OpenVDB  8.1.1
GridTransformer.h
Go to the documentation of this file.
1 // Copyright Contributors to the OpenVDB Project
2 // SPDX-License-Identifier: MPL-2.0
3 
6 
7 #ifndef OPENVDB_TOOLS_GRIDTRANSFORMER_HAS_BEEN_INCLUDED
8 #define OPENVDB_TOOLS_GRIDTRANSFORMER_HAS_BEEN_INCLUDED
9 
10 #include <openvdb/Grid.h>
11 #include <openvdb/Types.h>
12 #include <openvdb/math/Math.h> // for isApproxEqual()
14 #include "ChangeBackground.h"
15 #include "Interpolation.h"
16 #include "LevelSetRebuild.h" // for doLevelSetRebuild()
17 #include "SignedFloodFill.h" // for signedFloodFill
18 #include "Prune.h" // for pruneLevelSet
19 #include <tbb/blocked_range.h>
20 #include <tbb/parallel_reduce.h>
21 #include <cmath>
22 #include <functional>
23 
24 namespace openvdb {
26 namespace OPENVDB_VERSION_NAME {
27 namespace tools {
28 
52 template<typename Sampler, typename Interrupter, typename GridType>
53 inline void
54 resampleToMatch(const GridType& inGrid, GridType& outGrid, Interrupter& interrupter);
55 
77 template<typename Sampler, typename GridType>
78 inline void
79 resampleToMatch(const GridType& inGrid, GridType& outGrid);
80 
81 
83 
84 
85 namespace internal {
86 
90 template<typename Sampler, typename TreeT>
91 class TileSampler: public Sampler
92 {
93 public:
94  using ValueT = typename TreeT::ValueType;
95 
99  TileSampler(const CoordBBox& b, const ValueT& tileVal, bool on):
100  mBBox(b.min().asVec3d(), b.max().asVec3d()), mVal(tileVal), mActive(on), mEmpty(false)
101  {
102  mBBox.expand(-this->radius()); // shrink the bounding box by the sample radius
103  mEmpty = mBBox.empty();
104  }
105 
106  bool sample(const TreeT& inTree, const Vec3R& inCoord, ValueT& result) const
107  {
108  if (!mEmpty && mBBox.isInside(inCoord)) { result = mVal; return mActive; }
109  return Sampler::sample(inTree, inCoord, result);
110  }
111 
112 protected:
115  bool mActive, mEmpty;
116 };
117 
118 
121 template<typename TreeT>
122 class TileSampler<PointSampler, TreeT>: public PointSampler {
123 public:
124  TileSampler(const CoordBBox&, const typename TreeT::ValueType&, bool) {}
125 };
126 
129 template<typename TreeT>
131 public:
132  TileSampler(const CoordBBox&, const typename TreeT::ValueType&, bool) {}
133 };
134 
135 } // namespace internal
136 
137 
139 
140 
159 {
160 public:
162  using InterruptFunc = std::function<bool (void)>;
163 
164  GridResampler(): mThreaded(true), mTransformTiles(true) {}
165  virtual ~GridResampler() {}
166 
167  GridResampler(const GridResampler&) = default;
168  GridResampler& operator=(const GridResampler&) = default;
169 
171  void setThreaded(bool b) { mThreaded = b; }
173  bool threaded() const { return mThreaded; }
175  void setTransformTiles(bool b) { mTransformTiles = b; }
177  bool transformTiles() const { return mTransformTiles; }
178 
182  template<typename InterrupterType> void setInterrupter(InterrupterType&);
183 
184  template<typename Sampler, typename GridT, typename Transformer>
185  void transformGrid(const Transformer&,
186  const GridT& inGrid, GridT& outGrid) const;
187 
188 protected:
189  template<typename Sampler, typename GridT, typename Transformer>
190  void applyTransform(const Transformer&, const GridT& inGrid, GridT& outGrid) const;
191 
192  bool interrupt() const { return mInterrupt && mInterrupt(); }
193 
194 private:
195  template<typename Sampler, typename InTreeT, typename OutTreeT, typename Transformer>
196  static void transformBBox(const Transformer&, const CoordBBox& inBBox,
197  const InTreeT& inTree, OutTreeT& outTree, const InterruptFunc&,
198  const Sampler& = Sampler());
199 
200  template<typename Sampler, typename TreeT, typename Transformer>
201  class RangeProcessor;
202 
203  bool mThreaded, mTransformTiles;
204  InterruptFunc mInterrupt;
205 };
206 
207 
209 
210 
230 {
231 public:
233 
234  GridTransformer(const Mat4R& xform);
236  const Vec3R& pivot,
237  const Vec3R& scale,
238  const Vec3R& rotate,
239  const Vec3R& translate,
240  const std::string& xformOrder = "tsr",
241  const std::string& rotationOrder = "zyx");
242  ~GridTransformer() override = default;
243 
244  GridTransformer(const GridTransformer&) = default;
245  GridTransformer& operator=(const GridTransformer&) = default;
246 
247  const Mat4R& getTransform() const { return mTransform; }
248 
249  template<class Sampler, class GridT>
250  void transformGrid(const GridT& inGrid, GridT& outGrid) const;
251 
252 private:
253  struct MatrixTransform;
254 
255  inline void init(const Vec3R& pivot, const Vec3R& scale,
256  const Vec3R& rotate, const Vec3R& translate,
257  const std::string& xformOrder, const std::string& rotOrder);
258 
259  Vec3R mPivot;
260  Vec3i mMipLevels;
261  Mat4R mTransform, mPreScaleTransform, mPostScaleTransform;
262 };
263 
264 
266 
267 
268 namespace local_util {
269 
271 
277 template<typename T>
278 inline int
280  math::Vec3<T>& rotate, math::Vec3<T>& translate)
281 {
282  if (!math::isAffine(m)) return DECOMP_INVALID;
283 
284  // This is the translation in world space
285  translate = m.getTranslation();
286  // Extract translation.
287  const math::Mat3<T> xform = m.getMat3();
288 
289  const math::Vec3<T> unsignedScale(
290  (math::Vec3<T>(1, 0, 0) * xform).length(),
291  (math::Vec3<T>(0, 1, 0) * xform).length(),
292  (math::Vec3<T>(0, 0, 1) * xform).length());
293 
294  const bool hasUniformScale = unsignedScale.eq(math::Vec3<T>(unsignedScale[0]));
295 
296  bool hasRotation = false;
297  bool validDecomposition = false;
298 
299  T minAngle = std::numeric_limits<T>::max();
300 
301  // If the transformation matrix contains a reflection, test different negative scales
302  // to find a decomposition that favors the optimal resampling algorithm.
303  for (size_t n = 0; n < 8; ++n) {
304  const math::Vec3<T> signedScale(
305  n & 0x1 ? -unsignedScale.x() : unsignedScale.x(),
306  n & 0x2 ? -unsignedScale.y() : unsignedScale.y(),
307  n & 0x4 ? -unsignedScale.z() : unsignedScale.z());
308 
309  // Extract scale and potentially reflection.
310  const math::Mat3<T> mat = xform * math::scale<math::Mat3<T> >(signedScale).inverse();
311  if (mat.det() < T(0.0)) continue; // Skip if mat contains a reflection.
312 
313  const math::Vec3<T> tmpAngle = math::eulerAngles(mat, math::XYZ_ROTATION);
314 
315  const math::Mat3<T> rebuild =
316  math::rotation<math::Mat3<T> >(math::Vec3<T>(0, 0, 1), tmpAngle.z()) *
317  math::rotation<math::Mat3<T> >(math::Vec3<T>(0, 1, 0), tmpAngle.y()) *
318  math::rotation<math::Mat3<T> >(math::Vec3<T>(1, 0, 0), tmpAngle.x()) *
319  math::scale<math::Mat3<T> >(signedScale);
320 
321  if (xform.eq(rebuild)) {
322 
323  const T maxAngle = std::max(std::abs(tmpAngle[0]),
324  std::max(std::abs(tmpAngle[1]), std::abs(tmpAngle[2])));
325 
326  if (!(minAngle < maxAngle)) { // Update if less or equal.
327 
328  minAngle = maxAngle;
329  rotate = tmpAngle;
330  scale = signedScale;
331 
332  hasRotation = !rotate.eq(math::Vec3<T>::zero());
333  validDecomposition = true;
334 
335  if (hasUniformScale || !hasRotation) {
336  // Current decomposition is optimal.
337  break;
338  }
339  }
340  }
341  }
342 
343  if (!validDecomposition) {
344  // The decomposition is invalid if the transformation matrix contains shear.
345  return DECOMP_INVALID;
346  }
347  if (hasRotation && !hasUniformScale) {
348  // No unique decomposition if scale is nonuniform and rotation is nonzero.
349  return DECOMP_VALID;
350  }
351  return DECOMP_UNIQUE;
352 }
353 
354 } // namespace local_util
355 
356 
358 
359 
364 {
365  MatrixTransform(): mat(Mat4R::identity()), invMat(Mat4R::identity()) {}
366  MatrixTransform(const Mat4R& xform): mat(xform), invMat(xform.inverse()) {}
367 
368  bool isAffine() const { return math::isAffine(mat); }
369 
370  Vec3R transform(const Vec3R& pos) const { return mat.transformH(pos); }
371 
372  Vec3R invTransform(const Vec3R& pos) const { return invMat.transformH(pos); }
373 
374  Mat4R mat, invMat;
375 };
376 
377 
379 
380 
386 {
387 public:
390  ABTransform(const math::Transform& aXform, const math::Transform& bXform):
391  mAXform(aXform),
392  mBXform(bXform),
393  mIsAffine(mAXform.isLinear() && mBXform.isLinear()),
394  mIsIdentity(mIsAffine && mAXform == mBXform)
395  {}
396 
397  bool isAffine() const { return mIsAffine; }
398 
399  bool isIdentity() const { return mIsIdentity; }
400 
402  {
403  return mBXform.worldToIndex(mAXform.indexToWorld(pos));
404  }
405 
407  {
408  return mAXform.worldToIndex(mBXform.indexToWorld(pos));
409  }
410 
411  const math::Transform& getA() const { return mAXform; }
412  const math::Transform& getB() const { return mBXform; }
413 
414 private:
415  const math::Transform &mAXform, &mBXform;
416  const bool mIsAffine;
417  const bool mIsIdentity;
418 };
419 
420 
427 template<typename Sampler, typename Interrupter, typename GridType>
428 inline void
429 doResampleToMatch(const GridType& inGrid, GridType& outGrid, Interrupter& interrupter)
430 {
431  ABTransform xform(inGrid.transform(), outGrid.transform());
432 
433  if (Sampler::consistent() && xform.isIdentity()) {
434  // If the transforms of the input and output are identical, the
435  // output tree is simply a deep copy of the input tree.
436  outGrid.setTree(inGrid.tree().copy());
437  } else if (xform.isAffine()) {
438  // If the input and output transforms are both affine, create an
439  // input to output transform (in:index-to-world * out:world-to-index)
440  // and use the fast GridTransformer API.
441  Mat4R mat = xform.getA().baseMap()->getAffineMap()->getMat4() *
442  ( xform.getB().baseMap()->getAffineMap()->getMat4().inverse() );
443 
444  GridTransformer transformer(mat);
445  transformer.setInterrupter(interrupter);
446 
447  // Transform the input grid and store the result in the output grid.
448  transformer.transformGrid<Sampler>(inGrid, outGrid);
449  } else {
450  // If either the input or the output transform is non-affine,
451  // use the slower GridResampler API.
452  GridResampler resampler;
453  resampler.setInterrupter(interrupter);
454 
455  resampler.transformGrid<Sampler>(xform, inGrid, outGrid);
456  }
457 }
458 
459 
460 template<typename ValueType>
461 struct HalfWidthOp {
462  static ValueType eval(const ValueType& background, const Vec3d& voxelSize)
463  {
465  ValueType result(background * (1.0 / voxelSize[0]));
467  return result;
468  }
469 }; // struct HalfWidthOp
470 
471 template<>
472 struct HalfWidthOp<bool> {
473  static bool eval(const bool& background, const Vec3d& /*voxelSize*/)
474  {
475  return background;
476  }
477 }; // struct HalfWidthOp<bool>
478 
479 
480 template<typename Sampler, typename Interrupter, typename GridType>
481 inline void
482 resampleToMatch(const GridType& inGrid, GridType& outGrid, Interrupter& interrupter)
483 {
484  if (inGrid.getGridClass() == GRID_LEVEL_SET) {
485  // If the input grid is a level set, resample it using the level set rebuild tool.
486 
487  if (inGrid.constTransform() == outGrid.constTransform()) {
488  // If the transforms of the input and output grids are identical,
489  // the output tree is simply a deep copy of the input tree.
490  outGrid.setTree(inGrid.tree().copy());
491  return;
492  }
493 
494  // If the output grid is a level set, resample the input grid to have the output grid's
495  // background value. Otherwise, preserve the input grid's background value.
496  using ValueT = typename GridType::ValueType;
497  const bool outIsLevelSet = outGrid.getGridClass() == openvdb::GRID_LEVEL_SET;
498 
499  const ValueT halfWidth = outIsLevelSet
500  ? HalfWidthOp<ValueT>::eval(outGrid.background(), outGrid.voxelSize())
501  : HalfWidthOp<ValueT>::eval(inGrid.background(), inGrid.voxelSize());
502 
503  typename GridType::Ptr tempGrid;
504  try {
505  tempGrid = doLevelSetRebuild(inGrid, /*iso=*/zeroVal<ValueT>(),
506  /*exWidth=*/halfWidth, /*inWidth=*/halfWidth,
507  &outGrid.constTransform(), &interrupter);
508  } catch (TypeError&) {
509  // The input grid is classified as a level set, but it has a value type
510  // that is not supported by the level set rebuild tool. Fall back to
511  // using the generic resampler.
512  tempGrid.reset();
513  }
514  if (tempGrid) {
515  outGrid.setTree(tempGrid->treePtr());
516  return;
517  }
518  }
519 
520  // If the input grid is not a level set, use the generic resampler.
521  doResampleToMatch<Sampler>(inGrid, outGrid, interrupter);
522 }
523 
524 
525 template<typename Sampler, typename GridType>
526 inline void
527 resampleToMatch(const GridType& inGrid, GridType& outGrid)
528 {
529  util::NullInterrupter interrupter;
530  resampleToMatch<Sampler>(inGrid, outGrid, interrupter);
531 }
532 
533 
535 
536 
537 inline
538 GridTransformer::GridTransformer(const Mat4R& xform):
539  mPivot(0, 0, 0),
540  mMipLevels(0, 0, 0),
541  mTransform(xform),
542  mPreScaleTransform(Mat4R::identity()),
543  mPostScaleTransform(Mat4R::identity())
544 {
545  Vec3R scale, rotate, translate;
546  if (local_util::decompose(mTransform, scale, rotate, translate)) {
547  // If the transform can be decomposed into affine components,
548  // use them to set up a mipmapping-like scheme for downsampling.
549  init(mPivot, scale, rotate, translate, "rst", "zyx");
550  }
551 }
552 
553 
554 inline
556  const Vec3R& pivot, const Vec3R& scale,
557  const Vec3R& rotate, const Vec3R& translate,
558  const std::string& xformOrder, const std::string& rotOrder):
559  mPivot(0, 0, 0),
560  mMipLevels(0, 0, 0),
561  mPreScaleTransform(Mat4R::identity()),
562  mPostScaleTransform(Mat4R::identity())
563 {
564  init(pivot, scale, rotate, translate, xformOrder, rotOrder);
565 }
566 
567 
569 
570 
571 inline void
572 GridTransformer::init(
573  const Vec3R& pivot, const Vec3R& scale,
574  const Vec3R& rotate, const Vec3R& translate,
575  const std::string& xformOrder, const std::string& rotOrder)
576 {
577  if (xformOrder.size() != 3) {
578  OPENVDB_THROW(ValueError, "invalid transform order (" + xformOrder + ")");
579  }
580  if (rotOrder.size() != 3) {
581  OPENVDB_THROW(ValueError, "invalid rotation order (" + rotOrder + ")");
582  }
583 
584  mPivot = pivot;
585 
586  // Scaling is handled via a mipmapping-like scheme of successive
587  // halvings of the tree resolution, until the remaining scale
588  // factor is greater than or equal to 1/2.
589  Vec3R scaleRemainder = scale;
590  for (int i = 0; i < 3; ++i) {
591  double s = std::fabs(scale(i));
592  if (s < 0.5) {
593  mMipLevels(i) = int(std::floor(-std::log(s)/std::log(2.0)));
594  scaleRemainder(i) = scale(i) * (1 << mMipLevels(i));
595  }
596  }
597 
598  // Build pre-scale and post-scale transform matrices based on
599  // the user-specified order of operations.
600  // Note that we iterate over the transform order string in reverse order
601  // (e.g., "t", "r", "s", given "srt"). This is because math::Mat matrices
602  // postmultiply row vectors rather than premultiplying column vectors.
603  mTransform = mPreScaleTransform = mPostScaleTransform = Mat4R::identity();
604  Mat4R* remainder = &mPostScaleTransform;
605  int rpos, spos, tpos;
606  rpos = spos = tpos = 3;
607  for (int ix = 2; ix >= 0; --ix) { // reverse iteration
608  switch (xformOrder[ix]) {
609 
610  case 'r':
611  rpos = ix;
612  mTransform.preTranslate(pivot);
613  remainder->preTranslate(pivot);
614 
615  int xpos, ypos, zpos;
616  xpos = ypos = zpos = 3;
617  for (int ir = 2; ir >= 0; --ir) {
618  switch (rotOrder[ir]) {
619  case 'x':
620  xpos = ir;
621  mTransform.preRotate(math::X_AXIS, rotate.x());
622  remainder->preRotate(math::X_AXIS, rotate.x());
623  break;
624  case 'y':
625  ypos = ir;
626  mTransform.preRotate(math::Y_AXIS, rotate.y());
627  remainder->preRotate(math::Y_AXIS, rotate.y());
628  break;
629  case 'z':
630  zpos = ir;
631  mTransform.preRotate(math::Z_AXIS, rotate.z());
632  remainder->preRotate(math::Z_AXIS, rotate.z());
633  break;
634  }
635  }
636  // Reject rotation order strings that don't contain exactly one
637  // instance of "x", "y" and "z".
638  if (xpos > 2 || ypos > 2 || zpos > 2) {
639  OPENVDB_THROW(ValueError, "invalid rotation order (" + rotOrder + ")");
640  }
641 
642  mTransform.preTranslate(-pivot);
643  remainder->preTranslate(-pivot);
644  break;
645 
646  case 's':
647  spos = ix;
648  mTransform.preTranslate(pivot);
649  mTransform.preScale(scale);
650  mTransform.preTranslate(-pivot);
651 
652  remainder->preTranslate(pivot);
653  remainder->preScale(scaleRemainder);
654  remainder->preTranslate(-pivot);
655  remainder = &mPreScaleTransform;
656  break;
657 
658  case 't':
659  tpos = ix;
660  mTransform.preTranslate(translate);
661  remainder->preTranslate(translate);
662  break;
663  }
664  }
665  // Reject transform order strings that don't contain exactly one
666  // instance of "t", "r" and "s".
667  if (tpos > 2 || rpos > 2 || spos > 2) {
668  OPENVDB_THROW(ValueError, "invalid transform order (" + xformOrder + ")");
669  }
670 }
671 
672 
674 
675 
676 template<typename InterrupterType>
677 void
678 GridResampler::setInterrupter(InterrupterType& interrupter)
679 {
680  mInterrupt = std::bind(&InterrupterType::wasInterrupted,
681  /*this=*/&interrupter, /*percent=*/-1);
682 }
683 
684 
685 template<typename Sampler, typename GridT, typename Transformer>
686 void
687 GridResampler::transformGrid(const Transformer& xform,
688  const GridT& inGrid, GridT& outGrid) const
689 {
690  tools::changeBackground(outGrid.tree(), inGrid.background());
691  applyTransform<Sampler>(xform, inGrid, outGrid);
692 }
693 
694 
695 template<class Sampler, class GridT>
696 void
697 GridTransformer::transformGrid(const GridT& inGrid, GridT& outGrid) const
698 {
699  tools::changeBackground(outGrid.tree(), inGrid.background());
700 
701  if (!Sampler::mipmap() || mMipLevels == Vec3i::zero()) {
702  // Skip the mipmapping step.
703  const MatrixTransform xform(mTransform);
704  applyTransform<Sampler>(xform, inGrid, outGrid);
705 
706  } else {
707  bool firstPass = true;
708  const typename GridT::ValueType background = inGrid.background();
709  typename GridT::Ptr tempGrid = GridT::create(background);
710 
711  if (!mPreScaleTransform.eq(Mat4R::identity())) {
712  firstPass = false;
713  // Apply the pre-scale transform to the input grid
714  // and store the result in a temporary grid.
715  const MatrixTransform xform(mPreScaleTransform);
716  applyTransform<Sampler>(xform, inGrid, *tempGrid);
717  }
718 
719  // While the scale factor along one or more axes is less than 1/2,
720  // scale the grid by half along those axes.
721  Vec3i count = mMipLevels; // # of halvings remaining per axis
722  while (count != Vec3i::zero()) {
723  MatrixTransform xform;
724  xform.mat.setTranslation(mPivot);
725  xform.mat.preScale(Vec3R(
726  count.x() ? .5 : 1, count.y() ? .5 : 1, count.z() ? .5 : 1));
727  xform.mat.preTranslate(-mPivot);
728  xform.invMat = xform.mat.inverse();
729 
730  if (firstPass) {
731  firstPass = false;
732  // Scale the input grid and store the result in a temporary grid.
733  applyTransform<Sampler>(xform, inGrid, *tempGrid);
734  } else {
735  // Scale the temporary grid and store the result in a transient grid,
736  // then swap the two and discard the transient grid.
737  typename GridT::Ptr destGrid = GridT::create(background);
738  applyTransform<Sampler>(xform, *tempGrid, *destGrid);
739  tempGrid.swap(destGrid);
740  }
741  // (3, 2, 1) -> (2, 1, 0) -> (1, 0, 0) -> (0, 0, 0), etc.
742  count = math::maxComponent(count - 1, Vec3i::zero());
743  }
744 
745  // Apply the post-scale transform and store the result in the output grid.
746  if (!mPostScaleTransform.eq(Mat4R::identity())) {
747  const MatrixTransform xform(mPostScaleTransform);
748  applyTransform<Sampler>(xform, *tempGrid, outGrid);
749  } else {
750  outGrid.setTree(tempGrid->treePtr());
751  }
752  }
753 }
754 
755 
757 
758 
759 template<class Sampler, class TreeT, typename Transformer>
760 class GridResampler::RangeProcessor
761 {
762 public:
763  using LeafIterT = typename TreeT::LeafCIter;
764  using TileIterT = typename TreeT::ValueAllCIter;
765  using LeafRange = typename tree::IteratorRange<LeafIterT>;
766  using TileRange = typename tree::IteratorRange<TileIterT>;
767  using InTreeAccessor = typename tree::ValueAccessor<const TreeT>;
768  using OutTreeAccessor = typename tree::ValueAccessor<TreeT>;
769 
770  RangeProcessor(const Transformer& xform, const CoordBBox& b, const TreeT& inT, TreeT& outT):
771  mIsRoot(true), mXform(xform), mBBox(b),
772  mInTree(inT), mOutTree(&outT), mInAcc(mInTree), mOutAcc(*mOutTree)
773  {}
774 
775  RangeProcessor(const Transformer& xform, const CoordBBox& b, const TreeT& inTree):
776  mIsRoot(false), mXform(xform), mBBox(b),
777  mInTree(inTree), mOutTree(new TreeT(inTree.background())),
778  mInAcc(mInTree), mOutAcc(*mOutTree)
779  {}
780 
781  ~RangeProcessor() { if (!mIsRoot) delete mOutTree; }
782 
784  RangeProcessor(RangeProcessor& other, tbb::split):
785  mIsRoot(false),
786  mXform(other.mXform),
787  mBBox(other.mBBox),
788  mInTree(other.mInTree),
789  mOutTree(new TreeT(mInTree.background())),
790  mInAcc(mInTree),
791  mOutAcc(*mOutTree),
792  mInterrupt(other.mInterrupt)
793  {}
794 
795  void setInterrupt(const InterruptFunc& f) { mInterrupt = f; }
796 
798  void operator()(LeafRange& r)
799  {
800  for ( ; r; ++r) {
801  if (interrupt()) break;
802  LeafIterT i = r.iterator();
803  CoordBBox bbox(i->origin(), i->origin() + Coord(i->dim()));
804  if (!mBBox.empty()) {
805  // Intersect the leaf node's bounding box with mBBox.
806  bbox = CoordBBox(
807  Coord::maxComponent(bbox.min(), mBBox.min()),
808  Coord::minComponent(bbox.max(), mBBox.max()));
809  }
810  if (!bbox.empty()) {
811  transformBBox<Sampler>(mXform, bbox, mInAcc, mOutAcc, mInterrupt);
812  }
813  }
814  }
815 
817  void operator()(TileRange& r)
818  {
819  for ( ; r; ++r) {
820  if (interrupt()) break;
821 
822  TileIterT i = r.iterator();
823  // Skip voxels and background tiles.
824  if (!i.isTileValue()) continue;
825  if (!i.isValueOn() && math::isApproxEqual(*i, mOutTree->background())) continue;
826 
827  CoordBBox bbox;
828  i.getBoundingBox(bbox);
829  if (!mBBox.empty()) {
830  // Intersect the tile's bounding box with mBBox.
831  bbox = CoordBBox(
832  Coord::maxComponent(bbox.min(), mBBox.min()),
833  Coord::minComponent(bbox.max(), mBBox.max()));
834  }
835  if (!bbox.empty()) {
841  sampler(bbox, i.getValue(), i.isValueOn());
842  transformBBox(mXform, bbox, mInAcc, mOutAcc, mInterrupt, sampler);
843  }
844  }
845  }
846 
848  void join(RangeProcessor& other)
849  {
850  if (!interrupt()) mOutTree->merge(*other.mOutTree);
851  }
852 
853 private:
854  bool interrupt() const { return mInterrupt && mInterrupt(); }
855 
856  const bool mIsRoot; // true if mOutTree is the top-level tree
857  Transformer mXform;
858  CoordBBox mBBox;
859  const TreeT& mInTree;
860  TreeT* mOutTree;
861  InTreeAccessor mInAcc;
862  OutTreeAccessor mOutAcc;
863  InterruptFunc mInterrupt;
864 };
865 
866 
868 
869 
870 template<class Sampler, class GridT, typename Transformer>
871 void
872 GridResampler::applyTransform(const Transformer& xform,
873  const GridT& inGrid, GridT& outGrid) const
874 {
875  using TreeT = typename GridT::TreeType;
876  const TreeT& inTree = inGrid.tree();
877  TreeT& outTree = outGrid.tree();
878 
879  using RangeProc = RangeProcessor<Sampler, TreeT, Transformer>;
880 
881  const GridClass gridClass = inGrid.getGridClass();
882 
883  if (gridClass != GRID_LEVEL_SET && mTransformTiles) {
884  // Independently transform the tiles of the input grid.
885  // Note: Tiles in level sets can only be background tiles, and they
886  // are handled more efficiently with a signed flood fill (see below).
887 
888  RangeProc proc(xform, CoordBBox(), inTree, outTree);
889  proc.setInterrupt(mInterrupt);
890 
891  typename RangeProc::TileIterT tileIter = inTree.cbeginValueAll();
892  tileIter.setMaxDepth(tileIter.getLeafDepth() - 1); // skip leaf nodes
893  typename RangeProc::TileRange tileRange(tileIter);
894 
895  if (mThreaded) {
896  tbb::parallel_reduce(tileRange, proc);
897  } else {
898  proc(tileRange);
899  }
900  }
901 
902  CoordBBox clipBBox;
903  if (gridClass == GRID_LEVEL_SET) {
904  // Inactive voxels in level sets can only be background voxels, and they
905  // are handled more efficiently with a signed flood fill (see below).
906  clipBBox = inGrid.evalActiveVoxelBoundingBox();
907  }
908 
909  // Independently transform the leaf nodes of the input grid.
910 
911  RangeProc proc(xform, clipBBox, inTree, outTree);
912  proc.setInterrupt(mInterrupt);
913 
914  typename RangeProc::LeafRange leafRange(inTree.cbeginLeaf());
915 
916  if (mThreaded) {
917  tbb::parallel_reduce(leafRange, proc);
918  } else {
919  proc(leafRange);
920  }
921 
922  // If the grid is a level set, mark inactive voxels as inside or outside.
923  if (gridClass == GRID_LEVEL_SET) {
924  tools::pruneLevelSet(outTree);
925  tools::signedFloodFill(outTree);
926  }
927 }
928 
929 
931 
932 
933 //static
934 template<class Sampler, class InTreeT, class OutTreeT, class Transformer>
935 void
936 GridResampler::transformBBox(
937  const Transformer& xform,
938  const CoordBBox& bbox,
939  const InTreeT& inTree,
940  OutTreeT& outTree,
941  const InterruptFunc& interrupt,
942  const Sampler& sampler)
943 {
944  using ValueT = typename OutTreeT::ValueType;
945 
946  // Transform the corners of the input tree's bounding box
947  // and compute the enclosing bounding box in the output tree.
948  Vec3R
949  inRMin(bbox.min().x(), bbox.min().y(), bbox.min().z()),
950  inRMax(bbox.max().x()+1, bbox.max().y()+1, bbox.max().z()+1),
951  outRMin = math::minComponent(xform.transform(inRMin), xform.transform(inRMax)),
952  outRMax = math::maxComponent(xform.transform(inRMin), xform.transform(inRMax));
953  for (int i = 0; i < 8; ++i) {
954  Vec3R corner(
955  i & 1 ? inRMax.x() : inRMin.x(),
956  i & 2 ? inRMax.y() : inRMin.y(),
957  i & 4 ? inRMax.z() : inRMin.z());
958  outRMin = math::minComponent(outRMin, xform.transform(corner));
959  outRMax = math::maxComponent(outRMax, xform.transform(corner));
960  }
961  Vec3i
962  outMin = local_util::floorVec3(outRMin) - Sampler::radius(),
963  outMax = local_util::ceilVec3(outRMax) + Sampler::radius();
964 
965  if (!xform.isAffine()) {
966  // If the transform is not affine, back-project each output voxel
967  // into the input tree.
968  Vec3R xyz, inXYZ;
969  Coord outXYZ;
970  int &x = outXYZ.x(), &y = outXYZ.y(), &z = outXYZ.z();
971  for (x = outMin.x(); x <= outMax.x(); ++x) {
972  if (interrupt && interrupt()) break;
973  xyz.x() = x;
974  for (y = outMin.y(); y <= outMax.y(); ++y) {
975  if (interrupt && interrupt()) break;
976  xyz.y() = y;
977  for (z = outMin.z(); z <= outMax.z(); ++z) {
978  xyz.z() = z;
979  inXYZ = xform.invTransform(xyz);
980  ValueT result;
981  if (sampler.sample(inTree, inXYZ, result)) {
982  outTree.setValueOn(outXYZ, result);
983  } else {
984  // Note: Don't overwrite existing active values with inactive values.
985  if (!outTree.isValueOn(outXYZ)) {
986  outTree.setValueOff(outXYZ, result);
987  }
988  }
989  }
990  }
991  }
992  } else { // affine
993  // Compute step sizes in the input tree that correspond to
994  // unit steps in x, y and z in the output tree.
995  const Vec3R
996  translation = xform.invTransform(Vec3R(0, 0, 0)),
997  deltaX = xform.invTransform(Vec3R(1, 0, 0)) - translation,
998  deltaY = xform.invTransform(Vec3R(0, 1, 0)) - translation,
999  deltaZ = xform.invTransform(Vec3R(0, 0, 1)) - translation;
1000 
1001 #if defined(__ICC)
1002  const Vec3R dummy = deltaX;
1006 #endif
1007 
1008  // Step by whole voxels through the output tree, sampling the
1009  // corresponding fractional voxels of the input tree.
1010  Vec3R inStartX = xform.invTransform(Vec3R(outMin));
1011  Coord outXYZ;
1012  int &x = outXYZ.x(), &y = outXYZ.y(), &z = outXYZ.z();
1013  for (x = outMin.x(); x <= outMax.x(); ++x, inStartX += deltaX) {
1014  if (interrupt && interrupt()) break;
1015  Vec3R inStartY = inStartX;
1016  for (y = outMin.y(); y <= outMax.y(); ++y, inStartY += deltaY) {
1017  if (interrupt && interrupt()) break;
1018  Vec3R inXYZ = inStartY;
1019  for (z = outMin.z(); z <= outMax.z(); ++z, inXYZ += deltaZ) {
1020  ValueT result;
1021  if (sampler.sample(inTree, inXYZ, result)) {
1022  outTree.setValueOn(outXYZ, result);
1023  } else {
1024  // Note: Don't overwrite existing active values with inactive values.
1025  if (!outTree.isValueOn(outXYZ)) {
1026  outTree.setValueOff(outXYZ, result);
1027  }
1028  }
1029  }
1030  }
1031  }
1032  }
1033 } // GridResampler::transformBBox()
1034 
1035 } // namespace tools
1036 } // namespace OPENVDB_VERSION_NAME
1037 } // namespace openvdb
1038 
1039 #endif // OPENVDB_TOOLS_GRIDTRANSFORMER_HAS_BEEN_INCLUDED
#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:206
bool isIdentity() const
Definition: GridTransformer.h:399
openvdb::Vec3R invTransform(const openvdb::Vec3R &pos) const
Definition: GridTransformer.h:406
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:315
TileSampler(const CoordBBox &b, const ValueT &tileVal, bool on)
Definition: GridTransformer.h:99
Vec3i floorVec3(const Vec3R &v)
Definition: Interpolation.h:584
T & x()
Reference to the component, e.g. v.x() = 4.5f;.
Definition: Vec3.h:89
#define OPENVDB_THROW(exception, message)
Definition: openvdb/Exceptions.h:74
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
Vec3R invTransform(const Vec3R &pos) const
Definition: GridTransformer.h:372
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:194
void pivot(int i, int j, Mat3< T > &S, Vec3< T > &D, Mat3< T > &Q)
Definition: Mat3.h:682
Vec3< T > getTranslation() const
Return the translation component.
Definition: Mat4.h:323
openvdb::Vec3R transform(const openvdb::Vec3R &pos) const
Definition: GridTransformer.h:401
Efficient multi-threaded replacement of the background values in tree.
Definition: GridTransformer.h:158
Vec3R transform(const Vec3R &pos) const
Definition: GridTransformer.h:370
void setTransformTiles(bool b)
Enable or disable processing of tiles. (Enabled by default, except for level set grids.)
Definition: GridTransformer.h:175
Mat4R mat
Definition: GridTransformer.h:374
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:203
TileSampler(const CoordBBox &, const typename TreeT::ValueType &, bool)
Definition: GridTransformer.h:132
Vec2< T > minComponent(const Vec2< T > &v1, const Vec2< T > &v2)
Return component-wise minimum of the two vectors.
Definition: Vec2.h:508
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:266
std::function< bool(void)> InterruptFunc
Definition: GridTransformer.h:162
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:347
Vec3i ceilVec3(const Vec3R &v)
Definition: Interpolation.h:591
Vec3< int32_t > Vec3i
Definition: Vec3.h:665
Definition: TreeIterator.h:1302
void transformGrid(const GridT &inGrid, GridT &outGrid) const
Definition: GridTransformer.h:697
static ValueType eval(const ValueType &background, const Vec3d &voxelSize)
Definition: GridTransformer.h:462
#define OPENVDB_NO_TYPE_CONVERSION_WARNING_END
Definition: Platform.h:207
GridResampler()
Definition: GridTransformer.h:164
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:389
void setThreaded(bool b)
Enable or disable threading. (Threading is enabled by default.)
Definition: GridTransformer.h:171
Definition: Math.h:907
math::Vec3< Real > Vec3R
Definition: openvdb/Types.h:68
Defined various multi-threaded utility functions for trees.
const math::Transform & getA() const
Definition: GridTransformer.h:411
Definition: GridTransformer.h:270
bool isAffine() const
Definition: GridTransformer.h:368
void preScale(const Vec3< T0 > &v)
Definition: Mat4.h:750
static bool eval(const bool &background, const Vec3d &)
Definition: GridTransformer.h:473
std::shared_ptr< T > SharedPtr
Definition: openvdb/Types.h:110
Definition: GridTransformer.h:270
bool isApproxEqual(const Type &a, const Type &b, const Type &tolerance)
Return true if a is equal to b to within the given tolerance.
Definition: Math.h:407
Definition: GridTransformer.h:270
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 & max(const T &a, const T &b)
Definition: Composite.h:107
static const Mat4< Real > & identity()
Predefined constant for identity matrix.
Definition: Mat4.h:131
Vec3< double > Vec3d
Definition: Vec3.h:668
BBoxd mBBox
Definition: GridTransformer.h:113
ValueT mVal
Definition: GridTransformer.h:114
Dummy NOOP interrupter class defining interface.
Definition: NullInterrupter.h:25
bool wasInterrupted(T *i, int percent=-1)
Definition: NullInterrupter.h:49
void preTranslate(const Vec3< T0 > &tr)
Left multiples by the specified translation, i.e. Trans * (*this)
Definition: Mat4.h:717
TileSampler(const CoordBBox &, const typename TreeT::ValueType &, bool)
Definition: GridTransformer.h:124
Vec2< T > maxComponent(const Vec2< T > &v1, const Vec2< T > &v2)
Return component-wise maximum of the two vectors.
Definition: Vec2.h:517
Propagate the signs of distance values from the active voxels in the narrow band to the inactive valu...
MatrixTransform(const Mat4R &xform)
Definition: GridTransformer.h:366
This class implements the Transformer functor interface (specifically, the isAffine(), transform() and invTransform() methods) for a transform that maps an A grid into a B grid&#39;s index space such that, after resampling, A&#39;s index space and transform match B&#39;s index space and transform.
Definition: GridTransformer.h:385
Mat4 inverse(T tolerance=0) const
Definition: Mat4.h:499
bool threaded() const
Return true if threading is enabled.
Definition: GridTransformer.h:173
Definition: openvdb/Exceptions.h:13
MatType scale(const Vec3< typename MatType::value_type > &s)
Return a matrix that scales by s.
Definition: Mat.h:637
bool mEmpty
Definition: GridTransformer.h:115
bool isAffine() const
Definition: GridTransformer.h:397
void setInterrupter(InterrupterType &)
Allow processing to be aborted by providing an interrupter object. The interrupter will be queried pe...
Definition: GridTransformer.h:678
GridTransformer(const Mat4R &xform)
Definition: GridTransformer.h:538
void preRotate(Axis axis, T angle)
Left multiplies by a rotation clock-wiseabout the given axis into this matrix.
Definition: Mat4.h:812
Provises a unified interface for sampling, i.e. interpolation.
Definition: Interpolation.h:63
Mat4R invMat
Definition: GridTransformer.h:374
bool sample(const TreeT &inTree, const Vec3R &inCoord, ValueT &result) const
Definition: GridTransformer.h:106
Definition: openvdb/Exceptions.h:64
T & z()
Definition: Vec3.h:91
Definition: Math.h:905
void applyTransform(const Transformer &, const GridT &inGrid, GridT &outGrid) const
Definition: GridTransformer.h:872
void resampleToMatch(const GridType &inGrid, GridType &outGrid)
Resample an input grid into an output grid of the same type such that, after resampling, the input and output grids coincide (apart from sampling artifacts), but the output grid&#39;s transform is unchanged.
Definition: GridTransformer.h:527
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:137
ABTransform(const math::Transform &aXform, const math::Transform &bXform)
Definition: GridTransformer.h:390
bool interrupt() const
Definition: GridTransformer.h:192
Mat3< T > getMat3() const
Definition: Mat4.h:311
void setTranslation(const Vec3< T > &t)
Definition: Mat4.h:328
A GridTransformer applies a geometric transformation to an input grid using one of several sampling s...
Definition: GridTransformer.h:229
Definition: openvdb/Types.h:333
Definition: openvdb/Exceptions.h:65
MatrixTransform()
Definition: GridTransformer.h:365
void transformGrid(const Transformer &, const GridT &inGrid, GridT &outGrid) const
Definition: GridTransformer.h:687
Definition: GridTransformer.h:461
3x3 matrix class.
Definition: Mat3.h:28
typename TreeT::ValueType ValueT
Definition: GridTransformer.h:94
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:355
void doResampleToMatch(const GridType &inGrid, GridType &outGrid, Interrupter &interrupter)
Definition: GridTransformer.h:429
const Mat4R & getTransform() const
Definition: GridTransformer.h:247
bool isAffine(const Mat4< T > &m)
Definition: Mat4.h:1318
T & y()
Definition: Vec3.h:90
A TileSampler wraps a grid sampler of another type (BoxSampler, QuadraticSampler, etc...
Definition: GridTransformer.h:91
Definition: Math.h:906
Definition: Interpolation.h:96
const std::enable_if<!VecTraits< T >::IsVec, T >::type & min(const T &a, const T &b)
Definition: Composite.h:103
SharedPtr< GridResampler > Ptr
Definition: GridTransformer.h:161
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition: version.h.in:116
GridClass
Definition: openvdb/Types.h:331
int 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 (XYZ order), and translation components.
Definition: GridTransformer.h:279
Definition: Interpolation.h:196
bool transformTiles() const
Return true if tile processing is enabled.
Definition: GridTransformer.h:177
Definition: Math.h:912
const math::Transform & getB() const
Definition: GridTransformer.h:412
#define OPENVDB_USE_VERSION_NAMESPACE
Definition: version.h.in:178
Definition: Transform.h:39
virtual ~GridResampler()
Definition: GridTransformer.h:165