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//
// Copyright (c) 2012-2013 DreamWorks Animation LLC
//
// All rights reserved. This software is distributed under the
// Mozilla Public License 2.0 ( http://www.mozilla.org/MPL/2.0/ )
//
// Redistributions of source code must retain the above copyright
// and license notice and the following restrictions and disclaimer.
//
// * Neither the name of DreamWorks Animation nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// IN NO EVENT SHALL THE COPYRIGHT HOLDERS' AND CONTRIBUTORS' AGGREGATE
// LIABILITY FOR ALL CLAIMS REGARDLESS OF THEIR BASIS EXCEED US$250.00.
//
///////////////////////////////////////////////////////////////////////////
//
/// @author Ken Museth
///
/// @file LevelSetTracker.h
///
/// @brief Performs multi-threaded interface tracking of narrow band
/// level sets. This is the building-block for most level set
/// computations that involve dynamic topology, e.g. advection.
#ifndef OPENVDB_TOOLS_LEVEL_SET_TRACKER_HAS_BEEN_INCLUDED
#define OPENVDB_TOOLS_LEVEL_SET_TRACKER_HAS_BEEN_INCLUDED
#include <tbb/parallel_reduce.h>
#include <tbb/parallel_for.h>
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <boost/type_traits/is_floating_point.hpp>
#include <openvdb/Types.h>
#include <openvdb/math/Math.h>
#include <openvdb/math/FiniteDifference.h>
#include <openvdb/math/Operators.h>
#include <openvdb/math/Stencils.h>
#include <openvdb/math/Transform.h>
#include <openvdb/Grid.h>
#include <openvdb/util/NullInterrupter.h>
#include <openvdb/tree/ValueAccessor.h>
#include <openvdb/tree/LeafManager.h>
#include "Morphology.h"//for tools::dilateVoxels
namespace openvdb {
OPENVDB_USE_VERSION_NAMESPACE
namespace OPENVDB_VERSION_NAME {
namespace tools {
/// @brief Performs multi-threaded interface tracking of narrow band level sets
template<typename GridT, typename InterruptT = util::NullInterrupter>
class LevelSetTracker
{
public:
typedef GridT GridType;
typedef typename GridT::TreeType TreeType;
typedef typename TreeType::LeafNodeType LeafType;
typedef typename TreeType::ValueType ValueType;
typedef typename tree::LeafManager<TreeType> LeafManagerType; // leafs + buffers
typedef typename LeafManagerType::RangeType RangeType;
typedef typename LeafManagerType::LeafRange LeafRange;
typedef typename LeafManagerType::BufferType BufferType;
BOOST_STATIC_ASSERT(boost::is_floating_point<ValueType>::value);
/// Main constructor
/// @throw RuntimeError if the grid is not a level set
LevelSetTracker(GridT& grid, InterruptT* interrupt = NULL);
/// Shallow copy constructor called by tbb::parallel_for() threads during filtering
LevelSetTracker(const LevelSetTracker& other);
virtual ~LevelSetTracker() { if (mIsMaster) delete mLeafs; }
/// Iterative normalization, i.e. solving the Eikonal equation
void normalize();
/// Track the level set interface, i.e. rebuild and normalize the
/// narrow band of the level set.
void track();
/// Remove voxels that are outside the narrow band. (substep of track)
void prune();
/// @return the spatial finite difference scheme
math::BiasedGradientScheme getSpatialScheme() const { return mSpatialScheme; }
/// @brief Set the spatial finite difference scheme
void setSpatialScheme(math::BiasedGradientScheme scheme) { mSpatialScheme = scheme; }
/// @return the temporal integration scheme
math::TemporalIntegrationScheme getTemporalScheme() const { return mTemporalScheme; }
/// @brief Set the spatial finite difference scheme
void setTemporalScheme(math::TemporalIntegrationScheme scheme) { mTemporalScheme = scheme; }
/// @return The number of normalizations performed per track or
/// normalize call.
int getNormCount() const { return mNormCount; }
/// @brief Set the number of normalizations performed per track or
/// normalize call.
void setNormCount(int n) { mNormCount = n; }
/// @return the grain-size used for multi-threading
int getGrainSize() const { return mGrainSize; }
/// @brief Set the grain-size used for multi-threading.
/// @note A grainsize of 0 or less disables multi-threading!
void setGrainSize(int grainsize) { mGrainSize = grainsize; }
ValueType voxelSize() const { return mDx; }
void startInterrupter(const char* msg);
void endInterrupter();
/// @return false if the process was interrupted
bool checkInterrupter();
const GridType& grid() const { return *mGrid; }
LeafManagerType& leafs() { return *mLeafs; }
const LeafManagerType& leafs() const { return *mLeafs; }
/// @brief Public functor called by tbb::parallel_for()
/// @note Never call this method directly
void operator()(const RangeType& r) const
{
if (mTask) mTask(const_cast<LevelSetTracker*>(this), r);
else OPENVDB_THROW(ValueError, "task is undefined - call track(), etc");
}
private:
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
struct Normalizer
{
Normalizer(LevelSetTracker& tracker): mTracker(tracker), mTask(0) {}
void normalize();
void operator()(const RangeType& r) const {mTask(const_cast<Normalizer*>(this), r);}
typedef typename boost::function<void (Normalizer*, const RangeType&)> FuncType;
LevelSetTracker& mTracker;
FuncType mTask;
void cook(int swapBuffer=0);
void euler1(const RangeType& range, ValueType dt, Index resultBuffer);
void euler2(const RangeType& range, ValueType dt, ValueType alpha,
Index phiBuffer, Index resultBuffer);
}; // end of protected Normalizer class
typedef typename boost::function<void (LevelSetTracker*, const RangeType&)> FuncType;
void trim(const RangeType& r);
template<math::BiasedGradientScheme SpatialScheme>
void normalize1();
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
void normalize2();
// Throughout the methods below mLeafs is always assumed to contain
// a list of the current LeafNodes! The auxiliary buffers on the
// other hand always have to be allocated locally, since some
// methods need them and others don't!
GridType* mGrid;
LeafManagerType* mLeafs;
InterruptT* mInterrupter;
const ValueType mDx;
math::BiasedGradientScheme mSpatialScheme;
math::TemporalIntegrationScheme mTemporalScheme;
int mNormCount;// Number of iteratations of normalization
int mGrainSize;
FuncType mTask;
const bool mIsMaster;
// disallow copy by assignment
void operator=(const LevelSetTracker& other) {}
}; // end of LevelSetTracker class
template<typename GridT, typename InterruptT>
LevelSetTracker<GridT, InterruptT>::LevelSetTracker(GridT& grid, InterruptT* interrupt):
mGrid(&grid),
mLeafs(new LeafManagerType(grid.tree())),
mInterrupter(interrupt),
mDx(grid.voxelSize()[0]),
mSpatialScheme(math::HJWENO5_BIAS),
mTemporalScheme(math::TVD_RK1),
mNormCount(static_cast<int>(LEVEL_SET_HALF_WIDTH)),
mGrainSize(1),
mTask(0),
mIsMaster(true)// N.B.
{
if ( !grid.hasUniformVoxels() ) {
OPENVDB_THROW(RuntimeError,
"The transform must have uniform scale for the LevelSetTracker to function");
}
if ( grid.getGridClass() != GRID_LEVEL_SET) {
OPENVDB_THROW(RuntimeError,
"LevelSetTracker only supports level sets!\n"
"However, only level sets are guaranteed to work!\n"
"Hint: Grid::setGridClass(openvdb::GRID_LEVEL_SET)");
}
}
template<typename GridT, typename InterruptT>
LevelSetTracker<GridT, InterruptT>::LevelSetTracker(const LevelSetTracker& other):
mGrid(other.mGrid),
mLeafs(other.mLeafs),
mInterrupter(other.mInterrupter),
mDx(other.mDx),
mSpatialScheme(other.mSpatialScheme),
mTemporalScheme(other.mTemporalScheme),
mNormCount(other.mNormCount),
mGrainSize(other.mGrainSize),
mTask(other.mTask),
mIsMaster(false)// N.B.
{
}
template<typename GridT, typename InterruptT>
inline void
LevelSetTracker<GridT, InterruptT>::prune()
{
this->startInterrupter("Pruning Level Set");
// Prune voxels that are too far away from the zero-crossing
mTask = boost::bind(&LevelSetTracker::trim, _1, _2);
if (mGrainSize>0) {
tbb::parallel_for(mLeafs->getRange(mGrainSize), *this);
} else {
(*this)(mLeafs->getRange());
}
// Remove inactive nodes from tree
mGrid->tree().pruneLevelSet();
// The tree topology has changes so rebuild the list of leafs
mLeafs->rebuildLeafArray();
this->endInterrupter();
}
template<typename GridT, typename InterruptT>
inline void
LevelSetTracker<GridT, InterruptT>::track()
{
// Dilate narrow-band (this also rebuilds the leaf array!)
tools::dilateVoxels(*mLeafs);
// Compute signed distances in dilated narrow-band
this->normalize();
// Remove voxels that are outside the narrow band
this->prune();
}
template<typename GridT, typename InterruptT>
inline void
LevelSetTracker<GridT, InterruptT>::startInterrupter(const char* msg)
{
if (mInterrupter) mInterrupter->start(msg);
}
template<typename GridT, typename InterruptT>
inline void
LevelSetTracker<GridT, InterruptT>::endInterrupter()
{
if (mInterrupter) mInterrupter->end();
}
template<typename GridT, typename InterruptT>
inline bool
LevelSetTracker<GridT, InterruptT>::checkInterrupter()
{
if (util::wasInterrupted(mInterrupter)) {
tbb::task::self().cancel_group_execution();
return false;
}
return true;
}
/// Prunes away voxels that have moved outside the narrow band
template<typename GridT, typename InterruptT>
inline void
LevelSetTracker<GridT, InterruptT>::trim(const RangeType& range)
{
typedef typename LeafType::ValueOnIter VoxelIterT;
const_cast<LevelSetTracker*>(this)->checkInterrupter();
const ValueType gamma = mGrid->background();
for (size_t n=range.begin(), e=range.end(); n != e; ++n) {
LeafType &leaf = mLeafs->leaf(n);
for (VoxelIterT iter = leaf.beginValueOn(); iter; ++iter) {
const ValueType val = *iter;
if (val < -gamma)
leaf.setValueOff(iter.pos(), -gamma);
else if (val > gamma)
leaf.setValueOff(iter.pos(), gamma);
}
}
}
template<typename GridT, typename InterruptT>
inline void
LevelSetTracker<GridT, InterruptT>::normalize()
{
switch (mSpatialScheme) {
case math::FIRST_BIAS:
this->normalize1<math::FIRST_BIAS >(); break;
case math::SECOND_BIAS:
this->normalize1<math::SECOND_BIAS >(); break;
case math::THIRD_BIAS:
this->normalize1<math::THIRD_BIAS >(); break;
case math::WENO5_BIAS:
this->normalize1<math::WENO5_BIAS >(); break;
case math::HJWENO5_BIAS:
this->normalize1<math::HJWENO5_BIAS>(); break;
default:
OPENVDB_THROW(ValueError, "Spatial difference scheme not supported!");
}
}
template<typename GridT, typename InterruptT>
template<math::BiasedGradientScheme SpatialScheme>
inline void
LevelSetTracker<GridT, InterruptT>::normalize1()
{
switch (mTemporalScheme) {
case math::TVD_RK1:
this->normalize2<SpatialScheme, math::TVD_RK1>(); break;
case math::TVD_RK2:
this->normalize2<SpatialScheme, math::TVD_RK2>(); break;
case math::TVD_RK3:
this->normalize2<SpatialScheme, math::TVD_RK3>(); break;
default:
OPENVDB_THROW(ValueError, "Temporal integration scheme not supported!");
}
}
template<typename GridT, typename InterruptT>
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
inline void
LevelSetTracker<GridT, InterruptT>::normalize2()
{
Normalizer<SpatialScheme, TemporalScheme> tmp(*this);
tmp.normalize();
}
template<typename GridT, typename InterruptT>
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
inline void
LevelSetTracker<GridT,InterruptT>::Normalizer<SpatialScheme, TemporalScheme>::
normalize()
{
/// Make sure we have enough temporal auxiliary buffers
mTracker.mLeafs->rebuildAuxBuffers(TemporalScheme == math::TVD_RK3 ? 2 : 1);
const ValueType dt = (TemporalScheme == math::TVD_RK1 ? ValueType(0.3) :
TemporalScheme == math::TVD_RK2 ? ValueType(0.9) : ValueType(1.0))
* ValueType(mTracker.voxelSize());
for (int n=0, e=mTracker.getNormCount(); n < e; ++n) {
OPENVDB_NO_UNREACHABLE_CODE_WARNING_BEGIN
switch(TemporalScheme) {//switch is resolved at compile-time
case math::TVD_RK1:
//std::cerr << "1";
// Perform one explicit Euler step: t1 = t0 + dt
// Phi_t1(0) = Phi_t0(0) - dt * VdotG_t0(1)
mTask = boost::bind(&Normalizer::euler1, _1, _2, dt, /*result=*/1);
// Cook and swap buffer 0 and 1 such that Phi_t1(0) and Phi_t0(1)
this->cook(1);
break;
case math::TVD_RK2:
//std::cerr << "2";
// Perform one explicit Euler step: t1 = t0 + dt
// Phi_t1(1) = Phi_t0(0) - dt * VdotG_t0(1)
mTask = boost::bind(&Normalizer::euler1, _1, _2, dt, /*result=*/1);
// Cook and swap buffer 0 and 1 such that Phi_t1(0) and Phi_t0(1)
this->cook(1);
// Convex combine explict Euler step: t2 = t0 + dt
// Phi_t2(1) = 1/2 * Phi_t0(1) + 1/2 * (Phi_t1(0) - dt * V.Grad_t1(0))
mTask = boost::bind(&Normalizer::euler2,
_1, _2, dt, ValueType(0.5), /*phi=*/1, /*result=*/1);
// Cook and swap buffer 0 and 1 such that Phi_t2(0) and Phi_t1(1)
this->cook(1);
break;
case math::TVD_RK3:
//std::cerr << "3";
// Perform one explicit Euler step: t1 = t0 + dt
// Phi_t1(1) = Phi_t0(0) - dt * VdotG_t0(1)
mTask = boost::bind(&Normalizer::euler1, _1, _2, dt, /*result=*/1);
// Cook and swap buffer 0 and 1 such that Phi_t1(0) and Phi_t0(1)
this->cook(1);
// Convex combine explict Euler step: t2 = t0 + dt/2
// Phi_t2(2) = 3/4 * Phi_t0(1) + 1/4 * (Phi_t1(0) - dt * V.Grad_t1(0))
mTask = boost::bind(&Normalizer::euler2,
_1, _2, dt, ValueType(0.75), /*phi=*/1, /*result=*/2);
// Cook and swap buffer 0 and 2 such that Phi_t2(0) and Phi_t1(2)
this->cook(2);
// Convex combine explict Euler step: t3 = t0 + dt
// Phi_t3(2) = 1/3 * Phi_t0(1) + 2/3 * (Phi_t2(0) - dt * V.Grad_t2(0)
mTask = boost::bind(&Normalizer::euler2,
_1, _2, dt, ValueType(1.0/3.0), /*phi=*/1, /*result=*/2);
// Cook and swap buffer 0 and 2 such that Phi_t3(0) and Phi_t2(2)
this->cook(2);
break;
default:
OPENVDB_THROW(ValueError, "Temporal integration scheme not supported!");
}
OPENVDB_NO_UNREACHABLE_CODE_WARNING_END
}
mTracker.mLeafs->removeAuxBuffers();
}
/// Private method to perform the task (serial or threaded) and
/// subsequently swap the leaf buffers.
template<typename GridT, typename InterruptT>
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
inline void
LevelSetTracker<GridT,InterruptT>::Normalizer<SpatialScheme, TemporalScheme>::
cook(int swapBuffer)
{
mTracker.startInterrupter("Normalizing Level Set");
if (mTracker.getGrainSize()>0) {
tbb::parallel_for(mTracker.mLeafs->getRange(mTracker.getGrainSize()), *this);
} else {
(*this)(mTracker.mLeafs->getRange());
}
mTracker.mLeafs->swapLeafBuffer(swapBuffer, mTracker.getGrainSize()==0);
mTracker.endInterrupter();
}
/// Perform normalization using one of the upwinding schemes
/// This currently supports only forward Euler time integration
/// and is not expected to work well with the higher-order spactial schemes
template<typename GridT, typename InterruptT>
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
inline void
LevelSetTracker<GridT,InterruptT>::Normalizer<SpatialScheme, TemporalScheme>::
euler1(const RangeType &range, ValueType dt, Index resultBuffer)
{
typedef math::BIAS_SCHEME<SpatialScheme> Scheme;
typedef typename Scheme::template ISStencil<GridType>::StencilType Stencil;
typedef typename LeafType::ValueOnCIter VoxelIterT;
mTracker.checkInterrupter();
const ValueType one(1.0), invDx = one/mTracker.voxelSize();
Stencil stencil(mTracker.grid());
for (size_t n=range.begin(), e=range.end(); n != e; ++n) {
BufferType& result = mTracker.mLeafs->getBuffer(n, resultBuffer);
const LeafType& leaf = mTracker.mLeafs->leaf(n);
for (VoxelIterT iter = leaf.cbeginValueOn(); iter; ++iter) {
stencil.moveTo(iter);
const ValueType normSqGradPhi =
math::ISGradientNormSqrd<SpatialScheme>::result(stencil);
const ValueType phi0 = stencil.getValue();
const ValueType diff = math::Sqrt(normSqGradPhi)*invDx - one;
const ValueType S = phi0 / (math::Sqrt(math::Pow2(phi0) + normSqGradPhi));
result.setValue(iter.pos(), phi0 - dt * S * diff);
}
}
}
template<typename GridT, typename InterruptT>
template<math::BiasedGradientScheme SpatialScheme,
math::TemporalIntegrationScheme TemporalScheme>
inline void
LevelSetTracker<GridT,InterruptT>::Normalizer<SpatialScheme, TemporalScheme>::
euler2(const RangeType& range, ValueType dt, ValueType alpha, Index phiBuffer, Index resultBuffer)
{
typedef math::BIAS_SCHEME<SpatialScheme> Scheme;
typedef typename Scheme::template ISStencil<GridType>::StencilType Stencil;
typedef typename LeafType::ValueOnCIter VoxelIterT;
mTracker.checkInterrupter();
const ValueType one(1.0), beta = one - alpha, invDx = one/mTracker.voxelSize();
Stencil stencil(mTracker.grid());
for (size_t n=range.begin(), e=range.end(); n != e; ++n) {
const BufferType& phi = mTracker.mLeafs->getBuffer(n, phiBuffer);
BufferType& result = mTracker.mLeafs->getBuffer(n, resultBuffer);
const LeafType& leaf = mTracker.mLeafs->leaf(n);
for (VoxelIterT iter = leaf.cbeginValueOn(); iter; ++iter) {
stencil.moveTo(iter);
const ValueType normSqGradPhi =
math::ISGradientNormSqrd<SpatialScheme>::result(stencil);
const ValueType phi0 = stencil.getValue();
const ValueType diff = math::Sqrt(normSqGradPhi)*invDx - one;
const ValueType S = phi0 / (math::Sqrt(math::Pow2(phi0) + normSqGradPhi));
result.setValue(iter.pos(), alpha*phi[iter.pos()] + beta*(phi0 - dt * S * diff));
}
}
}
} // namespace tools
} // namespace OPENVDB_VERSION_NAME
} // namespace openvdb
#endif // OPENVDB_TOOLS_LEVEL_SET_TRACKER_HAS_BEEN_INCLUDED
// Copyright (c) 2012-2013 DreamWorks Animation LLC
// All rights reserved. This software is distributed under the
// Mozilla Public License 2.0 ( http://www.mozilla.org/MPL/2.0/ )
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