OpenVDB 11.0.0

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LevelSetTracker.h
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1// Copyright Contributors to the OpenVDB Project
2// SPDX-License-Identifier: MPL-2.0
3
4/// @author Ken Museth
5///
6/// @file tools/LevelSetTracker.h
7///
8/// @brief Performs multi-threaded interface tracking of narrow band
9/// level sets. This is the building-block for most level set
10/// computations that involve dynamic topology, e.g. advection.
11
12#ifndef OPENVDB_TOOLS_LEVEL_SET_TRACKER_HAS_BEEN_INCLUDED
13#define OPENVDB_TOOLS_LEVEL_SET_TRACKER_HAS_BEEN_INCLUDED
14
15#include <openvdb/Types.h>
16#include <openvdb/Grid.h>
17#include <openvdb/math/Math.h>
18#include <openvdb/math/FiniteDifference.h>
19#include <openvdb/math/Operators.h>
20#include <openvdb/math/Stencils.h>
21#include <openvdb/math/Transform.h>
22#include <openvdb/util/NullInterrupter.h>
23#include <openvdb/thread/Threading.h>
24#include <openvdb/tree/ValueAccessor.h>
25#include <openvdb/tree/LeafManager.h>
26#include "ChangeBackground.h"// for changeLevelSetBackground
27#include "Morphology.h"//for dilateActiveValues
28#include "Prune.h"// for pruneLevelSet
29
30#include <tbb/parallel_for.h>
31
32#include <functional>
33#include <type_traits>
34
35 namespace openvdb {
36 OPENVDB_USE_VERSION_NAMESPACE
37 namespace OPENVDB_VERSION_NAME {
38 namespace tools {
39
40 namespace lstrack {
41
42/// @brief How to handle voxels that fall outside the narrow band
43/// @sa @link LevelSetTracker::trimming() trimming@endlink,
44/// @link LevelSetTracker::setTrimming() setTrimming@endlink
45 enum class TrimMode {
46 kNone, ///< Leave out-of-band voxels intact
47 kInterior, ///< Set out-of-band interior voxels to the background value
48 kExterior, ///< Set out-of-band exterior voxels to the background value
49 kAll ///< Set all out-of-band voxels to the background value
50};
51
52} // namespace lstrack
53
54
55/// @brief Performs multi-threaded interface tracking of narrow band level sets
56 template<typename GridT, typename InterruptT = util::NullInterrupter>
57 class LevelSetTracker
58{
59 public:
60 using TrimMode = lstrack::TrimMode;
61
62 using GridType = GridT;
63 using TreeType = typename GridT::TreeType;
64 using LeafType = typename TreeType::LeafNodeType;
65 using ValueType = typename TreeType::ValueType;
66 using LeafManagerType = typename tree::LeafManager<TreeType>; // leafs + buffers
67 using LeafRange = typename LeafManagerType::LeafRange;
68 using BufferType = typename LeafManagerType::BufferType;
69 using MaskTreeType = typename TreeType::template ValueConverter<ValueMask>::Type;
70 static_assert(std::is_floating_point<ValueType>::value,
71 "LevelSetTracker requires a level set grid with floating-point values");
72
73 /// Lightweight struct that stores the state of the LevelSetTracker
74 struct State {
75 State(math::BiasedGradientScheme s = math::HJWENO5_BIAS,
76 math::TemporalIntegrationScheme t = math::TVD_RK1,
77 int n = static_cast<int>(LEVEL_SET_HALF_WIDTH), int g = 1)
78 : spatialScheme(s), temporalScheme(t), normCount(n), grainSize(g) {}
79 math::BiasedGradientScheme spatialScheme;
80 math::TemporalIntegrationScheme temporalScheme;
81 int normCount;// Number of iterations of normalization
82 int grainSize;
83 };
84
85 /// @brief Main constructor
86 /// @throw RuntimeError if the grid is not a level set
87 LevelSetTracker(GridT& grid, InterruptT* interrupt = nullptr);
88
89 virtual ~LevelSetTracker() { delete mLeafs; }
90
91 /// @brief Iterative normalization, i.e. solving the Eikonal equation
92 /// @note The mask it optional and by default it is ignored.
93 template <typename MaskType>
94 void normalize(const MaskType* mask);
95
96 /// @brief Iterative normalization, i.e. solving the Eikonal equation
97 void normalize() { this->normalize<MaskTreeType>(nullptr); }
98
99 /// @brief Track the level set interface, i.e. rebuild and normalize the
100 /// narrow band of the level set.
101 void track();
102
103 /// @brief Set voxels that are outside the narrow band to the background value
104 /// (if trimming is enabled) and prune the grid.
105 /// @details Pruning is done automatically as a step in tracking.
106 /// @sa @link setTrimming() setTrimming@endlink, @link trimming() trimming@endlink
107 void prune();
108
109 /// @brief Fast but approximate dilation of the narrow band - one
110 /// layer at a time. Normally we recommend using the resize method below
111 /// which internally calls dilate (or erode) with the correct
112 /// number of @a iterations to achieve the desired half voxel width
113 /// of the narrow band (3 is recommended for most level set applications).
114 ///
115 /// @note Since many level set applications perform
116 /// interface-tracking, which in turn rebuilds the narrow-band
117 /// accurately, this dilate method can often be used with a
118 /// single iterations of low-order re-normalization. This
119 /// effectively allows very narrow bands to be created from points
120 /// or polygons (e.g. with a half voxel width of 1), followed by a
121 /// fast but approximate dilation (typically with a half voxel
122 /// width of 3). This can be significantly faster than generating
123 /// the final width of the narrow band from points or polygons.
124 void dilate(int iterations = 1);
125
126 /// @brief Erodes the width of the narrow-band and update the background values
127 /// @throw ValueError if @a iterations is larger than the current half-width.
128 void erode(int iterations = 1);
129
130 /// @brief Resize the width of the narrow band, i.e. perform
131 /// dilation and renormalization or erosion as required.
132 bool resize(Index halfWidth = static_cast<Index>(LEVEL_SET_HALF_WIDTH));
133
134 /// @brief Return the half width of the narrow band in floating-point voxel units.
135 ValueType getHalfWidth() const { return mGrid->background()/mDx; }
136
137 /// @brief Return the state of the tracker (see struct defined above)
138 State getState() const { return mState; }
139
140 /// @brief Set the state of the tracker (see struct defined above)
141 void setState(const State& s) { mState = s; }
142
143 /// @return the spatial finite difference scheme
144 math::BiasedGradientScheme getSpatialScheme() const { return mState.spatialScheme; }
145
146 /// @brief Set the spatial finite difference scheme
147 void setSpatialScheme(math::BiasedGradientScheme s) { mState.spatialScheme = s; }
148
149 /// @return the temporal integration scheme
150 math::TemporalIntegrationScheme getTemporalScheme() const { return mState.temporalScheme; }
151
152 /// @brief Set the spatial finite difference scheme
153 void setTemporalScheme(math::TemporalIntegrationScheme s) { mState.temporalScheme = s;}
154
155 /// @return The number of normalizations performed per track or
156 /// normalize call.
157 int getNormCount() const { return mState.normCount; }
158
159 /// @brief Set the number of normalizations performed per track or
160 /// normalize call.
161 void setNormCount(int n) { mState.normCount = n; }
162
163 /// @return the grain-size used for multi-threading
164 int getGrainSize() const { return mState.grainSize; }
165
166 /// @brief Set the grain-size used for multi-threading.
167 /// @note A grainsize of 0 or less disables multi-threading!
168 void setGrainSize(int grainsize) { mState.grainSize = grainsize; }
169
170 /// @brief Return the trimming mode for voxels outside the narrow band.
171 /// @details Trimming is enabled by default and is applied automatically prior to pruning.
172 /// @sa @link setTrimming() setTrimming@endlink, @link prune() prune@endlink
173 TrimMode trimming() const { return mTrimMode; }
174 /// @brief Specify whether to trim voxels outside the narrow band prior to pruning.
175 /// @sa @link trimming() trimming@endlink, @link prune() prune@endlink
176 void setTrimming(TrimMode mode) { mTrimMode = mode; }
177
178 ValueType voxelSize() const { return mDx; }
179
180 void startInterrupter(const char* msg);
181
182 void endInterrupter();
183
184 /// @return false if the process was interrupted
185 bool checkInterrupter();
186
187 const GridType& grid() const { return *mGrid; }
188
189 LeafManagerType& leafs() { return *mLeafs; }
190
191 const LeafManagerType& leafs() const { return *mLeafs; }
192
193 private:
194 // disallow copy construction and copy by assignment!
195 LevelSetTracker(const LevelSetTracker&);// not implemented
196 LevelSetTracker& operator=(const LevelSetTracker&);// not implemented
197
198 // Private class to perform multi-threaded trimming of
199 // voxels that are too far away from the zero-crossing.
200 template<TrimMode Trimming>
201 struct Trim
202 {
203 Trim(LevelSetTracker& tracker) : mTracker(tracker) {}
204 void trim();
205 void operator()(const LeafRange& r) const;
206 LevelSetTracker& mTracker;
207 };// Trim
208
209 // Private struct to perform multi-threaded normalization
210 template<math::BiasedGradientScheme SpatialScheme,
211 math::TemporalIntegrationScheme TemporalScheme,
212 typename MaskT>
213 struct Normalizer
214 {
215 using SchemeT = math::BIAS_SCHEME<SpatialScheme>;
216 using StencilT = typename SchemeT::template ISStencil<GridType>::StencilType;
217 using MaskLeafT = typename MaskT::LeafNodeType;
218 using MaskIterT = typename MaskLeafT::ValueOnCIter;
219 using VoxelIterT = typename LeafType::ValueOnCIter;
220
221 Normalizer(LevelSetTracker& tracker, const MaskT* mask);
222 void normalize();
223 void operator()(const LeafRange& r) const {mTask(const_cast<Normalizer*>(this), r);}
224 void cook(const char* msg, int swapBuffer=0);
225 template <int Nominator, int Denominator>
226 void euler(const LeafRange& range, Index phiBuffer, Index resultBuffer);
227 inline void euler01(const LeafRange& r) {this->euler<0,1>(r, 0, 1);}
228 inline void euler12(const LeafRange& r) {this->euler<1,2>(r, 1, 1);}
229 inline void euler34(const LeafRange& r) {this->euler<3,4>(r, 1, 2);}
230 inline void euler13(const LeafRange& r) {this->euler<1,3>(r, 1, 2);}
231 template <int Nominator, int Denominator>
232 void eval(StencilT& stencil, const ValueType* phi, ValueType* result, Index n) const;
233 LevelSetTracker& mTracker;
234 const MaskT* mMask;
235 const ValueType mDt, mInvDx;
236 typename std::function<void (Normalizer*, const LeafRange&)> mTask;
237 }; // Normalizer struct
238
239 template<math::BiasedGradientScheme SpatialScheme, typename MaskT>
240 void normalize1(const MaskT* mask);
241
242 template<math::BiasedGradientScheme SpatialScheme,
243 math::TemporalIntegrationScheme TemporalScheme, typename MaskT>
244 void normalize2(const MaskT* mask);
245
246 // Throughout the methods below mLeafs is always assumed to contain
247 // a list of the current LeafNodes! The auxiliary buffers on the
248 // other hand always have to be allocated locally, since some
249 // methods need them and others don't!
250 GridType* mGrid;
251 LeafManagerType* mLeafs;
252 InterruptT* mInterrupter;
253 const ValueType mDx;
254 State mState;
255 TrimMode mTrimMode = TrimMode::kAll;
256}; // end of LevelSetTracker class
257
258 template<typename GridT, typename InterruptT>
259 LevelSetTracker<GridT, InterruptT>::
260 LevelSetTracker(GridT& grid, InterruptT* interrupt):
261 mGrid(&grid),
262 mLeafs(new LeafManagerType(grid.tree())),
263 mInterrupter(interrupt),
264 mDx(static_cast<ValueType>(grid.voxelSize()[0])),
265 mState()
266{
267 if ( !grid.hasUniformVoxels() ) {
268 OPENVDB_THROW(RuntimeError,
269 "The transform must have uniform scale for the LevelSetTracker to function");
270 }
271 if ( grid.getGridClass() != GRID_LEVEL_SET) {
272 OPENVDB_THROW(RuntimeError,
273 "LevelSetTracker expected a level set, got a grid of class \""
274 + grid.gridClassToString(grid.getGridClass())
275 + "\" [hint: Grid::setGridClass(openvdb::GRID_LEVEL_SET)]");
276 }
277}
278
279 template<typename GridT, typename InterruptT>
280 void
281 LevelSetTracker<GridT, InterruptT>::
282 prune()
283{
284 this->startInterrupter("Pruning Level Set");
285
286 // Set voxels that are too far away from the zero crossing to the background value.
287 switch (mTrimMode) {
288 case TrimMode::kNone: break;
289 case TrimMode::kInterior: Trim<TrimMode::kInterior>(*this).trim(); break;
290 case TrimMode::kExterior: Trim<TrimMode::kExterior>(*this).trim(); break;
291 case TrimMode::kAll: Trim<TrimMode::kAll>(*this).trim(); break;
292 }
293
294 // Remove inactive nodes from tree
295 tools::pruneLevelSet(mGrid->tree());
296
297 // The tree topology has changes so rebuild the list of leafs
298 mLeafs->rebuildLeafArray();
299 this->endInterrupter();
300}
301
302 template<typename GridT, typename InterruptT>
303 void
304 LevelSetTracker<GridT, InterruptT>::
305 track()
306{
307 // Dilate narrow-band (this also rebuilds the leaf array!)
308 tools::dilateActiveValues( *mLeafs, 1, tools::NN_FACE, tools::IGNORE_TILES);
309
310 // Compute signed distances in dilated narrow-band
311 this->normalize();
312
313 // Remove voxels that are outside the narrow band
314 this->prune();
315}
316
317 template<typename GridT, typename InterruptT>
318 void
319 LevelSetTracker<GridT, InterruptT>::
320 dilate(int iterations)
321{
322 if (this->getNormCount() == 0) {
323 for (int i=0; i < iterations; ++i) {
324 tools::dilateActiveValues( *mLeafs, 1, tools::NN_FACE, tools::IGNORE_TILES);
325 tools::changeLevelSetBackground(this->leafs(), mDx + mGrid->background());
326 }
327 } else {
328 for (int i=0; i < iterations; ++i) {
329 MaskTreeType mask0(mGrid->tree(), false, TopologyCopy());
330 tools::dilateActiveValues( *mLeafs, 1, tools::NN_FACE, tools::IGNORE_TILES);
331 tools::changeLevelSetBackground(this->leafs(), mDx + mGrid->background());
332 MaskTreeType mask(mGrid->tree(), false, TopologyCopy());
333 mask.topologyDifference(mask0);
334 this->normalize(&mask);
335 }
336 }
337}
338
339 template<typename GridT, typename InterruptT>
340 void
341 LevelSetTracker<GridT, InterruptT>::
342 erode(int iterations)
343{
344 tools::erodeActiveValues(*mLeafs, iterations, tools::NN_FACE, tools::IGNORE_TILES);
345 tools::pruneLevelSet(mLeafs->tree());
346 mLeafs->rebuildLeafArray();
347 const ValueType background = mGrid->background() - ValueType(iterations) * mDx;
348 tools::changeLevelSetBackground(this->leafs(), background);
349}
350
351 template<typename GridT, typename InterruptT>
352 bool
353 LevelSetTracker<GridT, InterruptT>::
354 resize(Index halfWidth)
355{
356 const int wOld = static_cast<int>(math::RoundDown(this->getHalfWidth()));
357 const int wNew = static_cast<int>(halfWidth);
358 if (wOld < wNew) {
359 this->dilate(wNew - wOld);
360 } else if (wOld > wNew) {
361 this->erode(wOld - wNew);
362 }
363 return wOld != wNew;
364}
365
366 template<typename GridT, typename InterruptT>
367 inline void
368 LevelSetTracker<GridT, InterruptT>::
369 startInterrupter(const char* msg)
370{
371 if (mInterrupter) mInterrupter->start(msg);
372}
373
374 template<typename GridT, typename InterruptT>
375 inline void
376 LevelSetTracker<GridT, InterruptT>::
377 endInterrupter()
378{
379 if (mInterrupter) mInterrupter->end();
380}
381
382 template<typename GridT, typename InterruptT>
383 inline bool
384 LevelSetTracker<GridT, InterruptT>::
385 checkInterrupter()
386{
387 if (util::wasInterrupted(mInterrupter)) {
388 thread::cancelGroupExecution();
389 return false;
390 }
391 return true;
392}
393
394 template<typename GridT, typename InterruptT>
395 template<typename MaskT>
396 void
397 LevelSetTracker<GridT, InterruptT>::
398 normalize(const MaskT* mask)
399{
400 switch (this->getSpatialScheme()) {
401 case math::FIRST_BIAS:
402 this->normalize1<math::FIRST_BIAS , MaskT>(mask); break;
403 case math::SECOND_BIAS:
404 this->normalize1<math::SECOND_BIAS, MaskT>(mask); break;
405 case math::THIRD_BIAS:
406 this->normalize1<math::THIRD_BIAS, MaskT>(mask); break;
407 case math::WENO5_BIAS:
408 this->normalize1<math::WENO5_BIAS, MaskT>(mask); break;
409 case math::HJWENO5_BIAS:
410 this->normalize1<math::HJWENO5_BIAS, MaskT>(mask); break;
411 case math::UNKNOWN_BIAS:
412 default:
413 OPENVDB_THROW(ValueError, "Spatial difference scheme not supported!");
414 }
415}
416
417 template<typename GridT, typename InterruptT>
418 template<math::BiasedGradientScheme SpatialScheme, typename MaskT>
419 void
420 LevelSetTracker<GridT, InterruptT>::
421 normalize1(const MaskT* mask)
422{
423 switch (this->getTemporalScheme()) {
424 case math::TVD_RK1:
425 this->normalize2<SpatialScheme, math::TVD_RK1, MaskT>(mask); break;
426 case math::TVD_RK2:
427 this->normalize2<SpatialScheme, math::TVD_RK2, MaskT>(mask); break;
428 case math::TVD_RK3:
429 this->normalize2<SpatialScheme, math::TVD_RK3, MaskT>(mask); break;
430 case math::UNKNOWN_TIS:
431 default:
432 OPENVDB_THROW(ValueError, "Temporal integration scheme not supported!");
433 }
434}
435
436 template<typename GridT, typename InterruptT>
437 template<math::BiasedGradientScheme SpatialScheme,
438 math::TemporalIntegrationScheme TemporalScheme,
439 typename MaskT>
440 void
441LevelSetTracker<GridT, InterruptT>::
442normalize2(const MaskT* mask)
443{
444 Normalizer<SpatialScheme, TemporalScheme, MaskT> tmp(*this, mask);
445 tmp.normalize();
446}
447
448
449////////////////////////////////////////////////////////////////////////////
450
451
452 template<typename GridT, typename InterruptT>
453 template<lstrack::TrimMode Trimming>
454 void
455LevelSetTracker<GridT, InterruptT>::Trim<Trimming>::trim()
456{
457 OPENVDB_NO_UNREACHABLE_CODE_WARNING_BEGIN
458 if (Trimming != TrimMode::kNone) {
459 const int grainSize = mTracker.getGrainSize();
460 const LeafRange range = mTracker.leafs().leafRange(grainSize);
461
462 if (grainSize>0) {
463 tbb::parallel_for(range, *this);
464 } else {
465 (*this)(range);
466 }
467 }
468 OPENVDB_NO_UNREACHABLE_CODE_WARNING_END
469}
470
471
472/// Trim away voxels that have moved outside the narrow band
473 template<typename GridT, typename InterruptT>
474 template<lstrack::TrimMode Trimming>
475 inline void
476LevelSetTracker<GridT, InterruptT>::Trim<Trimming>::operator()(const LeafRange& range) const
477{
478 mTracker.checkInterrupter();
479 const ValueType gamma = mTracker.mGrid->background();
480
481 OPENVDB_NO_UNREACHABLE_CODE_WARNING_BEGIN
482 for (auto leafIter = range.begin(); leafIter; ++leafIter) {
483 auto& leaf = *leafIter;
484 for (auto iter = leaf.beginValueOn(); iter; ++iter) {
485 const auto val = *iter;
486 switch (Trimming) { // resolved at compile time
487 case TrimMode::kNone:
488 break;
489 case TrimMode::kInterior:
490 if (val <= -gamma) { leaf.setValueOff(iter.pos(), -gamma); }
491 break;
492 case TrimMode::kExterior:
493 if (val >= gamma) { leaf.setValueOff(iter.pos(), gamma); }
494 break;
495 case TrimMode::kAll:
496 if (val <= -gamma) {
497 leaf.setValueOff(iter.pos(), -gamma);
498 } else if (val >= gamma) {
499 leaf.setValueOff(iter.pos(), gamma);
500 }
501 break;
502 }
503 }
504 }
505 OPENVDB_NO_UNREACHABLE_CODE_WARNING_END
506}
507
508
509////////////////////////////////////////////////////////////////////////////
510
511 template<typename GridT, typename InterruptT>
512 template<math::BiasedGradientScheme SpatialScheme,
513 math::TemporalIntegrationScheme TemporalScheme,
514 typename MaskT>
515 inline
516LevelSetTracker<GridT, InterruptT>::
517Normalizer<SpatialScheme, TemporalScheme, MaskT>::
518Normalizer(LevelSetTracker& tracker, const MaskT* mask)
519 : mTracker(tracker)
520 , mMask(mask)
521 , mDt(tracker.voxelSize()*(TemporalScheme == math::TVD_RK1 ? 0.3f :
522 TemporalScheme == math::TVD_RK2 ? 0.9f : 1.0f))
523 , mInvDx(1.0f/tracker.voxelSize())
524 , mTask(nullptr)
525{
526}
527
528 template<typename GridT, typename InterruptT>
529 template<math::BiasedGradientScheme SpatialScheme,
530 math::TemporalIntegrationScheme TemporalScheme,
531 typename MaskT>
532 inline void
533 LevelSetTracker<GridT, InterruptT>::
534 Normalizer<SpatialScheme, TemporalScheme, MaskT>::
535 normalize()
536{
537 namespace ph = std::placeholders;
538
539 /// Make sure we have enough temporal auxiliary buffers
540 mTracker.mLeafs->rebuildAuxBuffers(TemporalScheme == math::TVD_RK3 ? 2 : 1);
541
542 for (int n=0, e=mTracker.getNormCount(); n < e; ++n) {
543
544 OPENVDB_NO_UNREACHABLE_CODE_WARNING_BEGIN
545 switch(TemporalScheme) {//switch is resolved at compile-time
546 case math::TVD_RK1:
547 // Perform one explicit Euler step: t1 = t0 + dt
548 // Phi_t1(0) = Phi_t0(0) - dt * VdotG_t0(1)
549 mTask = std::bind(&Normalizer::euler01, ph::_1, ph::_2);
550
551 // Cook and swap buffer 0 and 1 such that Phi_t1(0) and Phi_t0(1)
552 this->cook("Normalizing level set using TVD_RK1", 1);
553 break;
554 case math::TVD_RK2:
555 // Perform one explicit Euler step: t1 = t0 + dt
556 // Phi_t1(1) = Phi_t0(0) - dt * VdotG_t0(1)
557 mTask = std::bind(&Normalizer::euler01, ph::_1, ph::_2);
558
559 // Cook and swap buffer 0 and 1 such that Phi_t1(0) and Phi_t0(1)
560 this->cook("Normalizing level set using TVD_RK1 (step 1 of 2)", 1);
561
562 // Convex combine explicit Euler step: t2 = t0 + dt
563 // Phi_t2(1) = 1/2 * Phi_t0(1) + 1/2 * (Phi_t1(0) - dt * V.Grad_t1(0))
564 mTask = std::bind(&Normalizer::euler12, ph::_1, ph::_2);
565
566 // Cook and swap buffer 0 and 1 such that Phi_t2(0) and Phi_t1(1)
567 this->cook("Normalizing level set using TVD_RK1 (step 2 of 2)", 1);
568 break;
569 case math::TVD_RK3:
570 // Perform one explicit Euler step: t1 = t0 + dt
571 // Phi_t1(1) = Phi_t0(0) - dt * VdotG_t0(1)
572 mTask = std::bind(&Normalizer::euler01, ph::_1, ph::_2);
573
574 // Cook and swap buffer 0 and 1 such that Phi_t1(0) and Phi_t0(1)
575 this->cook("Normalizing level set using TVD_RK3 (step 1 of 3)", 1);
576
577 // Convex combine explicit Euler step: t2 = t0 + dt/2
578 // Phi_t2(2) = 3/4 * Phi_t0(1) + 1/4 * (Phi_t1(0) - dt * V.Grad_t1(0))
579 mTask = std::bind(&Normalizer::euler34, ph::_1, ph::_2);
580
581 // Cook and swap buffer 0 and 2 such that Phi_t2(0) and Phi_t1(2)
582 this->cook("Normalizing level set using TVD_RK3 (step 2 of 3)", 2);
583
584 // Convex combine explicit Euler step: t3 = t0 + dt
585 // Phi_t3(2) = 1/3 * Phi_t0(1) + 2/3 * (Phi_t2(0) - dt * V.Grad_t2(0)
586 mTask = std::bind(&Normalizer::euler13, ph::_1, ph::_2);
587
588 // Cook and swap buffer 0 and 2 such that Phi_t3(0) and Phi_t2(2)
589 this->cook("Normalizing level set using TVD_RK3 (step 3 of 3)", 2);
590 break;
591 case math::UNKNOWN_TIS:
592 default:
593 OPENVDB_THROW(ValueError, "Temporal integration scheme not supported!");
594 }
595 OPENVDB_NO_UNREACHABLE_CODE_WARNING_END
596 }
597 mTracker.mLeafs->removeAuxBuffers();
598}
599
600/// Private method to perform the task (serial or threaded) and
601/// subsequently swap the leaf buffers.
602 template<typename GridT, typename InterruptT>
603 template<math::BiasedGradientScheme SpatialScheme,
604 math::TemporalIntegrationScheme TemporalScheme,
605 typename MaskT>
606 inline void
607LevelSetTracker<GridT, InterruptT>::
608Normalizer<SpatialScheme, TemporalScheme, MaskT>::
609cook(const char* msg, int swapBuffer)
610{
611 mTracker.startInterrupter( msg );
612
613 const int grainSize = mTracker.getGrainSize();
614 const LeafRange range = mTracker.leafs().leafRange(grainSize);
615
616 grainSize>0 ? tbb::parallel_for(range, *this) : (*this)(range);
617
618 mTracker.leafs().swapLeafBuffer(swapBuffer, grainSize==0);
619
620 mTracker.endInterrupter();
621}
622
623 template<typename GridT, typename InterruptT>
624 template<math::BiasedGradientScheme SpatialScheme,
625 math::TemporalIntegrationScheme TemporalScheme,
626 typename MaskT>
627 template <int Nominator, int Denominator>
628 inline void
629LevelSetTracker<GridT, InterruptT>::
630Normalizer<SpatialScheme, TemporalScheme, MaskT>::
631eval(StencilT& stencil, const ValueType* phi, ValueType* result, Index n) const
632{
633 using GradientT = typename math::ISGradientNormSqrd<SpatialScheme>;
634 static const ValueType alpha = ValueType(Nominator)/ValueType(Denominator);
635 static const ValueType beta = ValueType(1) - alpha;
636
637 const ValueType normSqGradPhi = GradientT::result(stencil);
638 const ValueType phi0 = stencil.getValue();
639 ValueType v = phi0 / ( math::Sqrt(math::Pow2(phi0) + normSqGradPhi) +
640 math::Tolerance<ValueType>::value() );
641 v = phi0 - mDt * v * (math::Sqrt(normSqGradPhi) * mInvDx - 1.0f);
642 result[n] = Nominator ? alpha * phi[n] + beta * v : v;
643}
644
645 template<typename GridT, typename InterruptT>
646 template<math::BiasedGradientScheme SpatialScheme,
647 math::TemporalIntegrationScheme TemporalScheme,
648 typename MaskT>
649 template <int Nominator, int Denominator>
650 inline void
651LevelSetTracker<GridT,InterruptT>::
652Normalizer<SpatialScheme, TemporalScheme, MaskT>::
653euler(const LeafRange& range, Index phiBuffer, Index resultBuffer)
654{
655 mTracker.checkInterrupter();
656
657 StencilT stencil(mTracker.grid());
658
659 for (typename LeafRange::Iterator leafIter = range.begin(); leafIter; ++leafIter) {
660 const ValueType* phi = leafIter.buffer(phiBuffer).data();
661 ValueType* result = leafIter.buffer(resultBuffer).data();
662 if (mMask == nullptr) {
663 for (auto iter = leafIter->cbeginValueOn(); iter; ++iter) {
664 stencil.moveTo(iter);
665 this->eval<Nominator, Denominator>(stencil, phi, result, iter.pos());
666 }//loop over active voxels in the leaf of the level set
667 } else if (const MaskLeafT* mask = mMask->probeLeaf(leafIter->origin())) {
668 const ValueType* phi0 = leafIter->buffer().data();
669 for (MaskIterT iter = mask->cbeginValueOn(); iter; ++iter) {
670 const Index i = iter.pos();
671 stencil.moveTo(iter.getCoord(), phi0[i]);
672 this->eval<Nominator, Denominator>(stencil, phi, result, i);
673 }//loop over active voxels in the leaf of the mask
674 }
675 }//loop over leafs of the level set
676}
677
678
679////////////////////////////////////////
680
681
682// Explicit Template Instantiation
683
684#ifdef OPENVDB_USE_EXPLICIT_INSTANTIATION
685
686#ifdef OPENVDB_INSTANTIATE_LEVELSETTRACKER
687#include <openvdb/util/ExplicitInstantiation.h>
688#endif
689
690 OPENVDB_INSTANTIATE_CLASS LevelSetTracker<FloatGrid, util::NullInterrupter>;
691 OPENVDB_INSTANTIATE_CLASS LevelSetTracker<DoubleGrid, util::NullInterrupter>;
692
693#endif // OPENVDB_USE_EXPLICIT_INSTANTIATION
694
695
696} // namespace tools
697} // namespace OPENVDB_VERSION_NAME
698} // namespace openvdb
699
700#endif // OPENVDB_TOOLS_LEVEL_SET_TRACKER_HAS_BEEN_INCLUDED
ChangeBackground.h
Efficient multi-threaded replacement of the background values in tree.
OPENVDB_THROW
#define OPENVDB_THROW(exception, message)
Definition Exceptions.h:74
ExplicitInstantiation.h
FiniteDifference.h
Grid.h
LeafManager.h
A LeafManager manages a linear array of pointers to a given tree's leaf nodes, as well as optional au...
Math.h
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
Morphology.h
Implementation of morphological dilation and erosion.
NullInterrupter.h
Operators.h
OPENVDB_NO_UNREACHABLE_CODE_WARNING_END
#define OPENVDB_NO_UNREACHABLE_CODE_WARNING_END
Definition Platform.h:141
OPENVDB_NO_UNREACHABLE_CODE_WARNING_BEGIN
#define OPENVDB_NO_UNREACHABLE_CODE_WARNING_BEGIN
Definition Platform.h:140
Prune.h
Defined various multi-threaded utility functions for trees.
Transform.h
Types.h
ValueAccessor.h
ValueAccessors are designed to help accelerate accesses into the OpenVDB Tree structures by storing c...
openvdb::v11_0::RuntimeError
Definition Exceptions.h:63
openvdb::v11_0::TopologyCopy
Tag dispatch class that distinguishes topology copy constructors from deep copy constructors.
Definition Types.h:683
openvdb::v11_0::ValueError
Definition Exceptions.h:65
openvdb::v11_0::tools::LevelSetTracker
Performs multi-threaded interface tracking of narrow band level sets.
Definition LevelSetTracker.h:58
openvdb::v11_0::tools::LevelSetTracker::checkInterrupter
bool checkInterrupter()
Definition LevelSetTracker.h:385
openvdb::v11_0::tools::LevelSetTracker::getHalfWidth
ValueType getHalfWidth() const
Return the half width of the narrow band in floating-point voxel units.
Definition LevelSetTracker.h:135
openvdb::v11_0::tools::LevelSetTracker::ValueType
typename TreeType::ValueType ValueType
Definition LevelSetTracker.h:65
openvdb::v11_0::tools::LevelSetTracker::setTemporalScheme
void setTemporalScheme(math::TemporalIntegrationScheme s)
Set the spatial finite difference scheme.
Definition LevelSetTracker.h:153
openvdb::v11_0::tools::LevelSetTracker::voxelSize
ValueType voxelSize() const
Definition LevelSetTracker.h:178
openvdb::v11_0::tools::LevelSetTracker::erode
void erode(int iterations=1)
Erodes the width of the narrow-band and update the background values.
Definition LevelSetTracker.h:342
openvdb::v11_0::tools::LevelSetTracker::leafs
const LeafManagerType & leafs() const
Definition LevelSetTracker.h:191
openvdb::v11_0::tools::LevelSetTracker::setState
void setState(const State &s)
Set the state of the tracker (see struct defined above)
Definition LevelSetTracker.h:141
openvdb::v11_0::tools::LevelSetTracker::LevelSetTracker
LevelSetTracker(GridT &grid, InterruptT *interrupt=nullptr)
Main constructor.
Definition LevelSetTracker.h:260
openvdb::v11_0::tools::LevelSetTracker::getTemporalScheme
math::TemporalIntegrationScheme getTemporalScheme() const
Definition LevelSetTracker.h:150
openvdb::v11_0::tools::LevelSetTracker::LeafManagerType
typename tree::LeafManager< TreeType > LeafManagerType
Definition LevelSetTracker.h:66
openvdb::v11_0::tools::LevelSetTracker::prune
void prune()
Set voxels that are outside the narrow band to the background value (if trimming is enabled) and prun...
Definition LevelSetTracker.h:282
openvdb::v11_0::tools::LevelSetTracker::getSpatialScheme
math::BiasedGradientScheme getSpatialScheme() const
Definition LevelSetTracker.h:144
openvdb::v11_0::tools::LevelSetTracker::endInterrupter
void endInterrupter()
Definition LevelSetTracker.h:377
openvdb::v11_0::tools::LevelSetTracker::normalize
void normalize(const MaskType *mask)
Iterative normalization, i.e. solving the Eikonal equation.
openvdb::v11_0::tools::LevelSetTracker::setGrainSize
void setGrainSize(int grainsize)
Set the grain-size used for multi-threading.
Definition LevelSetTracker.h:168
openvdb::v11_0::tools::LevelSetTracker::setSpatialScheme
void setSpatialScheme(math::BiasedGradientScheme s)
Set the spatial finite difference scheme.
Definition LevelSetTracker.h:147
openvdb::v11_0::tools::LevelSetTracker::trimming
TrimMode trimming() const
Return the trimming mode for voxels outside the narrow band.
Definition LevelSetTracker.h:173
openvdb::v11_0::tools::LevelSetTracker::getGrainSize
int getGrainSize() const
Definition LevelSetTracker.h:164
openvdb::v11_0::tools::LevelSetTracker::setNormCount
void setNormCount(int n)
Set the number of normalizations performed per track or normalize call.
Definition LevelSetTracker.h:161
openvdb::v11_0::tools::LevelSetTracker::getState
State getState() const
Return the state of the tracker (see struct defined above)
Definition LevelSetTracker.h:138
openvdb::v11_0::tools::LevelSetTracker::startInterrupter
void startInterrupter(const char *msg)
Definition LevelSetTracker.h:369
openvdb::v11_0::tools::LevelSetTracker::MaskTreeType
typename TreeType::template ValueConverter< ValueMask >::Type MaskTreeType
Definition LevelSetTracker.h:69
openvdb::v11_0::tools::LevelSetTracker::LeafRange
typename LeafManagerType::LeafRange LeafRange
Definition LevelSetTracker.h:67
openvdb::v11_0::tools::LevelSetTracker::TreeType
typename GridT::TreeType TreeType
Definition LevelSetTracker.h:63
openvdb::v11_0::tools::LevelSetTracker::resize
bool resize(Index halfWidth=static_cast< Index >(LEVEL_SET_HALF_WIDTH))
Resize the width of the narrow band, i.e. perform dilation and renormalization or erosion as required...
Definition LevelSetTracker.h:354
openvdb::v11_0::tools::LevelSetTracker::BufferType
typename LeafManagerType::BufferType BufferType
Definition LevelSetTracker.h:68
openvdb::v11_0::tools::LevelSetTracker::grid
const GridType & grid() const
Definition LevelSetTracker.h:187
openvdb::v11_0::tools::LevelSetTracker::setTrimming
void setTrimming(TrimMode mode)
Specify whether to trim voxels outside the narrow band prior to pruning.
Definition LevelSetTracker.h:176
openvdb::v11_0::tools::LevelSetTracker::normalize
void normalize()
Iterative normalization, i.e. solving the Eikonal equation.
Definition LevelSetTracker.h:97
openvdb::v11_0::tools::LevelSetTracker::leafs
LeafManagerType & leafs()
Definition LevelSetTracker.h:189
openvdb::v11_0::tools::LevelSetTracker::dilate
void dilate(int iterations=1)
Fast but approximate dilation of the narrow band - one layer at a time. Normally we recommend using t...
Definition LevelSetTracker.h:320
openvdb::v11_0::tools::LevelSetTracker::LeafType
typename TreeType::LeafNodeType LeafType
Definition LevelSetTracker.h:64
openvdb::v11_0::tools::LevelSetTracker::GridType
GridT GridType
Definition LevelSetTracker.h:62
openvdb::v11_0::tools::LevelSetTracker::getNormCount
int getNormCount() const
Definition LevelSetTracker.h:157
openvdb::v11_0::tools::LevelSetTracker::~LevelSetTracker
virtual ~LevelSetTracker()
Definition LevelSetTracker.h:89
openvdb::v11_0::tools::LevelSetTracker::track
void track()
Track the level set interface, i.e. rebuild and normalize the narrow band of the level set.
Definition LevelSetTracker.h:305
openvdb::v11_0::tree::LeafManager
This class manages a linear array of pointers to a given tree's leaf nodes, as well as optional auxil...
Definition LeafManager.h:85
nanovdb::GridType
GridType
List of types that are currently supported by NanoVDB.
Definition NanoVDB.h:317
openvdb::v11_0::math::TemporalIntegrationScheme
TemporalIntegrationScheme
Temporal integration schemes.
Definition FiniteDifference.h:233
openvdb::v11_0::math::TVD_RK1
@ TVD_RK1
Definition FiniteDifference.h:235
openvdb::v11_0::math::UNKNOWN_TIS
@ UNKNOWN_TIS
Definition FiniteDifference.h:234
openvdb::v11_0::math::TVD_RK2
@ TVD_RK2
Definition FiniteDifference.h:236
openvdb::v11_0::math::TVD_RK3
@ TVD_RK3
Definition FiniteDifference.h:237
openvdb::v11_0::math::Sqrt
float Sqrt(float x)
Return the square root of a floating-point value.
Definition Math.h:761
openvdb::v11_0::math::BiasedGradientScheme
BiasedGradientScheme
Biased Gradients are limited to non-centered differences.
Definition FiniteDifference.h:164
openvdb::v11_0::math::FIRST_BIAS
@ FIRST_BIAS
Definition FiniteDifference.h:166
openvdb::v11_0::math::THIRD_BIAS
@ THIRD_BIAS
Definition FiniteDifference.h:168
openvdb::v11_0::math::WENO5_BIAS
@ WENO5_BIAS
Definition FiniteDifference.h:169
openvdb::v11_0::math::UNKNOWN_BIAS
@ UNKNOWN_BIAS
Definition FiniteDifference.h:165
openvdb::v11_0::math::SECOND_BIAS
@ SECOND_BIAS
Definition FiniteDifference.h:167
openvdb::v11_0::math::HJWENO5_BIAS
@ HJWENO5_BIAS
Definition FiniteDifference.h:170
openvdb::v11_0::math::RoundDown
float RoundDown(float x)
Return x rounded down to the nearest integer.
Definition Math.h:803
openvdb::v11_0::math::Pow2
Type Pow2(Type x)
Return x2.
Definition Math.h:548
openvdb::v11_0::points::index::State
State
Definition IndexIterator.h:40
openvdb::v11_0::tools::lstrack::TrimMode
TrimMode
How to handle voxels that fall outside the narrow band.
Definition LevelSetTracker.h:45
openvdb::v11_0::tools::lstrack::TrimMode::kInterior
@ kInterior
Set out-of-band interior voxels to the background value.
openvdb::v11_0::tools::lstrack::TrimMode::kAll
@ kAll
Set all out-of-band voxels to the background value.
openvdb::v11_0::tools::lstrack::TrimMode::kNone
@ kNone
Leave out-of-band voxels intact.
openvdb::v11_0::tools::lstrack::TrimMode::kExterior
@ kExterior
Set out-of-band exterior voxels to the background value.
openvdb::v11_0::tools::NN_FACE
@ NN_FACE
Definition Morphology.h:59
openvdb::v11_0::tools::pruneLevelSet
void pruneLevelSet(TreeT &tree, bool threaded=true, size_t grainSize=1)
Reduce the memory footprint of a tree by replacing nodes whose values are all inactive with inactive ...
Definition Prune.h:390
openvdb::v11_0::tools::erodeActiveValues
void erodeActiveValues(TreeOrLeafManagerT &tree, const int iterations=1, const NearestNeighbors nn=NN_FACE, const TilePolicy mode=PRESERVE_TILES, const bool threaded=true)
Topologically erode all active values (i.e. both voxels and tiles) in a tree using one of three neare...
Definition Morphology.h:1133
openvdb::v11_0::tools::dilateActiveValues
void dilateActiveValues(TreeOrLeafManagerT &tree, const int iterations=1, const NearestNeighbors nn=NN_FACE, const TilePolicy mode=PRESERVE_TILES, const bool threaded=true)
Topologically dilate all active values (i.e. both voxels and tiles) in a tree using one of three near...
Definition Morphology.h:1056
openvdb::v11_0::tools::prune
void prune(TreeT &tree, typename TreeT::ValueType tolerance=zeroVal< typename TreeT::ValueType >(), bool threaded=true, size_t grainSize=1)
Reduce the memory footprint of a tree by replacing with tiles any nodes whose values are all the same...
Definition Prune.h:335
openvdb::v11_0::tools::IGNORE_TILES
@ IGNORE_TILES
Definition Morphology.h:81
openvdb::v11_0::tools::changeLevelSetBackground
void changeLevelSetBackground(TreeOrLeafManagerT &tree, const typename TreeOrLeafManagerT::ValueType &halfWidth, bool threaded=true, size_t grainSize=32)
Replace the background value in all the nodes of a floating-point tree containing a symmetric narrow-...
Definition ChangeBackground.h:234
openvdb::v11_0::tools::normalize
GridType::Ptr normalize(const GridType &grid, bool threaded, InterruptT *interrupt)
Normalize the vectors of the given vector-valued grid.
Definition GridOperators.h:1069
openvdb::v11_0::util::wasInterrupted
bool wasInterrupted(T *i, int percent=-1)
Definition NullInterrupter.h:49
openvdb::v11_0::Index
Index32 Index
Definition Types.h:54
openvdb::v11_0::GRID_LEVEL_SET
@ GRID_LEVEL_SET
Definition Types.h:455
openvdb
Definition Exceptions.h:13
Stencils.h
Defines various finite difference stencils by means of the "curiously recurring template pattern" on ...
openvdb::v11_0::math::BIAS_SCHEME
Definition Operators.h:129
openvdb::v11_0::math::Tolerance::value
static T value()
Definition Math.h:148
openvdb::v11_0::tools::LevelSetTracker::State
Lightweight struct that stores the state of the LevelSetTracker.
Definition LevelSetTracker.h:74
openvdb::v11_0::tools::LevelSetTracker::State::spatialScheme
math::BiasedGradientScheme spatialScheme
Definition LevelSetTracker.h:79
openvdb::v11_0::tools::LevelSetTracker::State::grainSize
int grainSize
Definition LevelSetTracker.h:82
openvdb::v11_0::tools::LevelSetTracker::State::temporalScheme
math::TemporalIntegrationScheme temporalScheme
Definition LevelSetTracker.h:80
openvdb::v11_0::tools::LevelSetTracker::State::normCount
int normCount
Definition LevelSetTracker.h:81
openvdb::v11_0::tools::LevelSetTracker::State::State
State(math::BiasedGradientScheme s=math::HJWENO5_BIAS, math::TemporalIntegrationScheme t=math::TVD_RK1, int n=static_cast< int >(LEVEL_SET_HALF_WIDTH), int g=1)
Definition LevelSetTracker.h:75
OPENVDB_VERSION_NAME
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition version.h.in:121
OPENVDB_USE_VERSION_NAMESPACE
#define OPENVDB_USE_VERSION_NAMESPACE
Definition version.h.in:212
OPENVDB_INSTANTIATE_CLASS
#define OPENVDB_INSTANTIATE_CLASS
Definition version.h.in:153