
-Octree::OctreeSaver::OctreeSaver(const Octree::OctreeBase &octree): octree(octree) {
+Octree::OctreeSaver::OctreeSaver(const Octree::BaseOctree &octree): octree(octree) {
 
 }
 

src/OctreeTraverser.cpp

@@ -10,7 +10,7 @@
 
 #include "../include/Octree/OctreeTraverser.h"
 
-Octree::OctreeTraverser::OctreeTraverser(const OctreeBase &octree, const TraverseStrategy strategy) : octree(octree),
+Octree::OctreeTraverser::OctreeTraverser(const BaseOctree &octree, const TraverseStrategy strategy) : octree(octree),
                                                                                                      strategy(
                                                                                                              strategy) {
 

src/OctreeSDF.cpp → src/SDFOctree.cpp

@@ -8,11 +8,11 @@
  * ------------------------------------
 **/
 
-#include "Octree/OctreeSDF.h"
+#include "Octree/SDFOctree.h"
 #include "Octree/SDFData.h"
 
 
-double Octree::OctreeSDFNode::get_sdf(const Eigen::Vector3d &pos) {
+double Octree::SDFOctreeNode::get_sdf(const Eigen::Vector3d &pos) {
     Eigen::Vector3d relative = pos - aabb.get_min();
     auto size = aabb.size();
     relative.x() = relative.x() / size.x();
@@ -21,16 +21,16 @@ double Octree::OctreeSDFNode::get_sdf(const Eigen::Vector3d &pos) {
     return sdf->sample(relative.x(), relative.y(), relative.z());
 }
 
-Octree::OctreeSDFNode::OctreeSDFNode(Octree::ocnode_ptr father, const Octree::AABB &aabb, uint32_t level) : OctreeNode(
+Octree::SDFOctreeNode::SDFOctreeNode(Octree::ocnode_ptr father, const Octree::AABB &aabb, uint32_t level) : OctreeNode(
         father, aabb, level) {
 }
 
-Octree::ocnode_sptr Octree::OctreeSDFNode::make_child(const Octree::AABB &aabb) {
-    return std::make_shared<OctreeSDFNode>(this, aabb, level + 1);
+Octree::ocnode_sptr Octree::SDFOctreeNode::make_child(const Octree::AABB &aabb) {
+    return std::make_shared<SDFOctreeNode>(this, aabb, level + 1);
 }
 
 
-Octree::OctreeSDF::OctreeSDF(uint32_t max_level, const Octree::AABB &aabb) :
-        OctreeBase(max_level, std::static_pointer_cast<OctreeNode>(std::make_shared<OctreeSDFNode>(nullptr, aabb, 0))) {
+Octree::SDFOctree::SDFOctree(uint32_t max_level, const Octree::AABB &aabb) :
+        BaseOctree(max_level, std::static_pointer_cast<OctreeNode>(std::make_shared<SDFOctreeNode>(nullptr, aabb, 0))) {
 
 }

src/SDFTraversalSampler.cpp

@@ -10,12 +10,12 @@
 
 #include "Octree/SDFTraversalSampler.h"
 #include "Octree/SDFData.h"
-#include "Octree/OctreeSDF.h"
+#include "Octree/SDFOctree.h"
 #include <igl/signed_distance.h>
 #include <boost/date_time/posix_time/ptime.hpp>
 #include <boost/date_time.hpp>
 
-Octree::SDFTraversalBuilder::SDFTraversalBuilder(const Octree::OctreeSDF &octree,
+Octree::SDFTraversalBuilder::SDFTraversalBuilder(const Octree::SDFOctree &octree,
                                                     const pMesh::Triangle3dMesh<> &mesh,
                                                     const double sample_step,
                                                     const Octree::OctreeTraverser::TraverseStrategy strategy)
@@ -24,7 +24,7 @@ Octree::SDFTraversalBuilder::SDFTraversalBuilder(const Octree::OctreeSDF &octree
 
 void Octree::SDFTraversalBuilder::visit_node(Octree::OctreeNode &node) {
 //    if (not node.is_leaf()) return;
-    auto &sdf_node = (OctreeSDFNode &)node;
+    auto &sdf_node = (SDFOctreeNode &)node;
 
     if (node.level >= octree.get_max_level()) {
         // deepest voxel

src/OctreeUDF.cpp → src/UDFOctree.cpp

@@ -8,15 +8,15 @@
  * ------------------------------------
 **/
 
-#include "Octree/OctreeUDF.h"
+#include "Octree/UDFOctree.h"
 #include "Octree/UDFData.h"
 
-Octree::OctreeUDFNode::OctreeUDFNode(Octree::ocnode_ptr father, const Octree::AABB &aabb, uint32_t level) : OctreeNode(
+Octree::UDFOctreeNode::UDFOctreeNode(Octree::ocnode_ptr father, const Octree::AABB &aabb, uint32_t level) : OctreeNode(
         father, aabb, level) {
 
 }
 
-double Octree::OctreeUDFNode::get_udf(const Eigen::Vector3d &pos) {
+double Octree::UDFOctreeNode::get_udf(const Eigen::Vector3d &pos) {
     Eigen::Vector3d relative = pos - aabb.get_min();
     auto size = aabb.size();
     relative.x() = relative.x() / size.x();
@@ -25,10 +25,10 @@ double Octree::OctreeUDFNode::get_udf(const Eigen::Vector3d &pos) {
     return udf->sample(relative.x(), relative.y(), relative.z());
 }
 
-Octree::ocnode_sptr Octree::OctreeUDFNode::make_child(const Octree::AABB &aabb) {
-    return std::make_shared<OctreeUDFNode>(this, aabb, level + 1);
+Octree::ocnode_sptr Octree::UDFOctreeNode::make_child(const Octree::AABB &aabb) {
+    return std::make_shared<UDFOctreeNode>(this, aabb, level + 1);
 }
 
-Octree::OctreeUDF::OctreeUDF(uint32_t max_level, const Octree::AABB &aabb) : OctreeBase(max_level, aabb) {
+Octree::UDFOctree::UDFOctree(uint32_t max_level, const Octree::AABB &aabb) : BaseOctree(max_level, aabb) {
 
 }

src/UDFTraversalSampler.cpp

@@ -8,15 +8,16 @@
  * ------------------------------------
 **/
 
-#include "Octree/SDFTraversalSampler.h"
-#include "Octree/SDFData.h"
+#include "Octree/UDFTraversalSampler.h"
+#include "Octree/UDFData.h"
+#include "Octree/UDFOctree.h"
 #include <igl/signed_distance.h>
 #include <boost/date_time/posix_time/ptime.hpp>
 #include <boost/date_time.hpp>
 
-#if 0
 
-Octree::UDFTraversalBuilder::UDFTraversalBuilder(const Octree::OctreeBase &octree,
+
+Octree::UDFTraversalBuilder::UDFTraversalBuilder(const Octree::BaseOctree &octree,
                                                  const pMesh::Triangle3dMesh<> &mesh,
                                                  const double sample_step,
                                                  const Octree::OctreeTraverser::TraverseStrategy strategy)
@@ -24,8 +25,9 @@ Octree::UDFTraversalBuilder::UDFTraversalBuilder(const Octree::OctreeBase &octre
 }
 
 void Octree::UDFTraversalBuilder::visit_node(Octree::OctreeNode &node) {
-//    if (not node.is_leaf()) return;
+    auto &udf_node = (UDFOctreeNode &)node;
 
+//    if (not node.is_leaf()) return;
     if (node.level >= octree.max_level) {
         // deepest voxel
         auto aabb_size = node.aabb.size();
@@ -39,9 +41,9 @@ void Octree::UDFTraversalBuilder::visit_node(Octree::OctreeNode &node) {
         int start = this->query_boxes.empty() ? 0 : (this->query_boxes.back().start + this->query_boxes.back().len);
         int len = _x * _y * _z;
 
-        sdfdata_sptr sdf = std::make_shared<SDFData>(std::vector<double>(len), _x, _y, _z);
-        node.sdf = sdf;
-        query_boxes.push_back({.node=node, .start=start, .len=len});
+        udfdata_sptr udf = std::make_shared<UDFData>(std::vector<double>(len), _x, _y, _z);
+        udf_node.udf = udf;
+        query_boxes.push_back({.node=udf_node, .start=start, .len=len});
     } else {
         // rough voxel  (un-deepest)
         // Only calc corners
@@ -52,9 +54,9 @@ void Octree::UDFTraversalBuilder::visit_node(Octree::OctreeNode &node) {
         int start = this->query_boxes.empty() ? 0 : (this->query_boxes.back().start + this->query_boxes.back().len);
         int len = _x * _y * _z;
 
-        sdfdata_sptr sdf = std::make_shared<SDFData>(std::vector<double>(len), _x, _y, _z);
-        node.sdf = sdf;
-        query_boxes.push_back({.node=node, .start=start, .len=len});
+        udfdata_sptr udf = std::make_shared<UDFData>(std::vector<double>(len), _x, _y, _z);
+        udf_node.udf = udf;
+        query_boxes.push_back({.node=udf_node, .start=start, .len=len});
     }
 }
 
@@ -80,7 +82,7 @@ void Octree::UDFTraversalBuilder::build() {
 
     int index_base = 0;
     for (const auto &qbox: this->query_boxes) {
-        auto &sdf = *qbox.node.sdf;
+        auto &sdf = *qbox.node.udf;
         auto &aabb = qbox.node.aabb;
         const auto pos_base = aabb.get_min();
         const auto pos_max = aabb.get_max();
@@ -132,7 +134,7 @@ void Octree::UDFTraversalBuilder::build() {
 
     double *distance = S.data();
     for (const auto &qbox: this->query_boxes) {
-        auto &sdf = *qbox.node.sdf;
+        auto &sdf = *qbox.node.udf;
         double *target_data = sdf.value.data();
         std::memcpy(target_data, distance + qbox.start, qbox.len * sizeof(double));
     }
@@ -140,4 +142,3 @@ void Octree::UDFTraversalBuilder::build() {
     query_boxes.clear();
 }
 
-#endif

tests/octree_test/main.cpp

@@ -9,7 +9,7 @@
 **/
 
 #include <iostream>
-#include "Octree/OctreeSDF.h"
+#include "Octree/SDFOctree.h"
 #include "Octree/OctreeBuilder.h"
 #include "Octree/OctreeTraverser.h"
 #include "Octree/SDFTraversalSampler.h"
@@ -32,7 +32,7 @@
 class VTKTraverser : public pMesh::io::BaseReader, public Octree::OctreeTraverser {
     int node_cnt = 0;
 public:
-    explicit VTKTraverser(const Octree::OctreeSDF &octree, const TraverseStrategy strategy = DFS);
+    explicit VTKTraverser(const Octree::SDFOctree &octree, const TraverseStrategy strategy = DFS);
 
     void visit_node(Octree::OctreeNode &node) override;
 
@@ -65,7 +65,7 @@ int main() {
 
     boost::timer t;
     Octree::AABB aabb(mesh.aabb());
-    Octree::OctreeSDF octree(level, aabb);
+    Octree::SDFOctree octree(level, aabb);
 
     aabb.extend(2);
     Octree::OctreeBuilder builder(mesh, octree);
@@ -210,7 +210,7 @@ bool VTKTraverser::operator>>(pMesh::io::ReadAdapter &adapter) {
 }
 
 
-VTKTraverser::VTKTraverser(const Octree::OctreeSDF &octree, const OctreeTraverser::TraverseStrategy strategy)
+VTKTraverser::VTKTraverser(const Octree::SDFOctree &octree, const OctreeTraverser::TraverseStrategy strategy)
         : OctreeTraverser(
         octree, strategy) {
 }

tests/sdf_test/main.cpp

@@ -9,7 +9,7 @@
 **/
 
 #include <iostream>
-#include "Octree/OctreeBase.h"
+#include "Octree/BaseOctree.h"
 #include "Octree/OctreeBuilder.h"
 #include "Octree/OctreeTraverser.h"
 #include "Octree/SDFTraversalSampler.h"