OpenVDB  6.1.0
GridTransformer.h
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30 
33 
34 #ifndef OPENVDB_TOOLS_GRIDTRANSFORMER_HAS_BEEN_INCLUDED
35 #define OPENVDB_TOOLS_GRIDTRANSFORMER_HAS_BEEN_INCLUDED
36 
37 #include <openvdb/Grid.h>
38 #include <openvdb/Types.h>
39 #include <openvdb/math/Math.h> // for isApproxEqual()
41 #include "ChangeBackground.h"
42 #include "Interpolation.h"
43 #include "LevelSetRebuild.h" // for doLevelSetRebuild()
44 #include "SignedFloodFill.h" // for signedFloodFill
45 #include "Prune.h" // for pruneLevelSet
46 #include <tbb/blocked_range.h>
47 #include <tbb/parallel_reduce.h>
48 #include <cmath>
49 #include <functional>
50 
51 namespace openvdb {
53 namespace OPENVDB_VERSION_NAME {
54 namespace tools {
55 
79 template<typename Sampler, typename Interrupter, typename GridType>
80 inline void
81 resampleToMatch(const GridType& inGrid, GridType& outGrid, Interrupter& interrupter);
82 
104 template<typename Sampler, typename GridType>
105 inline void
106 resampleToMatch(const GridType& inGrid, GridType& outGrid);
107 
108 
110 
111 
112 namespace internal {
113 
117 template<typename Sampler, typename TreeT>
118 class TileSampler: public Sampler
119 {
120 public:
121  using ValueT = typename TreeT::ValueType;
122 
126  TileSampler(const CoordBBox& b, const ValueT& tileVal, bool on):
127  mBBox(b.min().asVec3d(), b.max().asVec3d()), mVal(tileVal), mActive(on), mEmpty(false)
128  {
129  mBBox.expand(-this->radius()); // shrink the bounding box by the sample radius
130  mEmpty = mBBox.empty();
131  }
132 
133  bool sample(const TreeT& inTree, const Vec3R& inCoord, ValueT& result) const
134  {
135  if (!mEmpty && mBBox.isInside(inCoord)) { result = mVal; return mActive; }
136  return Sampler::sample(inTree, inCoord, result);
137  }
138 
139 protected:
142  bool mActive, mEmpty;
143 };
144 
145 
148 template<typename TreeT>
149 class TileSampler<PointSampler, TreeT>: public PointSampler {
150 public:
151  TileSampler(const CoordBBox&, const typename TreeT::ValueType&, bool) {}
152 };
153 
156 template<typename TreeT>
158 public:
159  TileSampler(const CoordBBox&, const typename TreeT::ValueType&, bool) {}
160 };
161 
162 } // namespace internal
163 
164 
166 
167 
186 {
187 public:
189  using InterruptFunc = std::function<bool (void)>;
190 
191  GridResampler(): mThreaded(true), mTransformTiles(true) {}
192  virtual ~GridResampler() {}
193 
194  GridResampler(const GridResampler&) = default;
195  GridResampler& operator=(const GridResampler&) = default;
196 
198  void setThreaded(bool b) { mThreaded = b; }
200  bool threaded() const { return mThreaded; }
202  void setTransformTiles(bool b) { mTransformTiles = b; }
204  bool transformTiles() const { return mTransformTiles; }
205 
209  template<typename InterrupterType> void setInterrupter(InterrupterType&);
210 
211  template<typename Sampler, typename GridT, typename Transformer>
212  void transformGrid(const Transformer&,
213  const GridT& inGrid, GridT& outGrid) const;
214 
215 protected:
216  template<typename Sampler, typename GridT, typename Transformer>
217  void applyTransform(const Transformer&, const GridT& inGrid, GridT& outGrid) const;
218 
219  bool interrupt() const { return mInterrupt && mInterrupt(); }
220 
221 private:
222  template<typename Sampler, typename InTreeT, typename OutTreeT, typename Transformer>
223  static void transformBBox(const Transformer&, const CoordBBox& inBBox,
224  const InTreeT& inTree, OutTreeT& outTree, const InterruptFunc&,
225  const Sampler& = Sampler());
226 
227  template<typename Sampler, typename TreeT, typename Transformer>
228  class RangeProcessor;
229 
230  bool mThreaded, mTransformTiles;
231  InterruptFunc mInterrupt;
232 };
233 
234 
236 
237 
257 {
258 public:
260 
261  GridTransformer(const Mat4R& xform);
263  const Vec3R& pivot,
264  const Vec3R& scale,
265  const Vec3R& rotate,
266  const Vec3R& translate,
267  const std::string& xformOrder = "tsr",
268  const std::string& rotationOrder = "zyx");
269  ~GridTransformer() override = default;
270 
271  GridTransformer(const GridTransformer&) = default;
272  GridTransformer& operator=(const GridTransformer&) = default;
273 
274  const Mat4R& getTransform() const { return mTransform; }
275 
276  template<class Sampler, class GridT>
277  void transformGrid(const GridT& inGrid, GridT& outGrid) const;
278 
279 private:
280  struct MatrixTransform;
281 
282  inline void init(const Vec3R& pivot, const Vec3R& scale,
283  const Vec3R& rotate, const Vec3R& translate,
284  const std::string& xformOrder, const std::string& rotOrder);
285 
286  Vec3R mPivot;
287  Vec3i mMipLevels;
288  Mat4R mTransform, mPreScaleTransform, mPostScaleTransform;
289 };
290 
291 
293 
294 
295 namespace local_util {
296 
299 template<typename T>
300 inline bool
302  math::Vec3<T>& rotate, math::Vec3<T>& translate)
303 {
304  if (!math::isAffine(m)) return false;
305 
306  // This is the translation in world space
307  translate = m.getTranslation();
308  // Extract translation.
309  const math::Mat3<T> xform = m.getMat3();
310 
311  const math::Vec3<T> unsignedScale(
312  (math::Vec3<T>(1, 0, 0) * xform).length(),
313  (math::Vec3<T>(0, 1, 0) * xform).length(),
314  (math::Vec3<T>(0, 0, 1) * xform).length());
315 
316  const bool hasUniformScale = unsignedScale.eq(math::Vec3<T>(unsignedScale[0]));
317 
318  bool hasRotation = false;
319  bool validDecomposition = false;
320 
321  T minAngle = std::numeric_limits<T>::max();
322 
323  // If the transformation matrix contains a reflection,
324  // test different negative scales to find a decomposition
325  // that favors the optimal resampling algorithm.
326  for (size_t n = 0; n < 8; ++n) {
327 
328  const math::Vec3<T> signedScale(
329  n & 0x1 ? -unsignedScale.x() : unsignedScale.x(),
330  n & 0x2 ? -unsignedScale.y() : unsignedScale.y(),
331  n & 0x4 ? -unsignedScale.z() : unsignedScale.z());
332 
333  // Extract scale and potentially reflection.
334  const math::Mat3<T> mat = xform * math::scale<math::Mat3<T> >(signedScale).inverse();
335  if (mat.det() < T(0.0)) continue; // Skip if mat contains a reflection.
336 
337  const math::Vec3<T> tmpAngle = math::eulerAngles(mat, math::XYZ_ROTATION);
338 
339  const math::Mat3<T> rebuild =
340  math::rotation<math::Mat3<T> >(math::Vec3<T>(1, 0, 0), tmpAngle.x()) *
341  math::rotation<math::Mat3<T> >(math::Vec3<T>(0, 1, 0), tmpAngle.y()) *
342  math::rotation<math::Mat3<T> >(math::Vec3<T>(0, 0, 1), tmpAngle.z()) *
343  math::scale<math::Mat3<T> >(signedScale);
344 
345  if (xform.eq(rebuild)) {
346 
347  const T maxAngle = std::max(std::abs(tmpAngle[0]),
348  std::max(std::abs(tmpAngle[1]), std::abs(tmpAngle[2])));
349 
350  if (!(minAngle < maxAngle)) { // Update if less or equal.
351 
352  minAngle = maxAngle;
353  rotate = tmpAngle;
354  scale = signedScale;
355 
356  hasRotation = !rotate.eq(math::Vec3<T>::zero());
357  validDecomposition = true;
358 
359  if (hasUniformScale || !hasRotation) {
360  // Current decomposition is optimal.
361  break;
362  }
363  }
364  }
365  }
366 
367  if (!validDecomposition || (hasRotation && !hasUniformScale)) {
368  // The decomposition is invalid if the transformation matrix contains shear.
369  // No unique decomposition if scale is nonuniform and rotation is nonzero.
370  return false;
371  }
372 
373  return true;
374 }
375 
376 } // namespace local_util
377 
378 
380 
381 
386 {
387  MatrixTransform(): mat(Mat4R::identity()), invMat(Mat4R::identity()) {}
388  MatrixTransform(const Mat4R& xform): mat(xform), invMat(xform.inverse()) {}
389 
390  bool isAffine() const { return math::isAffine(mat); }
391 
392  Vec3R transform(const Vec3R& pos) const { return mat.transformH(pos); }
393 
394  Vec3R invTransform(const Vec3R& pos) const { return invMat.transformH(pos); }
395 
396  Mat4R mat, invMat;
397 };
398 
399 
401 
402 
408 {
409 public:
412  ABTransform(const math::Transform& aXform, const math::Transform& bXform):
413  mAXform(aXform),
414  mBXform(bXform),
415  mIsAffine(mAXform.isLinear() && mBXform.isLinear()),
416  mIsIdentity(mIsAffine && mAXform == mBXform)
417  {}
418 
419  bool isAffine() const { return mIsAffine; }
420 
421  bool isIdentity() const { return mIsIdentity; }
422 
424  {
425  return mBXform.worldToIndex(mAXform.indexToWorld(pos));
426  }
427 
429  {
430  return mAXform.worldToIndex(mBXform.indexToWorld(pos));
431  }
432 
433  const math::Transform& getA() const { return mAXform; }
434  const math::Transform& getB() const { return mBXform; }
435 
436 private:
437  const math::Transform &mAXform, &mBXform;
438  const bool mIsAffine;
439  const bool mIsIdentity;
440 };
441 
442 
449 template<typename Sampler, typename Interrupter, typename GridType>
450 inline void
451 doResampleToMatch(const GridType& inGrid, GridType& outGrid, Interrupter& interrupter)
452 {
453  ABTransform xform(inGrid.transform(), outGrid.transform());
454 
455  if (Sampler::consistent() && xform.isIdentity()) {
456  // If the transforms of the input and output are identical, the
457  // output tree is simply a deep copy of the input tree.
458  outGrid.setTree(inGrid.tree().copy());
459  } else if (xform.isAffine()) {
460  // If the input and output transforms are both affine, create an
461  // input to output transform (in:index-to-world * out:world-to-index)
462  // and use the fast GridTransformer API.
463  Mat4R mat = xform.getA().baseMap()->getAffineMap()->getMat4() *
464  ( xform.getB().baseMap()->getAffineMap()->getMat4().inverse() );
465 
466  GridTransformer transformer(mat);
467  transformer.setInterrupter(interrupter);
468 
469  // Transform the input grid and store the result in the output grid.
470  transformer.transformGrid<Sampler>(inGrid, outGrid);
471  } else {
472  // If either the input or the output transform is non-affine,
473  // use the slower GridResampler API.
474  GridResampler resampler;
475  resampler.setInterrupter(interrupter);
476 
477  resampler.transformGrid<Sampler>(xform, inGrid, outGrid);
478  }
479 }
480 
481 
482 template<typename Sampler, typename Interrupter, typename GridType>
483 inline void
484 resampleToMatch(const GridType& inGrid, GridType& outGrid, Interrupter& interrupter)
485 {
486  if (inGrid.getGridClass() == GRID_LEVEL_SET) {
487  // If the input grid is a level set, resample it using the level set rebuild tool.
488 
489  if (inGrid.constTransform() == outGrid.constTransform()) {
490  // If the transforms of the input and output grids are identical,
491  // the output tree is simply a deep copy of the input tree.
492  outGrid.setTree(inGrid.tree().copy());
493  return;
494  }
495 
496  // If the output grid is a level set, resample the input grid to have the output grid's
497  // background value. Otherwise, preserve the input grid's background value.
498  using ValueT = typename GridType::ValueType;
499  const bool outIsLevelSet = outGrid.getGridClass() == openvdb::GRID_LEVEL_SET;
500 
502  const ValueT halfWidth = outIsLevelSet
503  ? ValueT(outGrid.background() * (1.0 / outGrid.voxelSize()[0]))
504  : ValueT(inGrid.background() * (1.0 / inGrid.voxelSize()[0]));
506 
507  typename GridType::Ptr tempGrid;
508  try {
509  tempGrid = doLevelSetRebuild(inGrid, /*iso=*/zeroVal<ValueT>(),
510  /*exWidth=*/halfWidth, /*inWidth=*/halfWidth,
511  &outGrid.constTransform(), &interrupter);
512  } catch (TypeError&) {
513  // The input grid is classified as a level set, but it has a value type
514  // that is not supported by the level set rebuild tool. Fall back to
515  // using the generic resampler.
516  tempGrid.reset();
517  }
518  if (tempGrid) {
519  outGrid.setTree(tempGrid->treePtr());
520  return;
521  }
522  }
523 
524  // If the input grid is not a level set, use the generic resampler.
525  doResampleToMatch<Sampler>(inGrid, outGrid, interrupter);
526 }
527 
528 
529 template<typename Sampler, typename GridType>
530 inline void
531 resampleToMatch(const GridType& inGrid, GridType& outGrid)
532 {
533  util::NullInterrupter interrupter;
534  resampleToMatch<Sampler>(inGrid, outGrid, interrupter);
535 }
536 
537 
539 
540 
541 inline
542 GridTransformer::GridTransformer(const Mat4R& xform):
543  mPivot(0, 0, 0),
544  mMipLevels(0, 0, 0),
545  mTransform(xform),
546  mPreScaleTransform(Mat4R::identity()),
547  mPostScaleTransform(Mat4R::identity())
548 {
549  Vec3R scale, rotate, translate;
550  if (local_util::decompose(mTransform, scale, rotate, translate)) {
551  // If the transform can be decomposed into affine components,
552  // use them to set up a mipmapping-like scheme for downsampling.
553  init(mPivot, scale, rotate, translate, "srt", "zyx");
554  }
555 }
556 
557 
558 inline
560  const Vec3R& pivot, const Vec3R& scale,
561  const Vec3R& rotate, const Vec3R& translate,
562  const std::string& xformOrder, const std::string& rotOrder):
563  mPivot(0, 0, 0),
564  mMipLevels(0, 0, 0),
565  mPreScaleTransform(Mat4R::identity()),
566  mPostScaleTransform(Mat4R::identity())
567 {
568  init(pivot, scale, rotate, translate, xformOrder, rotOrder);
569 }
570 
571 
573 
574 
575 inline void
576 GridTransformer::init(
577  const Vec3R& pivot, const Vec3R& scale,
578  const Vec3R& rotate, const Vec3R& translate,
579  const std::string& xformOrder, const std::string& rotOrder)
580 {
581  if (xformOrder.size() != 3) {
582  OPENVDB_THROW(ValueError, "invalid transform order (" + xformOrder + ")");
583  }
584  if (rotOrder.size() != 3) {
585  OPENVDB_THROW(ValueError, "invalid rotation order (" + rotOrder + ")");
586  }
587 
588  mPivot = pivot;
589 
590  // Scaling is handled via a mipmapping-like scheme of successive
591  // halvings of the tree resolution, until the remaining scale
592  // factor is greater than or equal to 1/2.
593  Vec3R scaleRemainder = scale;
594  for (int i = 0; i < 3; ++i) {
595  double s = std::fabs(scale(i));
596  if (s < 0.5) {
597  mMipLevels(i) = int(std::floor(-std::log(s)/std::log(2.0)));
598  scaleRemainder(i) = scale(i) * (1 << mMipLevels(i));
599  }
600  }
601 
602  // Build pre-scale and post-scale transform matrices based on
603  // the user-specified order of operations.
604  // Note that we iterate over the transform order string in reverse order
605  // (e.g., "t", "r", "s", given "srt"). This is because math::Mat matrices
606  // postmultiply row vectors rather than premultiplying column vectors.
607  mTransform = mPreScaleTransform = mPostScaleTransform = Mat4R::identity();
608  Mat4R* remainder = &mPostScaleTransform;
609  int rpos, spos, tpos;
610  rpos = spos = tpos = 3;
611  for (int ix = 2; ix >= 0; --ix) { // reverse iteration
612  switch (xformOrder[ix]) {
613 
614  case 'r':
615  rpos = ix;
616  mTransform.preTranslate(pivot);
617  remainder->preTranslate(pivot);
618 
619  int xpos, ypos, zpos;
620  xpos = ypos = zpos = 3;
621  for (int ir = 2; ir >= 0; --ir) {
622  switch (rotOrder[ir]) {
623  case 'x':
624  xpos = ir;
625  mTransform.preRotate(math::X_AXIS, rotate.x());
626  remainder->preRotate(math::X_AXIS, rotate.x());
627  break;
628  case 'y':
629  ypos = ir;
630  mTransform.preRotate(math::Y_AXIS, rotate.y());
631  remainder->preRotate(math::Y_AXIS, rotate.y());
632  break;
633  case 'z':
634  zpos = ir;
635  mTransform.preRotate(math::Z_AXIS, rotate.z());
636  remainder->preRotate(math::Z_AXIS, rotate.z());
637  break;
638  }
639  }
640  // Reject rotation order strings that don't contain exactly one
641  // instance of "x", "y" and "z".
642  if (xpos > 2 || ypos > 2 || zpos > 2) {
643  OPENVDB_THROW(ValueError, "invalid rotation order (" + rotOrder + ")");
644  }
645 
646  mTransform.preTranslate(-pivot);
647  remainder->preTranslate(-pivot);
648  break;
649 
650  case 's':
651  spos = ix;
652  mTransform.preTranslate(pivot);
653  mTransform.preScale(scale);
654  mTransform.preTranslate(-pivot);
655 
656  remainder->preTranslate(pivot);
657  remainder->preScale(scaleRemainder);
658  remainder->preTranslate(-pivot);
659  remainder = &mPreScaleTransform;
660  break;
661 
662  case 't':
663  tpos = ix;
664  mTransform.preTranslate(translate);
665  remainder->preTranslate(translate);
666  break;
667  }
668  }
669  // Reject transform order strings that don't contain exactly one
670  // instance of "t", "r" and "s".
671  if (tpos > 2 || rpos > 2 || spos > 2) {
672  OPENVDB_THROW(ValueError, "invalid transform order (" + xformOrder + ")");
673  }
674 }
675 
676 
678 
679 
680 template<typename InterrupterType>
681 void
682 GridResampler::setInterrupter(InterrupterType& interrupter)
683 {
684  mInterrupt = std::bind(&InterrupterType::wasInterrupted,
685  /*this=*/&interrupter, /*percent=*/-1);
686 }
687 
688 
689 template<typename Sampler, typename GridT, typename Transformer>
690 void
691 GridResampler::transformGrid(const Transformer& xform,
692  const GridT& inGrid, GridT& outGrid) const
693 {
694  tools::changeBackground(outGrid.tree(), inGrid.background());
695  applyTransform<Sampler>(xform, inGrid, outGrid);
696 }
697 
698 
699 template<class Sampler, class GridT>
700 void
701 GridTransformer::transformGrid(const GridT& inGrid, GridT& outGrid) const
702 {
703  tools::changeBackground(outGrid.tree(), inGrid.background());
704 
705  if (!Sampler::mipmap() || mMipLevels == Vec3i::zero()) {
706  // Skip the mipmapping step.
707  const MatrixTransform xform(mTransform);
708  applyTransform<Sampler>(xform, inGrid, outGrid);
709 
710  } else {
711  bool firstPass = true;
712  const typename GridT::ValueType background = inGrid.background();
713  typename GridT::Ptr tempGrid = GridT::create(background);
714 
715  if (!mPreScaleTransform.eq(Mat4R::identity())) {
716  firstPass = false;
717  // Apply the pre-scale transform to the input grid
718  // and store the result in a temporary grid.
719  const MatrixTransform xform(mPreScaleTransform);
720  applyTransform<Sampler>(xform, inGrid, *tempGrid);
721  }
722 
723  // While the scale factor along one or more axes is less than 1/2,
724  // scale the grid by half along those axes.
725  Vec3i count = mMipLevels; // # of halvings remaining per axis
726  while (count != Vec3i::zero()) {
727  MatrixTransform xform;
728  xform.mat.setTranslation(mPivot);
729  xform.mat.preScale(Vec3R(
730  count.x() ? .5 : 1, count.y() ? .5 : 1, count.z() ? .5 : 1));
731  xform.mat.preTranslate(-mPivot);
732  xform.invMat = xform.mat.inverse();
733 
734  if (firstPass) {
735  firstPass = false;
736  // Scale the input grid and store the result in a temporary grid.
737  applyTransform<Sampler>(xform, inGrid, *tempGrid);
738  } else {
739  // Scale the temporary grid and store the result in a transient grid,
740  // then swap the two and discard the transient grid.
741  typename GridT::Ptr destGrid = GridT::create(background);
742  applyTransform<Sampler>(xform, *tempGrid, *destGrid);
743  tempGrid.swap(destGrid);
744  }
745  // (3, 2, 1) -> (2, 1, 0) -> (1, 0, 0) -> (0, 0, 0), etc.
746  count = math::maxComponent(count - 1, Vec3i::zero());
747  }
748 
749  // Apply the post-scale transform and store the result in the output grid.
750  if (!mPostScaleTransform.eq(Mat4R::identity())) {
751  const MatrixTransform xform(mPostScaleTransform);
752  applyTransform<Sampler>(xform, *tempGrid, outGrid);
753  } else {
754  outGrid.setTree(tempGrid->treePtr());
755  }
756  }
757 }
758 
759 
761 
762 
763 template<class Sampler, class TreeT, typename Transformer>
764 class GridResampler::RangeProcessor
765 {
766 public:
767  using LeafIterT = typename TreeT::LeafCIter;
768  using TileIterT = typename TreeT::ValueAllCIter;
769  using LeafRange = typename tree::IteratorRange<LeafIterT>;
770  using TileRange = typename tree::IteratorRange<TileIterT>;
771  using InTreeAccessor = typename tree::ValueAccessor<const TreeT>;
772  using OutTreeAccessor = typename tree::ValueAccessor<TreeT>;
773 
774  RangeProcessor(const Transformer& xform, const CoordBBox& b, const TreeT& inT, TreeT& outT):
775  mIsRoot(true), mXform(xform), mBBox(b),
776  mInTree(inT), mOutTree(&outT), mInAcc(mInTree), mOutAcc(*mOutTree)
777  {}
778 
779  RangeProcessor(const Transformer& xform, const CoordBBox& b, const TreeT& inTree):
780  mIsRoot(false), mXform(xform), mBBox(b),
781  mInTree(inTree), mOutTree(new TreeT(inTree.background())),
782  mInAcc(mInTree), mOutAcc(*mOutTree)
783  {}
784 
785  ~RangeProcessor() { if (!mIsRoot) delete mOutTree; }
786 
788  RangeProcessor(RangeProcessor& other, tbb::split):
789  mIsRoot(false),
790  mXform(other.mXform),
791  mBBox(other.mBBox),
792  mInTree(other.mInTree),
793  mOutTree(new TreeT(mInTree.background())),
794  mInAcc(mInTree),
795  mOutAcc(*mOutTree),
796  mInterrupt(other.mInterrupt)
797  {}
798 
799  void setInterrupt(const InterruptFunc& f) { mInterrupt = f; }
800 
802  void operator()(LeafRange& r)
803  {
804  for ( ; r; ++r) {
805  if (interrupt()) break;
806  LeafIterT i = r.iterator();
807  CoordBBox bbox(i->origin(), i->origin() + Coord(i->dim()));
808  if (!mBBox.empty()) {
809  // Intersect the leaf node's bounding box with mBBox.
810  bbox = CoordBBox(
811  Coord::maxComponent(bbox.min(), mBBox.min()),
812  Coord::minComponent(bbox.max(), mBBox.max()));
813  }
814  if (!bbox.empty()) {
815  transformBBox<Sampler>(mXform, bbox, mInAcc, mOutAcc, mInterrupt);
816  }
817  }
818  }
819 
821  void operator()(TileRange& r)
822  {
823  for ( ; r; ++r) {
824  if (interrupt()) break;
825 
826  TileIterT i = r.iterator();
827  // Skip voxels and background tiles.
828  if (!i.isTileValue()) continue;
829  if (!i.isValueOn() && math::isApproxEqual(*i, mOutTree->background())) continue;
830 
831  CoordBBox bbox;
832  i.getBoundingBox(bbox);
833  if (!mBBox.empty()) {
834  // Intersect the tile's bounding box with mBBox.
835  bbox = CoordBBox(
836  Coord::maxComponent(bbox.min(), mBBox.min()),
837  Coord::minComponent(bbox.max(), mBBox.max()));
838  }
839  if (!bbox.empty()) {
844  internal::TileSampler<Sampler, InTreeAccessor>
845  sampler(bbox, i.getValue(), i.isValueOn());
846  transformBBox(mXform, bbox, mInAcc, mOutAcc, mInterrupt, sampler);
847  }
848  }
849  }
850 
852  void join(RangeProcessor& other)
853  {
854  if (!interrupt()) mOutTree->merge(*other.mOutTree);
855  }
856 
857 private:
858  bool interrupt() const { return mInterrupt && mInterrupt(); }
859 
860  const bool mIsRoot; // true if mOutTree is the top-level tree
861  Transformer mXform;
862  CoordBBox mBBox;
863  const TreeT& mInTree;
864  TreeT* mOutTree;
865  InTreeAccessor mInAcc;
866  OutTreeAccessor mOutAcc;
867  InterruptFunc mInterrupt;
868 };
869 
870 
872 
873 
874 template<class Sampler, class GridT, typename Transformer>
875 void
876 GridResampler::applyTransform(const Transformer& xform,
877  const GridT& inGrid, GridT& outGrid) const
878 {
879  using TreeT = typename GridT::TreeType;
880  const TreeT& inTree = inGrid.tree();
881  TreeT& outTree = outGrid.tree();
882 
883  using RangeProc = RangeProcessor<Sampler, TreeT, Transformer>;
884 
885  const GridClass gridClass = inGrid.getGridClass();
886 
887  if (gridClass != GRID_LEVEL_SET && mTransformTiles) {
888  // Independently transform the tiles of the input grid.
889  // Note: Tiles in level sets can only be background tiles, and they
890  // are handled more efficiently with a signed flood fill (see below).
891 
892  RangeProc proc(xform, CoordBBox(), inTree, outTree);
893  proc.setInterrupt(mInterrupt);
894 
895  typename RangeProc::TileIterT tileIter = inTree.cbeginValueAll();
896  tileIter.setMaxDepth(tileIter.getLeafDepth() - 1); // skip leaf nodes
897  typename RangeProc::TileRange tileRange(tileIter);
898 
899  if (mThreaded) {
900  tbb::parallel_reduce(tileRange, proc);
901  } else {
902  proc(tileRange);
903  }
904  }
905 
906  CoordBBox clipBBox;
907  if (gridClass == GRID_LEVEL_SET) {
908  // Inactive voxels in level sets can only be background voxels, and they
909  // are handled more efficiently with a signed flood fill (see below).
910  clipBBox = inGrid.evalActiveVoxelBoundingBox();
911  }
912 
913  // Independently transform the leaf nodes of the input grid.
914 
915  RangeProc proc(xform, clipBBox, inTree, outTree);
916  proc.setInterrupt(mInterrupt);
917 
918  typename RangeProc::LeafRange leafRange(inTree.cbeginLeaf());
919 
920  if (mThreaded) {
921  tbb::parallel_reduce(leafRange, proc);
922  } else {
923  proc(leafRange);
924  }
925 
926  // If the grid is a level set, mark inactive voxels as inside or outside.
927  if (gridClass == GRID_LEVEL_SET) {
928  tools::pruneLevelSet(outTree);
929  tools::signedFloodFill(outTree);
930  }
931 }
932 
933 
935 
936 
937 //static
938 template<class Sampler, class InTreeT, class OutTreeT, class Transformer>
939 void
940 GridResampler::transformBBox(
941  const Transformer& xform,
942  const CoordBBox& bbox,
943  const InTreeT& inTree,
944  OutTreeT& outTree,
945  const InterruptFunc& interrupt,
946  const Sampler& sampler)
947 {
948  using ValueT = typename OutTreeT::ValueType;
949 
950  // Transform the corners of the input tree's bounding box
951  // and compute the enclosing bounding box in the output tree.
952  Vec3R
953  inRMin(bbox.min().x(), bbox.min().y(), bbox.min().z()),
954  inRMax(bbox.max().x()+1, bbox.max().y()+1, bbox.max().z()+1),
955  outRMin = math::minComponent(xform.transform(inRMin), xform.transform(inRMax)),
956  outRMax = math::maxComponent(xform.transform(inRMin), xform.transform(inRMax));
957  for (int i = 0; i < 8; ++i) {
958  Vec3R corner(
959  i & 1 ? inRMax.x() : inRMin.x(),
960  i & 2 ? inRMax.y() : inRMin.y(),
961  i & 4 ? inRMax.z() : inRMin.z());
962  outRMin = math::minComponent(outRMin, xform.transform(corner));
963  outRMax = math::maxComponent(outRMax, xform.transform(corner));
964  }
965  Vec3i
966  outMin = local_util::floorVec3(outRMin) - Sampler::radius(),
967  outMax = local_util::ceilVec3(outRMax) + Sampler::radius();
968 
969  if (!xform.isAffine()) {
970  // If the transform is not affine, back-project each output voxel
971  // into the input tree.
972  Vec3R xyz, inXYZ;
973  Coord outXYZ;
974  int &x = outXYZ.x(), &y = outXYZ.y(), &z = outXYZ.z();
975  for (x = outMin.x(); x <= outMax.x(); ++x) {
976  if (interrupt && interrupt()) break;
977  xyz.x() = x;
978  for (y = outMin.y(); y <= outMax.y(); ++y) {
979  if (interrupt && interrupt()) break;
980  xyz.y() = y;
981  for (z = outMin.z(); z <= outMax.z(); ++z) {
982  xyz.z() = z;
983  inXYZ = xform.invTransform(xyz);
984  ValueT result;
985  if (sampler.sample(inTree, inXYZ, result)) {
986  outTree.setValueOn(outXYZ, result);
987  } else {
988  // Note: Don't overwrite existing active values with inactive values.
989  if (!outTree.isValueOn(outXYZ)) {
990  outTree.setValueOff(outXYZ, result);
991  }
992  }
993  }
994  }
995  }
996  } else { // affine
997  // Compute step sizes in the input tree that correspond to
998  // unit steps in x, y and z in the output tree.
999  const Vec3R
1000  translation = xform.invTransform(Vec3R(0, 0, 0)),
1001  deltaX = xform.invTransform(Vec3R(1, 0, 0)) - translation,
1002  deltaY = xform.invTransform(Vec3R(0, 1, 0)) - translation,
1003  deltaZ = xform.invTransform(Vec3R(0, 0, 1)) - translation;
1004 
1005 #if defined(__ICC)
1006  const Vec3R dummy = deltaX;
1010 #endif
1011 
1012  // Step by whole voxels through the output tree, sampling the
1013  // corresponding fractional voxels of the input tree.
1014  Vec3R inStartX = xform.invTransform(Vec3R(outMin));
1015  Coord outXYZ;
1016  int &x = outXYZ.x(), &y = outXYZ.y(), &z = outXYZ.z();
1017  for (x = outMin.x(); x <= outMax.x(); ++x, inStartX += deltaX) {
1018  if (interrupt && interrupt()) break;
1019  Vec3R inStartY = inStartX;
1020  for (y = outMin.y(); y <= outMax.y(); ++y, inStartY += deltaY) {
1021  if (interrupt && interrupt()) break;
1022  Vec3R inXYZ = inStartY;
1023  for (z = outMin.z(); z <= outMax.z(); ++z, inXYZ += deltaZ) {
1024  ValueT result;
1025  if (sampler.sample(inTree, inXYZ, result)) {
1026  outTree.setValueOn(outXYZ, result);
1027  } else {
1028  // Note: Don't overwrite existing active values with inactive values.
1029  if (!outTree.isValueOn(outXYZ)) {
1030  outTree.setValueOff(outXYZ, result);
1031  }
1032  }
1033  }
1034  }
1035  }
1036  }
1037 } // GridResampler::transformBBox()
1038 
1039 } // namespace tools
1040 } // namespace OPENVDB_VERSION_NAME
1041 } // namespace openvdb
1042 
1043 #endif // OPENVDB_TOOLS_GRIDTRANSFORMER_HAS_BEEN_INCLUDED
1044 
1045 // Copyright (c) 2012-2018 DreamWorks Animation LLC
1046 // All rights reserved. This software is distributed under the
1047 // Mozilla Public License 2.0 ( http://www.mozilla.org/MPL/2.0/ )
#define OPENVDB_NO_TYPE_CONVERSION_WARNING_BEGIN
Bracket code with OPENVDB_NO_TYPE_CONVERSION_WARNING_BEGIN/_END, to inhibit warnings about type conve...
Definition: Platform.h:223
bool decompose(const math::Mat4< T > &m, math::Vec3< T > &scale, math::Vec3< T > &rotate, math::Vec3< T > &translate)
Decompose an affine transform into scale, rotation and translation components.
Definition: GridTransformer.h:301
bool interrupt() const
Definition: GridTransformer.h:219
void changeBackground(TreeOrLeafManagerT &tree, const typename TreeOrLeafManagerT::ValueType &background, bool threaded=true, size_t grainSize=32)
Replace the background value in all the nodes of a tree.
Definition: ChangeBackground.h:230
Definition: Math.h:857
GridTransformer(const Mat4R &xform)
Definition: GridTransformer.h:542
Definition: GridTransformer.h:185
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
Provises a unified interface for sampling, i.e. interpolation.
Definition: Interpolation.h:90
Definition: TreeIterator.h:1334
Mat3< T > getMat3() const
Definition: Mat4.h:343
bool threaded() const
Return true if threading is enabled.
Definition: GridTransformer.h:200
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:416
void setTransformTiles(bool b)
Enable or disable processing of tiles. (Enabled by default, except for level set grids....
Definition: GridTransformer.h:202
Int32 z() const
Definition: Coord.h:160
ValueT mVal
Definition: GridTransformer.h:141
#define OPENVDB_THROW(exception, message)
Definition: Exceptions.h:109
Vec3i ceilVec3(const Vec3R &v)
Definition: Interpolation.h:618
Efficient multi-threaded replacement of the background values in tree.
bool eq(const Mat4 &m, T eps=1.0e-8) const
Return true if this matrix is equivalent to m within a tolerance of eps.
Definition: Mat4.h:379
const math::Transform & getB() const
Definition: GridTransformer.h:434
std::function< bool(void)> InterruptFunc
Definition: GridTransformer.h:189
Vec2< T > minComponent(const Vec2< T > &v1, const Vec2< T > &v2)
Return component-wise minimum of the two vectors.
Definition: Vec2.h:530
Vec3< int32_t > Vec3i
Definition: Vec3.h:686
Definition: Math.h:858
Vec3< T > getTranslation() const
Return the translation component.
Definition: Mat4.h:355
std::shared_ptr< T > SharedPtr
Definition: Types.h:139
Definition: Interpolation.h:123
MatType rotation(const Quat< typename MatType::value_type > &q, typename MatType::value_type eps=static_cast< typename MatType::value_type >(1.0e-8))
Return the rotation matrix specified by the given quaternion.
Definition: Mat.h:204
#define OPENVDB_NO_TYPE_CONVERSION_WARNING_END
Definition: Platform.h:224
ABTransform(const math::Transform &aXform, const math::Transform &bXform)
Definition: GridTransformer.h:412
Int32 x() const
Definition: Coord.h:158
bool wasInterrupted(T *i, int percent=-1)
Definition: NullInterrupter.h:76
Defined various multi-threaded utility functions for trees.
static const Mat4< Real > & identity()
Predefined constant for identity matrix.
Definition: Mat4.h:152
openvdb::Vec3R invTransform(const openvdb::Vec3R &pos) const
Definition: GridTransformer.h:428
Mat4R mat
Definition: GridTransformer.h:396
const Coord & max() const
Definition: Coord.h:345
bool transformTiles() const
Return true if tile processing is enabled.
Definition: GridTransformer.h:204
void preTranslate(const Vec3< T0 > &tr)
Left multiples by the specified translation, i.e. Trans * (*this)
Definition: Mat4.h:749
GridResampler()
Definition: GridTransformer.h:191
bool eq(const Mat3 &m, T eps=1.0e-8) const
Return true if this matrix is equivalent to m within a tolerance of eps.
Definition: Mat3.h:349
void setThreaded(bool b)
Enable or disable threading. (Threading is enabled by default.)
Definition: GridTransformer.h:198
bool isApproxEqual(const Type &a, const Type &b)
Return true if a is equal to b to within the default floating-point comparison tolerance.
Definition: Math.h:358
bool eq(const Vec3< T > &v, T eps=static_cast< T >(1.0e-7)) const
Test if "this" vector is equivalent to vector v with tolerance of eps.
Definition: Vec3.h:158
Definition: Math.h:864
const Mat4R & getTransform() const
Definition: GridTransformer.h:274
void signedFloodFill(TreeOrLeafManagerT &tree, bool threaded=true, size_t grainSize=1, Index minLevel=0)
Set the values of all inactive voxels and tiles of a narrow-band level set from the signs of the acti...
Definition: SignedFloodFill.h:294
const std::enable_if<!VecTraits< T >::IsVec, T >::type & max(const T &a, const T &b)
Definition: Composite.h:133
math::Vec3< Real > Vec3R
Definition: Types.h:79
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition: version.h:125
MatrixTransform()
Definition: GridTransformer.h:387
bool mEmpty
Definition: GridTransformer.h:142
Propagate the signs of distance values from the active voxels in the narrow band to the inactive valu...
Vec3i floorVec3(const Vec3R &v)
Definition: Interpolation.h:611
void preScale(const Vec3< T0 > &v)
Definition: Mat4.h:782
void pivot(int i, int j, Mat3< T > &S, Vec3< T > &D, Mat3< T > &Q)
Definition: Mat3.h:716
T & z()
Definition: Vec3.h:112
bool isAffine() const
Definition: GridTransformer.h:419
void setInterrupter(InterrupterType &)
Allow processing to be aborted by providing an interrupter object. The interrupter will be queried pe...
Definition: GridTransformer.h:682
T & y()
Definition: Vec3.h:111
Definition: Exceptions.h:40
BBoxd mBBox
Definition: GridTransformer.h:140
void maxComponent(const Coord &other)
Perform a component-wise maximum with the other Coord.
Definition: Coord.h:211
Axis-aligned bounding box of signed integer coordinates.
Definition: Coord.h:271
This class implements the Transformer functor interface (specifically, the isAffine(),...
Definition: GridTransformer.h:407
Vec3R invTransform(const Vec3R &pos) const
Definition: GridTransformer.h:394
math::Mat4< Real > Mat4R
Definition: Types.h:108
bool sample(const TreeT &inTree, const Vec3R &inCoord, ValueT &result) const
Definition: GridTransformer.h:133
void applyTransform(const Transformer &, const GridT &inGrid, GridT &outGrid) const
Definition: GridTransformer.h:876
Dummy NOOP interrupter class defining interface.
Definition: NullInterrupter.h:52
Vec3R transform(const Vec3R &pos) const
Definition: GridTransformer.h:392
Definition: Interpolation.h:223
MatrixTransform(const Mat4R &xform)
Definition: GridTransformer.h:388
MatType scale(const Vec3< typename MatType::value_type > &s)
Return a matrix that scales by s.
Definition: Mat.h:647
typename TreeT::ValueType ValueT
Definition: GridTransformer.h:121
Definition: Transform.h:66
void preRotate(Axis axis, T angle)
Left multiplies by a rotation clock-wiseabout the given axis into this matrix.
Definition: Mat4.h:844
const Coord & min() const
Definition: Coord.h:344
Int32 y() const
Definition: Coord.h:159
bool isIdentity() const
Definition: GridTransformer.h:421
Vec2< T > maxComponent(const Vec2< T > &v1, const Vec2< T > &v2)
Return component-wise maximum of the two vectors.
Definition: Vec2.h:539
static bool sample(const TreeT &inTree, const Vec3R &inCoord, typename TreeT::ValueType &result)
Sample inTree at the floating-point index coordinate inCoord and store the result in result.
const std::enable_if<!VecTraits< T >::IsVec, T >::type & min(const T &a, const T &b)
Definition: Composite.h:129
Signed (x, y, z) 32-bit integer coordinates.
Definition: Coord.h:52
void doResampleToMatch(const GridType &inGrid, GridType &outGrid, Interrupter &interrupter)
Definition: GridTransformer.h:451
TileSampler(const CoordBBox &, const typename TreeT::ValueType &, bool)
Definition: GridTransformer.h:151
bool isAffine() const
Definition: GridTransformer.h:390
TileSampler(const CoordBBox &b, const ValueT &tileVal, bool on)
Definition: GridTransformer.h:126
Definition: Math.h:859
void transformGrid(const GridT &inGrid, GridT &outGrid) const
Definition: GridTransformer.h:701
GridClass
Definition: Types.h:502
A TileSampler wraps a grid sampler of another type (BoxSampler, QuadraticSampler, etc....
Definition: GridTransformer.h:118
void setTranslation(const Vec3< T > &t)
Definition: Mat4.h:360
Definition: Exceptions.h:91
openvdb::Vec3R transform(const openvdb::Vec3R &pos) const
Definition: GridTransformer.h:423
A GridTransformer applies a geometric transformation to an input grid using one of several sampling s...
Definition: GridTransformer.h:256
Vec3< typename MatType::value_type > eulerAngles(const MatType &mat, RotationOrder rotationOrder, typename MatType::value_type eps=static_cast< typename MatType::value_type >(1.0e-8))
Return the Euler angles composing the given rotation matrix.
Definition: Mat.h:365
Definition: Exceptions.h:92
Mat4 inverse(T tolerance=0) const
Definition: Mat4.h:531
bool isAffine(const Mat4< T > &m)
Definition: Mat4.h:1350
SharedPtr< GridResampler > Ptr
Definition: GridTransformer.h:188
void resampleToMatch(const GridType &inGrid, GridType &outGrid)
Resample an input grid into an output grid of the same type such that, after resampling,...
Definition: GridTransformer.h:531
3x3 matrix class.
Definition: Mat3.h:55
#define OPENVDB_USE_VERSION_NAMESPACE
Definition: version.h:177
const math::Transform & getA() const
Definition: GridTransformer.h:433
void minComponent(const Coord &other)
Perform a component-wise minimum with the other Coord.
Definition: Coord.h:203
Mat4R invMat
Definition: GridTransformer.h:396
TileSampler(const CoordBBox &, const typename TreeT::ValueType &, bool)
Definition: GridTransformer.h:159
Definition: Types.h:504
virtual ~GridResampler()
Definition: GridTransformer.h:192
void transformGrid(const Transformer &, const GridT &inGrid, GridT &outGrid) const
Definition: GridTransformer.h:691
T & x()
Reference to the component, e.g. v.x() = 4.5f;.
Definition: Vec3.h:110