diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index dd1ad8b..c51cca6 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -18,7 +18,7 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [macos-14, macos-13] + os: [ubuntu-latest, macos-14, macos-13] if: "! contains(toJSON(github.event.commits.*.message), '[ci skip]')" steps: @@ -26,32 +26,29 @@ jobs: with: submodules: recursive - # - name: Install Boost - # if: runner.os == 'macOS' - # shell: bash - # run: | - # brew upgrade - # brew install boost - # - if: runner.os == 'Linux' - # run: | - # sudo apt-get -y update - # sudo apt-get -y install libboost-dev - # - if: runner.os == 'Windows' - # run: | - # git clone --depth=1 --recurse-submodules -j10 https://github.com/boostorg/boost.git - # cd boost - # bootstrap.bat + - name: Install Boost + if: runner.os == 'macOS' + shell: bash + run: | + brew upgrade + brew install boost + - name: Install Boost + if: runner.os == 'Linux' + run: | + sudo apt-get -y update + sudo apt-get -y install libboost-dev libboost-test-dev libboost-program-options-dev libboost-serialization-dev - name: ubuntu packages if: runner.os == 'Linux' run: sudo apt-get update && sudo apt-get install -y xorg-dev libglu1-mesa-dev xpra xserver-xorg-video-dummy freeglut3-dev - - name: configure - run: mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Debug .. -DCMAKE_POLICY_VERSION_MINIMUM=3.5 -DSHM_NO_AMGCL=On + - name: configure (with AMGCL) + run: mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Debug .. -DCMAKE_POLICY_VERSION_MINIMUM=3.5 -DSHM_NO_AMGCL=Off - - name: build + - name: build tests if: runner.os != 'Windows' - run: cd build && make + run: cd test && mkdir build && cd build && cmake .. - - if: runner.os == 'Windows' - run: cd build && cmake --build "." -DSHM_NO_AMGCL=On + - name: run tests + if: runner.os != 'Windows' + run: cd test/build && make && bin/shm_test diff --git a/.gitignore b/.gitignore index a4fa319..f114d44 100644 --- a/.gitignore +++ b/.gitignore @@ -3,6 +3,8 @@ export/ build/ **/build/ **/*.ppm +**/site_build/ +docs/docs # Editor and OS things .DS_Store diff --git a/.gitmodules b/.gitmodules index 74f6ccd..3caf0e3 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,6 +10,3 @@ [submodule "deps/amgcl"] path = deps/amgcl url = https://github.com/nzfeng/amgcl.git -[submodule "deps/polyscope"] - path = deps/polyscope - url = https://github.com/nmwsharp/polyscope.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 8abcc60..4e154ed 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,104 +1,58 @@ -cmake_minimum_required(VERSION 3.12.0) +cmake_minimum_required(VERSION 3.14.0) project(signed-heat-3d) -### Configure output locations -set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) -set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) -set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) +### Policy settings +cmake_policy(SET CMP0054 NEW) # don't implicitly dereference inside if() -# Print the build type -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build, options are: Debug Release" FORCE) -endif() -message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}") - -### Configure the compiler -# This is a basic, decent setup that should do something sane on most compilers - -if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") - - # using Clang (linux or apple) or GCC - message("Using clang/gcc compiler flags") - SET(CMAKE_CXX_STANDARD 11) - SET(BASE_CXX_FLAGS "-std=c++11 -Wall -Wextra") - SET(DISABLED_WARNINGS " -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-deprecated-declarations -Wno-missing-braces -Wno-unused-label -Wno-register -Wno-sign-compare -Wno-unknown-pragmas -Wno-unused-result -Wno-narrowing -Wno-unused-but-set-variable -Wno-unused-lambda-capture -Wno-unused-local-typedefs") - SET(TRACE_INCLUDES " -H -Wno-error=unused-command-line-argument") - - if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") - message("Setting clang-specific options") - SET(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} -ferror-limit=3 -Wfatal-errors -fcolor-diagnostics") - SET(CMAKE_CXX_FLAGS_DEBUG "-g3 -fsanitize=address -fno-limit-debug-info") - elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") - message("Setting gcc-specific options") - SET(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} -fmax-errors=5") - SET(CMAKE_CXX_FLAGS_DEBUG "-g3") - SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} -Wno-maybe-uninitialized -Wno-format-zero-length -Wno-unused-but-set-parameter -Wno-unused-but-set-variable") - endif() - - SET(CMAKE_CXX_FLAGS "${BASE_CXX_FLAGS} ${DISABLED_WARNINGS} -std=c++11") - - include(CheckCXXCompilerFlag) - unset(COMPILER_SUPPORTS_MARCH_NATIVE CACHE) - CHECK_CXX_COMPILER_FLAG(-march=native COMPILER_SUPPORTS_MARCH_NATIVE) - if(COMPILER_SUPPORTS_MARCH_NATIVE) - SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -march=native -DNDEBUG -std=c++11") - else() - SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -mcpu=apple-m1 -DNDEBUG -std=c++11") # Apple M1 - endif() - -elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC") - # using Visual Studio C++ - message("Using Visual Studio compiler flags") - set(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} /W4") - set(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} /MP") # parallel build - SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} /wd\"4267\"") # ignore conversion to smaller type (fires more aggressively than the gcc version, which is annoying) - SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} /wd\"4244\"") # ignore conversion to smaller type (fires more aggressively than the gcc version, which is annoying) - SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} /wd\"4305\"") # ignore truncation on initialization - SET(CMAKE_CXX_FLAGS "${BASE_CXX_FLAGS} ${DISABLED_WARNINGS}") - set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MD") - set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MDd") - add_definitions(/D "_CRT_SECURE_NO_WARNINGS") - add_definitions(-DNOMINMAX) - add_definitions(-D_USE_MATH_DEFINES) +### Process settings +option(BUILD_SHARED_LIBS "Build the shared library" FALSE) +if(BUILD_SHARED_LIBS) + message("-- Building SHARED libraries") else() - # unrecognized - message( FATAL_ERROR "Unrecognized compiler [${CMAKE_CXX_COMPILER_ID}]" ) + message("-- Building STATIC libraries") endif() -# == Deps -add_subdirectory(deps/geometry-central) -add_subdirectory(deps/polyscope) -add_subdirectory(deps/tetgen) -add_subdirectory(deps/amgcl) - -# == Build our project stuff - -set(SRCS - src/signed_heat_tet_solver.cpp - src/signed_heat_grid_solver.cpp - src/signed_heat_3d.cpp - src/main.cpp -) -option(SHM_NO_AMGCL "Do not use AMGCL" OFF) -if (SHM_NO_AMGCL) - add_definitions(-DSHM_NO_AMGCL=) - message(STATUS "Not using AMGCL") -else() - add_definitions(-USHM_NO_AMGCL) - message(STATUS "Using AMGCL") +list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake") # look for stuff in the /cmake directory + +# Work with non-standard homebrew installations +# (from ceres build system) +if (CMAKE_SYSTEM_NAME MATCHES "Darwin") + find_program(HOMEBREW_EXECUTABLE brew) + mark_as_advanced(FORCE HOMEBREW_EXECUTABLE) + if (HOMEBREW_EXECUTABLE) + # Detected a Homebrew install, query for its install prefix. + execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix + OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX + OUTPUT_STRIP_TRAILING_WHITESPACE) + message(STATUS "Detected Homebrew with install prefix: " + "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.") + list(APPEND CMAKE_PREFIX_PATH "${HOMEBREW_INSTALL_PREFIX}") + endif() endif() -add_executable(main "${SRCS}") -target_include_directories(main PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include/") -target_include_directories(main PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/deps/tetgen/") -# add the args.hxx project which we use for command line args -target_include_directories(main PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/deps/polyscope/deps/args") -target_link_libraries(main geometry-central polyscope tetgen amgcl::amgcl) +### Handle windows-specific fixes +if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC") + add_definitions (-DNOMINMAX) # don't use weird windows built-in min/max + add_definitions (-D_USE_MATH_DEFINES) # match unix behavior of constants in cmath +endif() -# Add libIGL in header-only mode. -target_include_directories(main PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/deps/libigl/include") \ No newline at end of file +### Recurse to the source code +add_subdirectory(src) + +# install +install( + TARGETS signed-heat-3d + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib) + +install( + DIRECTORY ${CMAKE_SOURCE_DIR}/include/ + DESTINATION include + FILES_MATCHING + PATTERN "*.h" + PATTERN "*.ipp") diff --git a/README.md b/README.md index 17a6d51..d15a6e0 100644 --- a/README.md +++ b/README.md @@ -1,22 +1,39 @@ # signed-heat-3d (3D volumetric domains) +## Documentation is at [nzfeng.github.io/signed-heat-3d](https://nzfeng.github.io/signed-heat-3d) + C++ demo for "[A Heat Method for Generalized Signed Distance](https://nzfeng.github.io/research/SignedHeatMethod/index.html)" by [Nicole Feng](https://nzfeng.github.io/index.html) and [Keenan Crane](https://www.cs.cmu.edu/~kmcrane/), presented at SIGGRAPH 2024. - +This library implements the _Signed Heat Method (SHM)_ on **3D volumetric domains**, solving for (generalized) signed distance to triangle meshes, polygon meshes, and point clouds. No assumptions are placed on the input, besides that it be consistently oriented. - +![teaser image](media/teaser.png) - +Check out the [sample project](https://github.com/nzfeng/signed-heat-demo-3d) to get started with a build system and a GUI. -Project page with links to paper, pseudocode, supplementals, & videos: [link](https://nzfeng.github.io/research/SignedHeatMethod/index.html) +Check out the docs at [nzfeng.github.io/signed-heat-3d](nzfeng.github.io/signed-heat-3d). -This Github repository demonstrates the _Signed Heat Method (SHM)_ on **3D volumetric domains**, solving for (generalized) signed distance to triangle meshes, polygon meshes, and point clouds. No assumptions are placed on the input, besides that it be consistently oriented. +More resources: +* Python bindings have been released as the `signed-heat-method` package on PyPI. Checkout the [documentation](nzfeng.github.io/signed-heat-3d) for install instructions. +* If you're interested in using the Signed Heat Method in 2D surface domains, go to [this Github repository](https://github.com/nzfeng/signed-heat-demo) which demonstrates the [geometry-central implementation on (2D) surface meshes and point clouds](https://geometry-central.net/surface/algorithms/signed_heat_method/). +* Project page with links to paper, pseudocode, supplementals, & videos: [link](https://nzfeng.github.io/research/SignedHeatMethod/index.html) -For visualization, the solution is solved on a background tet mesh or grid, which you do _not_ need to supply yourself -- the program discretizes the domain for you, and you just need to supply the geometry to which you'd like the signed distance. +## Performance -If you're interested in using the Signed Heat Method in 2D surface domains, go to [this Github repository](https://github.com/nzfeng/signed-heat-demo) which demonstrates the [geometry-central implementation on (2D) surface meshes and point clouds](https://geometry-central.net/surface/algorithms/signed_heat_method/) . +1. To improve performance, operators and spatial discretizations are only built as necessary, and re-used in future computations if the underlying discretization hasn't changed. This means future computations can be significantly faster than the initial solve (which includes, for example, tet mesh construction and matrix factorization.) -![teaser image](media/teaser.png) +2. Linear solves are (optionally) accelerated using the algebraic multigrid library [AMGCL](https://amgcl.readthedocs.io/en/latest/), which (unfortunately) requires Boost. If you do not want to use Boost, use `cmake -DSHM_NO_AMGCL=On` to compile to a program without AMGCL but with solve times \~5x slower (more or less for larger/smaller problems). Force use of AMGCL via `cmake -DSHM_NO_AMGCL=Off`. Boost can be installed on macOS using `brew install boost`, and the necessary modules on Ubuntu using +``` +sudo apt-get -y update +sudo apt-get -y install libboost-dev libboost-test-dev libboost-program-options-dev libboost-serialization-dev +``` +Windows users should probably follow the instructions on the [Boost website](https://www.boost.org/releases/latest/). + +3. There are still several further obvious areas of performance improvement, which haven't been implemented yet: +* In 3D domains, Step 1 of the Signed Heat Method (vector diffusion) can be done by convolution; the integral is evaluted simply by direct summation, even though this summation is trivially parallelizable. +* One could optimize loop order when iterating over source/domain elements (whichever is smaller) for better cache behavior. +* More performance-critical implementations could also implement hierarchical summation. + +## Citation If this code contributes to academic work, please cite as: ```bibtex @@ -38,61 +55,3 @@ If this code contributes to academic work, please cite as: numpages = {19} } ``` - -## Getting started - -This project uses [geometry-central](https://geometry-central.net) for mesh computations, [Tetgen](https://www.wias-berlin.de/software/tetgen/1.5/index.html) for tet mesh generation, [Polyscope](http://polyscope.run/) for visualization, and [libigl](https://libigl.github.io/) for a marching tets implementation. These dependencies are added as git submodules, so copies will be downloaded locally when you clone this project as below. - -``` -git clone --recursive https://github.com/nzfeng/signed-heat-3d.git -cd signed-heat-3d -mkdir build && cd build -cmake -DCMAKE_BUILD_TYPE=Release .. # use `Debug` mode to enable checks -make -j8 # or however many cores you want to use -bin/main /path/to/mesh -``` -A Polyscope GUI will open. - -If you do not clone recursively, some submodules or sub-submodules will not clone. Initialize/update these submodules by running `git submodule update --init --recursive` or `git submodule update --recursive`. - -Linear solves are accelerated using the algebraic multigrid library [AMGCL](https://amgcl.readthedocs.io/en/latest/), which (unfortunately) requires Boost. Boost can be installed on macOS using `brew install boost`; Windows and Linux users should probably follow the instructions on the [Boost website](https://www.boost.org/releases/latest/). If you do not want to use Boost, use `cmake -DSHM_NO_AMGCL=On` to compile to a program without AMGCL but with solve times \~5x slower (more or less for larger/smaller problems). Force use of AMGCL via `cmake -DSHM_NO_AMGCL=Off`. - -# Mesh & point cloud input - -## File formats -An input mesh may be an `obj`, `ply`, `off`, or `stl`. See [the geometry-central website](https://geometry-central.net/surface/utilities/io/#reading-meshes) for up-to-date information on supported file types. - -An input point cloud should be specified using point positions and normals. Some example files, with extension `.pc`, are in the `data` directory. - -The algorithm is robust to self-intersections, holes, and noise in the input geometry, and to a certain amount of inconsistent normal orientations. - -# Usage - - - -In addition to the mesh file, you can pass several arguments to the command line, including flags which are also shown as options in the GUI. - -|flag | usage | purpose| -| ------------- |-------------|-------------| -|`--g`, `--grid`| `--g`, `--grid` | Solve on a background grid. By default, the domain will be discretized as a tet mesh. | -|`--V`, `--verbose`| `--V`, `--verbose`| Verbose output. Off by default.| -|`--h`| `--h=64`, `--h=64,64,128` `--h 64, 32, 128`| 3D vector specifying the tet/grid spacing, with larger values indicating more refinement. If solving on a grid, this corresponds to the number of nodes along each dimension. Default values are $2^{5}$.| -|`--b`| `--b=0., 0., 0., 1., 1., 1.`, `--b 0., 0., 0., 1., 1., 1.`| Specify the 3D positions of the minimum and maximum corners of the computational domain (in that order), which is assumed to be an axis-aligned rectangular prism. If not specified, the size of the domain will be automatically computed so as to encompass the input source geometry.| -|`--l`, `--headless`| `--l`, `--headless`| Don't use the GUI, and automatically solve for & export the generalized SDF.| -|`--help`| `--help`| Display help. | - -To improve performance, operators and spatial discretizations are only built as necessary, and re-used in future computations if the underlying discretization hasn't changed. This means future computations can be significantly faster than the initial solve (which includes, for example, tet mesh construction and matrix factorization.) - -# Performance - -Linear solves are accelerated using the algebraic multigrid implementation in [AMGCL](https://amgcl.readthedocs.io/en/latest/). - -But there are still several further obvious areas of performance improvement, which haven't been implemented yet: - -* In 3D domains, Step 1 of the Signed Heat Method (vector diffusion) can be done by convolution; the integral is evaluted simply by direct summation, even though this summation is trivially parallelizable. -* One could optimize loop order when iterating over source/domain elements (whichever is smaller) for better cache behavior. -* More performance-critical implementations could also implement hierarchical summation. - -# Output - -Polyscope lets you inspect your solution on the interior of the domain by adding [_slice planes_](https://polyscope.run/features/slice_planes/). In this program, you can also contour your solution, and export isosurfaces as OBJ files. diff --git a/data/SprayBottle.obj b/data/SprayBottle.obj deleted file mode 100644 index faec89b..0000000 --- a/data/SprayBottle.obj +++ /dev/null @@ -1,264610 +0,0 @@ -# Blender 4.1.1 -# www.blender.org -mtllib SprayBottle.mtl -o input -v -3.747545 0.358863 2.869555 -v -3.853472 0.332156 2.856223 -v -3.740114 0.285842 2.832291 -v -3.521074 0.572127 2.934559 -v -3.437726 0.509162 2.924543 -v -3.434068 0.593749 2.943549 -v 0.417363 8.795162 3.091973 -v 0.410838 8.711194 3.100369 -v 0.493818 8.711172 3.100380 -v 0.137006 8.542268 3.117187 -v 0.208755 8.457530 3.125668 -v 0.222369 8.542227 3.117214 -v 0.811933 8.542834 3.115915 -v 0.885849 8.458342 3.123724 -v 0.896390 8.543012 3.115220 -v 0.214577 9.194231 3.043508 -v 0.286074 9.117181 3.054089 -v 0.296807 9.194143 3.043526 -v 1.119350 9.420940 3.009863 -v 1.114936 9.345415 3.020125 -v 1.193223 9.345292 3.019716 -v 0.862636 9.193278 3.042469 -v 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3.126624 -v -3.096824 4.337938 3.118205 -v -3.096118 4.248928 3.118233 -v -3.251101 5.464466 3.101532 -v -3.250373 5.560414 3.101542 -v -3.325945 5.559472 3.093240 -v -3.021527 5.755016 3.126662 -v -3.096944 5.850049 3.118307 -v -3.097514 5.754126 3.118273 -v -3.240180 6.230423 3.100528 -v -3.236820 6.325581 3.099946 -v -3.311893 6.324657 3.091660 -v -3.818294 5.455184 3.024542 -v -3.817176 5.551404 3.024535 -v -3.884547 5.549995 3.014239 -v -3.589346 6.510478 3.053451 -v -3.652687 6.604166 3.042632 -v -3.656622 6.509288 3.043133 -v -2.960485 7.267461 3.111567 -v -3.027297 7.358303 3.101655 -v -3.034560 7.265797 3.103727 -v 1.831746 0.531907 2.954895 -v 1.907477 0.456535 2.931489 -v 1.932048 0.500002 2.944307 -v 0.475435 0.469187 2.941453 -v 0.354878 0.457519 2.937824 -v 0.436462 0.412128 2.923592 -v 0.594860 0.487742 2.947056 -v 0.519153 0.532511 2.961195 -v -3.212857 10.007832 2.793409 -v -3.319848 9.965669 2.788627 -v -3.249519 9.926222 2.805745 -v -3.460944 9.851136 2.793395 -v 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0615cd790d7966b081a8778d1b9d49da3ef05ea1 diff --git a/docs/README.md b/docs/README.md new file mode 100644 index 0000000..d4e285f --- /dev/null +++ b/docs/README.md @@ -0,0 +1,22 @@ +To edit the docs, install `mkdocs-material` via +``` +pip install mkdocs-material +``` + +To preview changes to the docs, +``` +mkdocs serve +``` + +After editing, build a static site with +``` +mkdocs build +``` + +To publish, checkout the `gh-pages` branch, pull the latest changes from `main`, and run +``` +sh build_docs.sh +``` +to build the static site, and commit and push the changes. + +Deploy to GitHub Pages by using the [GitHub web interface](https://docs.github.com/en/pages/getting-started-with-github-pages/configuring-a-publishing-source-for-your-github-pages-site) to deploy from the `gh-pages` branch of the repo (could also be automated) \ No newline at end of file diff --git a/docs/build_docs.sh b/docs/build_docs.sh new file mode 100644 index 0000000..64659f8 --- /dev/null +++ b/docs/build_docs.sh @@ -0,0 +1,13 @@ +#!/bin/sh +cd cpp +python3 -m mkdocs build +cd .. +cd py +python3 -m mkdocs build +cd .. +rm -rf docs/* +cp -r cpp/site_build/* docs/ +cp -r py/site_build docs/py/ +git add docs/ +git commit -m "rebuild" +git push -u origin gh-pages \ No newline at end of file diff --git a/docs/cpp/mkdocs.yml b/docs/cpp/mkdocs.yml new file mode 100644 index 0000000..0ca74f0 --- /dev/null +++ b/docs/cpp/mkdocs.yml @@ -0,0 +1,55 @@ +site_name: Signed Heat Method - C++ +site_url: https://nzfeng.github.io/signed-heat-3d + +docs_dir: 'source' +site_dir: 'site_build' + +theme: + name: material + custom_dir: 'theme_overrides' + palette: + scheme: default + accent: deep purple + primary: red + font: + text: Libre Caslon Text + code: Roboto Mono + features: + - content.code.copy + +markdown_extensions: +- pymdownx.highlight: + anchor_linenums: true + line_spans: __span + pygments_lang_class: true + use_pygments: true +- codehilite +- admonition +- attr_list +- markdown.extensions.footnotes +- markdown.extensions.smarty +- pymdownx.superfences +- pymdownx.details +- pymdownx.inlinehilite +- pymdownx.arithmatex +- pymdownx.emoji + +extra: + search: + tokenizer: '[\s\-\.::]+' + +extra_css: + - ../../shared/theme.css + +repo_name: nzfeng/signed-heat-3d +repo_url: https://github.com/nzfeng/signed-heat-3d + +extra_javascript: +- https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js?config=TeX-MML-AM_CHTML + +nav: +- Home: index.md +- Building: + - Building: build/building.md + - Tests: build/tests.md +- Solvers: algorithm/solvers.md diff --git a/docs/cpp/source/algorithm/solvers.md b/docs/cpp/source/algorithm/solvers.md new file mode 100644 index 0000000..01b19d0 --- /dev/null +++ b/docs/cpp/source/algorithm/solvers.md @@ -0,0 +1,160 @@ +# Solvers + +There are two solvers: `SignedHeatTetSolver` solves for SDFs on a tetrahedralized domain, and `SignedHeatGridSolver` solves for SDFs on gridded domain. Both solvers assume the domain is rectangular, though [future releases](https://github.com/nzfeng/signed-heat-python/issues/2) may consider arbitrary domains. + +??? func "`#!cpp SignedHeatTetSolver()`" + + Construct an SDF solver that acts on a tet-meshed domain. + + - The solver has a member variable called `VERBOSE`, that if `true`, prints status updates during solves. + +??? func "`#!cpp SignedHeatGridSolver()`" + + Construct an SDF solver that acts on a gridded domain. + + - The solver has a member variable called `VERBOSE`, that if `true`, prints status updates during solves. + +To improve performance, operators and spatial discretizations are only built as necessary, and re-used in future computations if the underlying discretization hasn't changed. This means future computations can be significantly faster than the initial solve (which includes, for example, tet mesh construction and matrix factorization.) + +## Signed distance to triangle and polygon meshes + +![distance to meshes](../../../../shared/media/Meshes.png) + +**Example:** + +The library uses [geometry-central](https://geometry-central.net/) to manage mesh and point cloud structures. +```cpp +#include "signedheat3d/signed_heat_grid_solver.h" +#include "signedheat3d/signed_heat_tet_solver.h" + +#include "geometrycentral/surface/vertex_position_geometry.h" + +using namespace geometrycentral; +using namespace geometrycentral::surface; + +// Assume we have some input geometry -- these are geometry-central objects. +SurfaceMesh mesh; +VertexPositionGeometry geometry; + +// Initalize tet mesh solver +SignedHeatTetSolver tetSolver = SignedHeatTetSolver(); + +// Configure some options +SignedHeat3DOptions solveOptions; // all the default options should be pretty good + +// Solve! +Vector sdf = tetSolver.computeDistance(geometry, solveOptions); // get distance to the mesh! + +// Solve on a grid instead. +SignedHeatGridSolver gridSolver = SignedHeatGridSolver(); +solveOptions.resolution = {64, 64, 64}; // change the resolution of the grid +Vector sdf = gridSolver.computeDistance(geometry, solveOptions); // get distance to the mesh! +``` + +??? func "`#!cpp Vector SignedHeatTetSolver::computeDistance(VertexPositionGeometry& geometry, const SignedHeat3DOptions& options = SignedHeat3DOptions())`" + + Solve for an SDF on a tet mesh, to the mesh represented by `geometry`. Returns a `Vector` object, which is a `geometry-central` object typedef'ed to Eigen's vector type `Eigen::Matrix`. + + - `geometry` is a geometry-central [VertexPositionGeometry](https://geometry-central.net/surface/geometry/geometry/#vertex-position-geometry), which represents the geometry of a given mesh. + - `options` is a struct containing solve options (see below). + +??? func "`#!cpp Vector SignedHeatGridSolver::computeDistance(VertexPositionGeometry& geometry, const SignedHeat3DOptions& options = SignedHeat3DOptions())`" + + Solve for an SDF on a grid, to the mesh represented by `geometry`. Returns a `Vector` object, which is a `geometry-central` object typedef'ed to Eigen's vector type `Eigen::Matrix`. + + - `geometry` is a geometry-central [VertexPositionGeometry](https://geometry-central.net/surface/geometry/geometry/#vertex-position-geometry), which represents the geometry of a given mesh. + - `options` is a struct containing solve options (see below). + +## Signed distance to point clouds + +![distance to point cloud](../../../../shared/media/PointCloud.png) + +**Example:** +```cpp +#include "signedheat3d/signed_heat_grid_solver.h" +#include "signedheat3d/signed_heat_tet_solver.h" + +#include "geometrycentral/pointcloud/point_position_normal_geometry.h" + +using namespace geometrycentral::pointcloud; + +// Assume we have some input geometry -- these are geometry-central objects. +PointPositionNormalGeometry pointGeom; + +// Initalize tet mesh solver +SignedHeatTetSolver tetSolver = SignedHeatTetSolver(); + +// Configure some options +SignedHeat3DOptions solveOptions; // all the default options should be pretty good + +// Solve! +Vector sdf = tetSolver.computeDistance(pointGeom, solveOptions); // get distance to the point cloud! + +// Solve on a grid instead. +SignedHeatGridSolver gridSolver = SignedHeatGridSolver(); +solveOptions.resolution = {64, 64, 64}; // change the resolution of the grid +Vector sdf = gridSolver.computeDistance(pointGeom, solveOptions); // get distance to the point cloud! +``` + +??? func "`#!cpp Vector SignedHeatTetSolver::computeDistance(PointPositionNormalGeometry& pointGeom, const SignedHeat3DOptions& options = SignedHeat3DOptions())`" + + Solve for an SDF on a tet mesh, to the given point cloud with normals. Returns a `Vector` object, which is a `geometry-central` object typedef'ed to Eigen's vector type `Eigen::Matrix`. + + - `pointGeom` is a geometry-central [PointPositionNormalGeometry](https://geometry-central.net/pointcloud/geometry/#point-position-normal-geometry), which represents a point cloud with normals. + - `options` is a struct containing solve options (see below). + +??? func "`#!cpp Vector SignedHeatGridSolver::computeDistance(PointPositionNormalGeometry& pointGeom, const SignedHeat3DOptions& options = SignedHeat3DOptions())`" + + Solve for an SDF on a grid, to the given point cloud with normals. Returns a `Vector` object, which is a `geometry-central` object typedef'ed to Eigen's vector type `Eigen::Matrix`. + + - `pointGeom` is a geometry-central [PointPositionNormalGeometry](https://geometry-central.net/pointcloud/geometry/#point-position-normal-geometry), which represents a point cloud with normals. + - `options` is a struct containing solve options (see below). + +## Solve options + +All `computeDistance()` functions take an optional argument called `options`, which is a struct with the following variables: + +| Field | Default value |Meaning| +|---|---|---| +| `#!cpp levelSetConstraint`| `#!cpp LevelSetConstraint::ZeroSet` | Whether to apply level set constraints, with options `LevelSetConstraint::ZeroSet`, `LevelSetConstraint::None`, `LevelSetConstraint::Multiple`, corresponding to preservation of the input surface as the zero set, as multiple level sets (one for each surface component), or no constraints, respectively. | +| `#!cpp tCoef`| `1` | Sets the time used for short-time heat flow. Generally you don't have to change this.| +| `#!cpp bboxMin`| | The 3D position of the minimum corner of the computational domain, which is assumed to be an axis-aligned rectangular prism. If not specified, the size of the domain will be automatically computed so as to encompass the input source geometry. | +| `#!cpp bboxMax`| | The 3D position of the maximum corner of the computational domain. | +| `#!cpp resolution`| `#!python np.array([2**5, 2**5, 2**5])` | 3D vector specifying the tet or grid spacing, with larger values indicating more refinement. If solving on a grid, this corresponds to the number of nodes along each dimension. Default values are $2^{5}$. | +| `#!cpp rebuild`| `True` | If `True`, force (re)build the underlying tet mesh or grid domain. This will induce the solver to re-factorize the matrices involved in the solve. | + +## Helper functions + +### Tet mesh solver + +??? func "`#!cpp Eigen::MatrixXd SignedHeatTetSolver::getVertices() const`" + + Returns a dense `n_vertices` x 3 matrix representing the vertex locations of the underlying tet mesh domain. + +??? func "`#!python SignedHeatTetSolver::getTets() const`" + + Returns a dense integer-valued `n_tets` x 4 matrix representing the tetrahedra of the underlying tet mesh domain, where each tetrahedra is given by four vertex indices (0-indexed). + +??? func "`#!cpp void SignedHeatTetSolver::isosurface(std::unique_ptr& isoMesh, std::unique_ptr& isoGeom, const Vector& phi, double isoval = 0.) const`" + + Contours a scalar function defined on the tet mesh, given by the input vector `phi`, according to the isovalue `isoval`. Returns pointers to the mesh and geometry objects defining the polygon mesh of the resulting isosurface. + +### Grid solver + +??? func "`#!cpp std::array SignedHeatGridSolver::getGridResolution() const`" + + Returns a length-3 array giving the number of cells of the background grid along the x-, y-, and z-axes, respectively. + +??? func "`#!cpp std::tuple SignedHeatGridSolver::getBBox() const`" + + Returns the tuple `{bboxMin, bboxMin}`, where `bboxMin` and `bboxMin` are the 3D positions of the minimal and maximal node corners of the grid, respectively. + +These two functions expose the order in which scalar data defined at grid nodes is flattened into a single 1D vector. + +??? func "`#!cpp size_t SignedHeatGridSolver::indicesToNodeIndex(const size_t& i, const size_t& j, const size_t& k) const`" + + Converts a triple of indices indicating a node's position along the x-, y-, and z- axes, to a single index representing the corresponding global index of the node. + +??? func "`#!cpp Vector3 SignedHeatGridSolver::indicesToNodePosition(const size_t& i, const size_t& j, const size_t& k) const`" + + Returns the global 3D position of a node given a triple of indices indicating the node's position along the x-, y-, and z- axes. diff --git a/docs/cpp/source/index.md b/docs/cpp/source/index.md new file mode 100644 index 0000000..b8fc47f --- /dev/null +++ b/docs/cpp/source/index.md @@ -0,0 +1,77 @@ +# Signed Heat Method + +`signed-heat-3d` is a C++ library implementing the [Signed Heat Method](https://nzfeng.github.io/research/SignedHeatMethod/index.html) for computing **robust signed distance fields (SDFs)** to triangle meshes, polygon meshes, and point clouds in 3D. + +![teaser image](../../../media/teaser.png) + +Python bindings to this C++ code also exist via the `signed_heat_method` package on PyPI: toggle the "C++/Python" switch at the top of this page to see documentation for the Python version. + +**Sample:** + +The library uses [geometry-central](https://geometry-central.net/) to manage mesh and point cloud structures. +```cpp +#include "signedheat3d/signed_heat_grid_solver.h" +#include "signedheat3d/signed_heat_tet_solver.h" + +#include "geometrycentral/surface/vertex_position_geometry.h" +#include "geometrycentral/pointcloud/point_position_normal_geometry.h" + +using namespace geometrycentral; +using namespace geometrycentral::surface; +using namespace geometrycentral::pointcloud; + +// Assume we have some input geometry -- these are geometry-central objects. +SurfaceMesh mesh; +VertexPositionGeometry geometry; +PointPositionNormalGeometry pointGeom; + +// Initalize tet mesh solver +SignedHeatTetSolver tetSolver = SignedHeatTetSolver(); + +// Configure some options +SignedHeat3DOptions solveOptions; // all the default options should be pretty good + +// Solve! +Vector sdf = tetSolver.computeDistance(geometry, solveOptions); // get distance to the mesh! +Vector sdf = tetSolver.computeDistance(pointGeom, solveOptions); // get distance to the point cloud! + +// Solve on a grid instead. +SignedHeatGridSolver gridSolver = SignedHeatGridSolver(); +solveOptions.resolution = {64, 64, 64}; // change the resolution of the grid +Vector sdf = gridSolver.computeDistance(geometry, solveOptions); // get distance to the mesh! +Vector sdf = gridSolver.computeDistance(pointGeom, solveOptions); // get distance to the point cloud! +``` + +See the [sample project](https://github.com/nzfeng/signed-heat-demo-3d) to get started with a GUI and build system. + +More info about the method, including a blog-style summary, an introductory 10-minute talk, and the corresponding academic paper are all located at the project page [here](https://www.youtube.com/watch?v=mw5Xz9CFZ7A). + +**Related libraries** + +The Signed Heat Method has been implemented in both C++ and Python, in 2D and in 3D. + +* If you're interested in using the Signed Heat Method *on* 2D surface domains, rather than in 3D space, the method has been implemented in [geometry-central](https://geometry-central.net) for [triangle mesh domains](https://geometry-central.net/surface/algorithms/signed_heat_method/), [polygon mesh domains](https://geometry-central.net/surface/algorithms/polygon_heat_solver/#signed-geodesic-distance), and [point cloud domains](https://geometry-central.net/pointcloud/algorithms/heat_solver/#signed-geodesic-distance). A demo project exists at [signed-heat-demo](https://github.com/nzfeng/signed-heat-demo). +* Likewise, Python bindings to the geometry-central C++ code has been implemented in the Python package [potpourri3d](https://github.com/nmwsharp/potpourri3d). + +**Credits** + +If this code contributes to an academic publication, cite it as: +```bib +@article{Feng:2024:SHM, + author = {Feng, Nicole and Crane, Keenan}, + title = {A Heat Method for Generalized Signed Distance}, + year = {2024}, + issue_date = {August 2024}, + publisher = {Association for Computing Machinery}, + address = {New York, NY, USA}, + volume = {43}, + number = {4}, + issn = {0730-0301}, + url = {https://doi.org/10.1145/3658220}, + doi = {10.1145/3658220}, + journal = {ACM Trans. Graph.}, + month = {jul}, + articleno = {92}, + numpages = {16} +} +``` diff --git a/docs/cpp/theme_overrides/partials/header.html b/docs/cpp/theme_overrides/partials/header.html new file mode 100644 index 0000000..d772d28 --- /dev/null +++ b/docs/cpp/theme_overrides/partials/header.html @@ -0,0 +1,170 @@ + + + +{% set class = "md-header" %} +{% if "navigation.tabs.sticky" in features %} + {% set class = class ~ " md-header--lifted" %} +{% endif %} + + +
+ + + + {% if "navigation.tabs.sticky" in features %} + {% if "navigation.tabs" in features %} + {% include "partials/tabs.html" %} + {% endif %} + {% endif %} +
+ diff --git a/docs/py/mkdocs.yml b/docs/py/mkdocs.yml new file mode 100644 index 0000000..09e41f8 --- /dev/null +++ b/docs/py/mkdocs.yml @@ -0,0 +1,57 @@ +site_name: Signed Heat Method - Python +site_url: https://nzfeng.github.io/signed-heat-3d/py + +docs_dir: 'source' +site_dir: 'site_build' + +theme: + name: material + custom_dir: 'theme_overrides' + palette: + scheme: default + accent: deep purple + primary: red + font: + text: Libre Caslon Text + code: Roboto Mono + features: + - content.code.copy + +markdown_extensions: +- pymdownx.highlight: + anchor_linenums: true + line_spans: __span + pygments_lang_class: true + use_pygments: true +- codehilite +- admonition +- attr_list +- markdown.extensions.footnotes +- markdown.extensions.smarty +- pymdownx.superfences +- pymdownx.details +- pymdownx.inlinehilite +- pymdownx.arithmatex +- pymdownx.emoji + +extra: + search: + tokenizer: '[\s\-\.::]+' + url: + prefix: '/py/' + +extra_css: + - ../../shared/extras.css + +repo_name: nzfeng/signed-heat-python +repo_url: https://github.com/nzfeng/signed-heat-python + +extra_javascript: +- https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js?config=TeX-MML-AM_CHTML + +nav: +- Home: index.md +- Building: + - Building: build/building.md + - Tests: build/tests.md +- Solvers: algorithm/solvers.md diff --git a/docs/py/source/algorithm/solvers.md b/docs/py/source/algorithm/solvers.md new file mode 100644 index 0000000..6095185 --- /dev/null +++ b/docs/py/source/algorithm/solvers.md @@ -0,0 +1,138 @@ +# Solvers + +There are two solvers: `SignedHeatTetSolver` solves for SDFs on a tetrahedralized domain, and `SignedHeatGridSolver` solves for SDFs on gridded domain. Both solvers assume the domain is rectangular, though [future releases](https://github.com/nzfeng/signed-heat-python/issues/2) may consider arbitrary domains. + +??? func "`#!python SignedHeatTetSolver(verbose: bool = True)`" + + Construct an SDF solver that acts on a tet-meshed domain. + + - `verbose`: If `True`, print status updates during solves. + +??? func "`#!python SignedHeatGridSolver(verbose: bool = True)`" + + Construct an SDF solver that acts on a gridded domain. + + - `verbose`: If `True`, print status updates during solves. + +To improve performance, operators and spatial discretizations are only built as necessary, and re-used in future computations if the underlying discretization hasn't changed. This means future computations can be significantly faster than the initial solve (which includes, for example, tet mesh construction and matrix factorization.) + +## Signed distance to triangle and polygon meshes + +![distance to meshes](../../../../shared/media/Meshes.png) + +**Example:** +```python +import signed_heat_method as shm + +V, F = # your mesh + +# Initalize tet mesh solver +tet_solver = shm.SignedHeatTetSolver(verbose=True) # print all messages + +# Solve! +sdf_tets = tet_solver.compute_distance_to_mesh(V, F) + +# Solve on a regular grid instead. +grid_solver = shm.SignedHeatGridSolver(verbose=True) +sdf_grid = grid_solver.compute_distance_to_mesh(V, F) +``` + +??? func "`#!python SignedHeatTetSolver.compute_distance_to_mesh(V: np.ndarray, F: list[list[int]], options: dict = {}) -> np.ndarray`" + + Solve for an SDF on a tet mesh, to the mesh represented by the vertex array `V` and face array `F`. + + - `V` is a (n_vertices, 3) NumPy array of 3D vertex positions, where the i-th row gives the 3D position of the i-th vertex. + - `F` is a list of lists; each sublist represents a polygonal mesh face of arbitrary degree, using 0-indexed vertices. + +??? func "`#!python SignedHeatGridSolver.compute_distance_to_mesh(V: np.ndarray, F: list[list[int]], options: dict = {}) -> np.ndarray`" + + Solve for an SDF on a grid, to the mesh represented by the vertex array `V` and face array `F`. + + - `V` is a (n_vertices, 3) NumPy array of 3D vertex positions, where the i-th row gives the 3D position of the i-th vertex. + - `F` is a list of lists; each sublist represents a polygonal mesh face of arbitrary degree, using 0-indexed vertices. + +Both `compute_distance_to_mesh()` functions take an optional argument called `options`, which is a dictionary with the following possible entries: + +| Field | Default value |Meaning| +|---|---|---| +| `#!python level_set_constraint`| `#!python "ZeroSet"` | Whether to apply level set constraints, with options "ZeroSet", "None", "Multiple", corresponding to preservation of the input surface as the zero set, as multiple level sets (one for each surface component), or no constraints, respectively. | +| `#!python t_coef`| `1` | Sets the time used for short-time heat flow. Generally you don't have to change this.| +| `#!python bbox_min`| | The 3D position of the minimum corner of the computational domain, which is assumed to be an axis-aligned rectangular prism. If not specified, the size of the domain will be automatically computed so as to encompass the input source geometry. | +| `#!python bbox_max`| | The 3D position of the maximum corner of the computational domain. | +| `#!python resolution`| `#!python np.array([2**5, 2**5, 2**5])` | 3D vector specifying the tet or grid spacing, with larger values indicating more refinement. If solving on a grid, this corresponds to the number of nodes along each dimension. Default values are $2^{5}$. | +| `#!python rebuild`| `True` | If `True`, force (re)build the underlying tet mesh or grid domain. This will induce the solver to re-factorize the matrices involved in the solve.| + +## Signed distance to point clouds + +![distance to point cloud](../../../../shared/media/PointCloud.png) + +**Example:** +```python +import signed_heat_method as shm + +P, N = # your point cloud, with normals + +# Initalize tet mesh solver +tet_solver = shm.SignedHeatTetSolver(verbose=True) # print all messages + +# Solve! +sdf_tets = tet_solver.compute_distance_to_point_cloud(P, N) + +# Solve on a regular grid instead. +grid_solver = shm.SignedHeatGridSolver(verbose=True) +sdf_grid = grid_solver.compute_distance_to_point_cloud(P, N) +``` + +??? func "`#!python SignedHeatTetSolver.compute_distance_to_mesh(P: np.ndarray, N: np.ndarray, options: dict = {}) -> np.ndarray`" + + Solve for an SDF on a tet mesh, to the point cloud represented by the point positions array `P` and point normals `N`. + + - `P` is a (n_points, 3) NumPy array of 3D point positions, where the i-th row gives the 3D position of the i-th point. + - `N` is a (n_points, 3) NumPy array of 3D normal vectors, where |P| = number of points in the source point cloud. + +??? func "`#!python SignedHeatGridSolver.compute_distance_to_mesh(P: np.ndarray, N: np.ndarray, options: dict = {}) -> np.ndarray`" + + Solve for an SDF on a grid, to the point cloud represented by the point positions array `P` and point normals `N`. + + - `P` is a (n_points, 3) NumPy array of 3D point positions, where the i-th row gives the 3D position of the i-th point. + - `N` is a (n_points, 3) NumPy array of 3D normal vectors, where |P| = number of points in the source point cloud. + +Both `compute_distance_to_mesh()` functions take an optional argument called `options`, which is a dictionary with the following possible entries: + +| Field | Default value |Meaning| +|---|---|---| +| `#!python t_coef`| `1` | Sets the time used for short-time heat flow. Generally you don't have to change this.| +| `#!python bbox_min`| | The 3D position of the minimum corner of the computational domain, which is assumed to be an axis-aligned rectangular prism. If not specified, the size of the domain will be automatically computed so as to encompass the input source geometry. | +| `#!python bbox_max`| | The 3D position of the maximum corner of the computational domain. | +| `#!python resolution`| `#!python np.array([2**5, 2**5, 2**5])` | 3D vector specifying the tet or grid spacing, with larger values indicating more refinement. If solving on a grid, this corresponds to the number of nodes along each dimension. Default values are $2^{5}$. | +| `#!python rebuild`| `True` | If `True`, (re)build the underlying tet mesh or grid domain. This will induce the solver to re-factorize the matrices involved in the solve.| + +## Helper functions + +### Tet mesh solver + +??? func "`#!python SignedHeatTetSolver.get_vertices() -> np.ndarray`" + + Returns an (n_vertices, 3) NumPy array representing the vertex locations of the underlying tet mesh domain. + +??? func "`#!python SignedHeatTetSolver.get_tets() -> np.ndarray`" + + Returns an (n_tets, 4) NumPy array representing the tetrahedra of the underlying tet mesh domain, where each tetrahedra is given by four vertex indices (0-indexed). + +??? func "`#!python SignedHeatTetSolver.isosurface(f: np.ndarray, isovalue: float = 0.) -> tuple[np.ndarray, list[list[int]]]`" + + Contours a scalar function defined on the tet mesh, given by the input vector `f`, according to the isovalue `isovalue`. Returns the tuple `(vertices, faces)` defining the polygon mesh of the resulting isosurface. + +### Grid solver + +??? func "`#!python SignedHeatGridSolver.get_grid_resolution() -> list[int]`" + + Returns a length-3 array giving the number of cells of the background grid along the x-, y-, and z-axes, respectively. + +??? func "`#!python SignedHeatGridSolver.get_bbox() -> tuple[np.ndarray, np.ndarray]`" + + Returns the tuple `(bbox_min, bbox_min)`, where `bbox_min` and `bbox_min` are the 3D positions of the minimal and maximal node corners of the grid, respectively. + +??? func "`#!python SignedHeatGridSolver.to_grid_array(f: np.ndarray) -> np.ndarray`" + + Converts the input vector `f` representing a scalar function on the background grid, into a NumPy array of shape `(dim_x, dim_y, dim_z)`, where `dim_[xyz]` gives the number of grid nodes along each axis. diff --git a/docs/py/source/index.md b/docs/py/source/index.md new file mode 100644 index 0000000..5c8fa0f --- /dev/null +++ b/docs/py/source/index.md @@ -0,0 +1,66 @@ +# Signed Heat Method (Python) + +`signed_heat_method` is a Python library implementing the [Signed Heat Method](https://nzfeng.github.io/research/SignedHeatMethod/index.html) for computing **robust signed distance fields (SDFs)** to triangle meshes, polygon meshes, and point clouds in 3D. + +![teaser image](../../../media/teaser.png) + +This library consists of Python bindings to [C++ code](https://github.com/nzfeng/signed-heat-3d). Toggle the "C++/Python" switch at the top of this page to see documentation for the C++ version. + +Install `signed_heat_method` via PyPI: +``` +pip install signed_heat_method +``` + +**Sample:** + +```python +import signed_heat_method as shm + +V, F = # your mesh, specified as a vertex and face array + +# Initalize tet mesh solver +tet_solver = shm.SignedHeatTetSolver(verbose=True) # print all messages + +# Solve! +sdf_tets = tet_solver.compute_distance_to_mesh(V, F) + +# Solve on a regular grid instead. +grid_solver = shm.SignedHeatGridSolver(verbose=True) +sdf_grid = grid_solver.compute_distance_to_mesh(V, F) +``` + +For a demo, see the [sample project](https://github.com/nzfeng/signed-heat-python/blob/main/test/demo.py), which uses [Polyscope](https://polyscope.run) for visualization. + +More info about the method, including a blog-style summary, an introductory 10-minute talk, and the corresponding academic paper are all located at the project page [here](https://www.youtube.com/watch?v=mw5Xz9CFZ7A). + +**Related libraries** + +The Signed Heat Method has been implemented in both C++ and Python, in 2D and in 3D. + +* If you're interested in using the Signed Heat Method *on* 2D surface domains, rather than in 3D space, the method has been implemented in [geometry-central](https://geometry-central.net) for [triangle mesh domains](https://geometry-central.net/surface/algorithms/signed_heat_method/), [polygon mesh domains](https://geometry-central.net/surface/algorithms/polygon_heat_solver/#signed-geodesic-distance), and [point cloud domains](https://geometry-central.net/pointcloud/algorithms/heat_solver/#signed-geodesic-distance). A demo project exists at [signed-heat-demo](https://github.com/nzfeng/signed-heat-demo). +* Likewise, Python bindings to the geometry-central C++ code has been implemented in the Python package [potpourri3d](https://github.com/nmwsharp/potpourri3d). + +**Credits** + +`signed_heat_method` is developed by [Nicole Feng](https://nzfeng.github.io), with advice from [Alex Kaszynski](https://github.com/akaszynski) and [Nicholas Sharp](https://nmwsharp.com). + +If this code contributes to an academic publication, cite it as: +```bib +@article{Feng:2024:SHM, + author = {Feng, Nicole and Crane, Keenan}, + title = {A Heat Method for Generalized Signed Distance}, + year = {2024}, + issue_date = {August 2024}, + publisher = {Association for Computing Machinery}, + address = {New York, NY, USA}, + volume = {43}, + number = {4}, + issn = {0730-0301}, + url = {https://doi.org/10.1145/3658220}, + doi = {10.1145/3658220}, + journal = {ACM Trans. Graph.}, + month = {jul}, + articleno = {92}, + numpages = {16} +} +``` diff --git a/docs/py/theme_overrides/partials/header.html b/docs/py/theme_overrides/partials/header.html new file mode 100644 index 0000000..83370aa --- /dev/null +++ b/docs/py/theme_overrides/partials/header.html @@ -0,0 +1,171 @@ + + + +{% set class = "md-header" %} +{% if "navigation.tabs.sticky" in features %} + {% set class = class ~ " md-header--lifted" %} +{% endif %} + + +
+ + + + {% if "navigation.tabs.sticky" in features %} + {% if "navigation.tabs" in features %} + {% include "partials/tabs.html" %} + {% endif %} + {% endif %} +
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74991 -f 62479 35567 54418 -f 35567 83361 54418 -f 62479 54420 62480 -f 62479 54418 54420 -f 62480 55433 35568 -f 62080 63648 33296 -f 93702 33296 64701 -f 66179 78988 94464 -f 78987 94464 78988 -f 88063 41146 27314 -f 93662 22504 38000 -f 22504 22503 38000 -f 26851 35072 14589 -f 23270 95271 18632 -f 95271 18630 18632 diff --git a/include/signed_heat_3d.h b/include/signedheat3d/signed_heat_3d.h similarity index 77% rename from include/signed_heat_3d.h rename to include/signedheat3d/signed_heat_3d.h index f1556eb..c3e8f49 100644 --- a/include/signed_heat_3d.h +++ b/include/signedheat3d/signed_heat_3d.h @@ -37,7 +37,6 @@ using namespace geometrycentral::surface; struct SignedHeat3DOptions { LevelSetConstraint levelSetConstraint = LevelSetConstraint::ZeroSet; double tCoef = 1.0; - bool rebuild = true; Vector3 bboxMin = {1., 1., 1.}; Vector3 bboxMax = {-1., -1., -1.}; std::array resolution = {0, 0, 0}; @@ -45,7 +44,24 @@ struct SignedHeat3DOptions { bool fastIntegration = false; bool exportData = false; std::string meshname; + + bool operator==(const SignedHeat3DOptions& other) const { + if (bboxMin != other.bboxMin) return false; + if (bboxMax != other.bboxMax) return false; + if (resolution != other.resolution) return false; + return true; + } + + bool operator!=(const SignedHeat3DOptions& other) const { + return !(*this == other); + } }; +// bool operator==(const SignedHeat3DOptions& A, const SignedHeat3DOptions& B) { +// if (A.bboxMin != B.bboxMin) return false; +// if (A.bboxMax != B.bboxMax) return false; +// if (A.resolution != B.resolution) return false; +// return true; +// } Vector3 centroid(VertexPositionGeometry& geometry); Vector3 centroid(pointcloud::PointPositionGeometry& pointGeom); @@ -60,6 +76,6 @@ bool isResolutionValid(const std::array& resolution); std::pair computeBBox(VertexPositionGeometry& geometry); std::pair computeBBox(pointcloud::PointPositionNormalGeometry& pointGeom); -Vector AMGCL_solve(const SparseMatrix& LHS, const Vector& RHS, bool verbose = false); +Vector AMGCL_solve(SparseMatrix& LHS, const Vector& RHS, bool& success, bool verbose = false); Vector AMGCL_blockSolve(const SparseMatrix& L, const SparseMatrix& A, const SparseMatrix& Z, const Vector& rhs, bool verbose = false); \ No newline at end of file diff --git a/include/signed_heat_grid_solver.h b/include/signedheat3d/signed_heat_grid_solver.h similarity index 94% rename from include/signed_heat_grid_solver.h rename to include/signedheat3d/signed_heat_grid_solver.h index 7d900ae..380d869 100644 --- a/include/signed_heat_grid_solver.h +++ b/include/signedheat3d/signed_heat_grid_solver.h @@ -23,6 +23,9 @@ class SignedHeatGridSolver { // Expose parameters for visualizing the grid std::array getGridResolution() const; std::tuple getBBox() const; + // Expose functions that determine flattening ordering + size_t indicesToNodeIndex(const size_t& i, const size_t& j, const size_t& k) const; + Vector3 indicesToNodePosition(const size_t& i, const size_t& j, const size_t& k) const; private: double shortTime; @@ -30,6 +33,9 @@ class SignedHeatGridSolver { std::array resolution = {32, 32, 32}; // number of vertices on x/y/z side of grid Vector3 bboxMin, bboxMax; + bool rebuild; + SignedHeat3DOptions lastOptions; + SparseMatrix laplaceMat; FaceData faceAreas; // of the source geometry FaceData faceNormals; // of the source geometry @@ -43,7 +49,5 @@ class SignedHeatGridSolver { double evaluateAverageAlongSourceGeometry(pointcloud::PointPositionGeometry& pointGeom, const Vector& u) const; Vector3 barycenter(VertexPositionGeometry& geometry, const Face& f) const; - size_t indicesToNodeIndex(const size_t& i, const size_t& j, const size_t& k) const; - Vector3 indicesToNodePosition(const size_t& i, const size_t& j, const size_t& k) const; void exportData(const Vector& phi, const SignedHeat3DOptions& options) const; }; \ No newline at end of file diff --git a/include/signed_heat_tet_solver.h b/include/signedheat3d/signed_heat_tet_solver.h similarity index 98% rename from include/signed_heat_tet_solver.h rename to include/signedheat3d/signed_heat_tet_solver.h index 6473a62..e464ad0 100755 --- a/include/signed_heat_tet_solver.h +++ b/include/signedheat3d/signed_heat_tet_solver.h @@ -35,6 +35,10 @@ class SignedHeatTetSolver { Eigen::MatrixXi getTets() const; private: + bool rebuild; + SignedHeat3DOptions lastOptions; + bool isConforming; + // == mesh encoding input surface std::vector surfaceFaces; // indexes into faces of tetmesh; sign indicates relative orientation diff --git a/media/point-cloud-input.png b/media/point-cloud-input.png deleted file mode 100644 index cfcbc75..0000000 Binary files a/media/point-cloud-input.png and /dev/null differ diff --git a/media/polygon-mesh-input.png b/media/polygon-mesh-input.png deleted file mode 100644 index 8172a67..0000000 Binary files a/media/polygon-mesh-input.png and /dev/null differ diff --git a/media/teaser.pdf b/media/teaser.pdf deleted file mode 100644 index d9c6ea1..0000000 Binary files a/media/teaser.pdf and /dev/null differ diff --git a/media/teaser.png b/media/teaser.png index d72044c..f1fd98c 100644 Binary files a/media/teaser.png and b/media/teaser.png differ diff --git a/media/tetmesh-domain.png b/media/tetmesh-domain.png deleted file mode 100644 index 0cda806..0000000 Binary files a/media/tetmesh-domain.png and /dev/null differ diff --git a/media/triangle-mesh-input.png b/media/triangle-mesh-input.png deleted file mode 100644 index 7039876..0000000 Binary files a/media/triangle-mesh-input.png and /dev/null differ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 100644 index 0000000..93584f3 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.5.0) +set(CMAKE_POLICY_VERSION_MINIMUM 3.5) + +# Maybe stop from CMAKEing in the wrong place +if (CMAKE_BINARY_DIR STREQUAL CMAKE_SOURCE_DIR) + message(FATAL_ERROR "Source and build directories cannot be the same. Go use the /build directory.") +endif() + +# List of .cpp files to be compiled +SET(SRCS + signed_heat_3d.cpp + signed_heat_grid_solver.cpp + signed_heat_tet_solver.cpp +) + +SET(INCLUDE_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../include/signedheat3d/") +SET(HEADERS + ${INCLUDE_ROOT}/signed_heat_3d.h + ${INCLUDE_ROOT}/signed_heat_grid_solver.h + ${INCLUDE_ROOT}/signed_heat_tet_solver.h +) + +# Create a single library for the project +add_library(signed-heat-3d ${SRCS} ${HEADERS}) + +option(SHM_NO_AMGCL "Do not use AMGCL" OFF) +if (SHM_NO_AMGCL) + add_definitions(-DSHM_NO_AMGCL=) + message(STATUS "Not using AMGCL") +else() + add_definitions(-USHM_NO_AMGCL) + message(STATUS "Using AMGCL") +endif() + +add_subdirectory(../deps/geometry-central deps/geometry-central) +add_subdirectory(../deps/tetgen deps/tetgen) +add_subdirectory(../deps/amgcl deps/amgcl) + +# Includes from this project +target_include_directories(signed-heat-3d PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include") + +# Add all includes and link libraries from dependencies +target_include_directories(signed-heat-3d PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../deps/tetgen/") +target_include_directories(signed-heat-3d PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../deps/libigl/include") +target_link_libraries(signed-heat-3d geometry-central tetgen amgcl::amgcl) + +# Set compiler properties for the library +target_compile_features(signed-heat-3d PUBLIC cxx_std_11) +set_target_properties(signed-heat-3d PROPERTIES + CXX_STANDARD_REQUIRED TRUE + CXX_EXTENSIONS OFF +) +target_compile_definitions(signed-heat-3d PUBLIC NOMINMAX _USE_MATH_DEFINES) + +# Export symbols if DLL is requested +if(MSVC AND BUILD_SHARED_LIBS) + set_target_properties(signed-heat-3d PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) +endif() diff --git a/src/main.cpp b/src/main.cpp deleted file mode 100755 index a96a446..0000000 --- a/src/main.cpp +++ /dev/null @@ -1,392 +0,0 @@ -#include "geometrycentral/pointcloud/point_position_normal_geometry.h" -#include "geometrycentral/surface/manifold_surface_mesh.h" -#include "geometrycentral/surface/meshio.h" -#include "geometrycentral/surface/surface_mesh_factories.h" -#include "geometrycentral/surface/vertex_position_geometry.h" - -#include "polyscope/point_cloud.h" -#include "polyscope/polyscope.h" -#include "polyscope/surface_mesh.h" -#include "polyscope/volume_grid.h" -#include "polyscope/volume_mesh.h" - -#include "signed_heat_grid_solver.h" -#include "signed_heat_tet_solver.h" - -template -std::istream& operator>>(std::istream& is, std::vector& v) { - std::copy(std::istream_iterator(is), std::istream_iterator(), std::back_inserter(v)); - return is; -} - -#include "args/args.hxx" -#include "imgui.h" - -#include -using std::chrono::duration; -using std::chrono::duration_cast; -using std::chrono::high_resolution_clock; -using std::chrono::milliseconds; -std::chrono::time_point t1, t2; -std::chrono::duration ms_fp; - -using namespace geometrycentral; -using namespace geometrycentral::surface; - -// == Geometry-central data -std::unique_ptr mesh; -std::unique_ptr geometry; -std::unique_ptr cloud; -std::unique_ptr pointGeom; - -// Contouring -float ISOVAL = 0.; -Vector PHI; -std::unique_ptr isoMesh; -std::unique_ptr isoGeom; - -// Polyscope data -polyscope::SurfaceMesh* psMesh; -polyscope::PointCloud* psCloud; -polyscope::VolumeGridNodeScalarQuantity* gridScalarQ; -polyscope::SlicePlane* psPlane; - -// Solvers & parameters -float TCOEF = 1.0; -std::array RESOLUTION = {16, 16, 16}; -std::unique_ptr tetSolver; -std::unique_ptr gridSolver; -SignedHeat3DOptions SHM_OPTIONS; -int CONSTRAINT_MODE = static_cast(LevelSetConstraint::ZeroSet); - -// Program variables -enum MeshMode { Tet = 0, Grid }; -enum InputMode { Mesh = 0, Points }; -int MESH_MODE = MeshMode::Tet; -int INPUT_MODE = InputMode::Mesh; -std::string MESHNAME = "input mesh"; -std::string OUTPUT_DIR = "../export"; -std::string OUTPUT_FILENAME; -int LAST_SOLVER_MODE = MESH_MODE; -bool VERBOSE = true; -bool HEADLESS; -bool CONTOURED = false; - -void solve() { - - SHM_OPTIONS.levelSetConstraint = static_cast(CONSTRAINT_MODE); - SHM_OPTIONS.tCoef = TCOEF; - for (int i = 0; i < 3; i++) SHM_OPTIONS.resolution[i] = RESOLUTION[i]; // implicit cast - if (MESH_MODE != LAST_SOLVER_MODE) SHM_OPTIONS.rebuild = true; - std::string cmapName = "viridis"; - if (MESH_MODE == MeshMode::Tet) { - if (VERBOSE) std::cerr << "\nSolving on tet mesh..." << std::endl; - t1 = high_resolution_clock::now(); - PHI = (INPUT_MODE == InputMode::Mesh) ? tetSolver->computeDistance(*geometry, SHM_OPTIONS) - : tetSolver->computeDistance(*pointGeom, SHM_OPTIONS); - t2 = high_resolution_clock::now(); - ms_fp = t2 - t1; - if (VERBOSE) std::cerr << "Solve time (s): " << ms_fp.count() / 1000. << std::endl; - if (!HEADLESS) { - if (SHM_OPTIONS.rebuild) { - polyscope::VolumeMesh* psVolumeMesh = - polyscope::registerTetMesh("tet domain", tetSolver->getVertices(), tetSolver->getTets()); - } - polyscope::getVolumeMesh("tet domain") - ->addVertexScalarQuantity("GSD", PHI) - ->setColorMap(cmapName) - ->setIsolinesEnabled(true) - ->setEnabled(true); - polyscope::getVolumeMesh("tet domain")->setCullWholeElements(true); - } - } else if (MESH_MODE == MeshMode::Grid) { - t1 = high_resolution_clock::now(); - PHI = (INPUT_MODE == InputMode::Mesh) ? gridSolver->computeDistance(*geometry, SHM_OPTIONS) - : gridSolver->computeDistance(*pointGeom, SHM_OPTIONS); - t2 = high_resolution_clock::now(); - ms_fp = t2 - t1; - if (VERBOSE) std::cerr << "Solve time (s): " << ms_fp.count() / 1000. << std::endl; - if (!HEADLESS) { - if (SHM_OPTIONS.rebuild) { - glm::vec3 boundMin, boundMax, gridSizes; - Eigen::Vector3d bboxMin, bboxMax; - std::tie(bboxMin, bboxMax) = gridSolver->getBBox(); - std::array sizes = gridSolver->getGridResolution(); - for (int i = 0; i < 3; i++) { - boundMin[i] = bboxMin(i); - boundMax[i] = bboxMax(i); - gridSizes[i] = sizes[i]; - } - polyscope::VolumeGrid* psGrid = - polyscope::registerVolumeGrid("grid domain", gridSizes, boundMin, boundMax); - } - gridScalarQ = polyscope::getVolumeGrid("grid domain") - ->addNodeScalarQuantity("GSD", PHI) - ->setColorMap(cmapName) - ->setIsolinesEnabled(true); - gridScalarQ->setEnabled(true); - } - } - if (VERBOSE) std::cerr << "min: " << PHI.minCoeff() << "\tmax: " << PHI.maxCoeff() << std::endl; - if (!HEADLESS) { - polyscope::removeLastSceneSlicePlane(); - psPlane = polyscope::addSceneSlicePlane(); - psPlane->setDrawPlane(false); - psPlane->setDrawWidget(true); - if (MESH_MODE == MeshMode::Tet) psPlane->setVolumeMeshToInspect("tet domain"); - if (INPUT_MODE == InputMode::Mesh) { - psMesh->setIgnoreSlicePlane(psPlane->name, true); - } else { - psCloud->setIgnoreSlicePlane(psPlane->name, true); - } - } - LAST_SOLVER_MODE = MESH_MODE; - SHM_OPTIONS.rebuild = false; -} - -void contour() { - if (LAST_SOLVER_MODE == MeshMode::Tet) { - tetSolver->isosurface(isoMesh, isoGeom, PHI, ISOVAL); - polyscope::registerSurfaceMesh("isosurface", isoGeom->vertexPositions, isoMesh->getFaceVertexList()); - } else { - gridScalarQ->setIsosurfaceLevel(ISOVAL); - gridScalarQ->setIsosurfaceVizEnabled(true); - gridScalarQ->setSlicePlanesAffectIsosurface(false); - gridScalarQ->registerIsosurfaceAsMesh("isosurface"); - } - CONTOURED = true; - polyscope::getSurfaceMesh("isosurface")->setIgnoreSlicePlane(psPlane->name, true); -} - -void callback() { - - if (ImGui::Button("Solve")) { - solve(); - } - ImGui::RadioButton("on tet mesh", &MESH_MODE, MeshMode::Tet); - ImGui::RadioButton("on grid", &MESH_MODE, MeshMode::Grid); - - ImGui::Separator(); - ImGui::Text("Solve options"); - ImGui::Separator(); - if (MESH_MODE == MeshMode::Tet && mesh != nullptr && mesh->isTriangular()) { - ImGui::Checkbox("Use Crouzeix-Raviart", &SHM_OPTIONS.useCrouzeixRaviart); - } - ImGui::InputFloat("tCoef (diffusion time)", &TCOEF); - - // Resolution - if (ImGui::InputInt("Resolution (x-axis)", &RESOLUTION[0])) { - SHM_OPTIONS.rebuild = true; - } - if (ImGui::InputInt("Resolution (y-axis)", &RESOLUTION[1])) { - SHM_OPTIONS.rebuild = true; - } - if (ImGui::InputInt("Resolution (z-axis)", &RESOLUTION[2])) { - SHM_OPTIONS.rebuild = true; - } - - if (MESH_MODE != MeshMode::Grid) { - ImGui::RadioButton("Constrain zero set", &CONSTRAINT_MODE, static_cast(LevelSetConstraint::ZeroSet)); - ImGui::RadioButton("Constrain multiple levelsets", &CONSTRAINT_MODE, - static_cast(LevelSetConstraint::Multiple)); - ImGui::RadioButton("No levelset constraints", &CONSTRAINT_MODE, static_cast(LevelSetConstraint::None)); - } - - if (PHI.size() > 0) { - ImGui::Separator(); - ImGui::Text("Contour options"); - ImGui::Separator(); - if (ImGui::SliderFloat("Contour (drag slider)", &ISOVAL, PHI.minCoeff(), PHI.maxCoeff())) { - contour(); - } - if (ImGui::InputFloat("Contour (enter value)", &ISOVAL)) { - contour(); - } - if (CONTOURED) { - if (ImGui::Button("Export isosurface")) { - if (LAST_SOLVER_MODE == MeshMode::Grid) { - // register geometry-central mesh from Polyscope one - polyscope::SurfaceMesh* psIsoMesh = polyscope::getSurfaceMesh("isosurface"); - - std::vector> polygons; - std::vector positions; - for (size_t i = 0; i < psIsoMesh->nFacesTriangulation(); i++) { - std::vector face(3); - for (int j = 0; j < 3; j++) { - face[j] = psIsoMesh->triangleVertexInds.getValue(3 * i + j); - } - polygons.push_back(face); - } - for (size_t i = 0; i < psIsoMesh->nVertices(); i++) { - Vector3 p; - for (int j = 0; j < 3; j++) p[j] = psIsoMesh->vertexPositions.getValue(i)[j]; - positions.push_back(p); - } - std::tie(isoMesh, isoGeom) = makeSurfaceMeshAndGeometry(polygons, positions); - } - std::string isoFilename = OUTPUT_DIR + "/isosurface.obj"; - writeSurfaceMesh(*isoMesh, *isoGeom, isoFilename); - std::cerr << "Isosurface written to " << isoFilename << std::endl; - } - } - } -} - -std::tuple, std::vector> readPointCloud(const std::string& filepath) { - - std::ifstream curr_file(filepath.c_str()); - std::string line; - std::string X; - double x, y, z; - std::vector positions, normals; - if (curr_file.is_open()) { - while (!curr_file.eof()) { - getline(curr_file, line); - // Ignore any newlines - if (line == "") { - continue; - } - std::istringstream iss(line); - iss >> X; - if (X == "v") { - iss >> x >> y >> z; - positions.push_back({x, y, z}); - } else if (X == "vn") { - iss >> x >> y >> z; - normals.push_back({x, y, z}); - } - } - curr_file.close(); - } else { - std::cerr << "Could not open file <" << filepath << ">." << std::endl; - } - return std::make_tuple(positions, normals); -} - -struct IntVectorReader { - void operator()(const std::string& name, const std::string& value, std::vector& destination) { - std::stringstream ss(value); - while (ss.good()) { - std::string substr; - getline(ss, substr, ','); - destination.push_back(std::stoi(substr)); - } - } -}; - -struct DoubleVectorReader { - void operator()(const std::string& name, const std::string& value, std::vector& destination) { - std::stringstream ss(value); - while (ss.good()) { - std::string substr; - getline(ss, substr, ','); - destination.push_back(std::stod(substr)); - } - } -}; - -int main(int argc, char** argv) { - - // Configure the argument parser - args::ArgumentParser parser("Solve for generalized signed distance (3D domains)."); - args::HelpFlag help(parser, "help", "Display this help menu", {"help"}); - args::Positional meshFilename(parser, "mesh", "A mesh or point cloud file."); - args::ValueFlag, IntVectorReader> hCoef( - parser, "h", "The number of nodes of the computational domain (along each axis)", {"h"}); - args::ValueFlag, DoubleVectorReader> bbox( - parser, "b", "The positions of the minimum/maximum nodes of the rectangular computational domain.", {"b"}); - - args::Group group(parser); - args::Flag grid(group, "grid", "Solve on a background grid (vs. tet mesh).", {"g", "grid"}); - args::Flag verbose(group, "verbose", "Verbose output", {"V", "verbose"}); - args::Flag headless(group, "headless", "Don't use the GUI.", {"l", "headless"}); - - // Parse args - try { - parser.ParseCLI(argc, argv); - } catch (args::Help&) { - std::cout << parser; - return 0; - } catch (args::ParseError& e) { - std::cerr << e.what() << std::endl; - std::cerr << parser; - return 1; - } - - if (!meshFilename) { - std::cerr << "Please specify a mesh file as argument." << std::endl; - return EXIT_FAILURE; - } - - // Load mesh - std::string meshFilepath = args::get(meshFilename); - MESH_MODE = grid ? MeshMode::Grid : MeshMode::Tet; - OUTPUT_FILENAME = OUTPUT_DIR + "/GSD.obj"; - HEADLESS = headless; - SHM_OPTIONS.exportData = headless; // always true if in headless mode - SHM_OPTIONS.meshname = polyscope::guessNiceNameFromPath(meshFilepath); - VERBOSE = verbose; - - // Get file extension. - std::string ext = meshFilepath.substr(meshFilepath.find_last_of(".") + 1); - pointcloud::PointData pointPositions; - if (ext != "pc") { - std::tie(mesh, geometry) = readSurfaceMesh(meshFilepath); - INPUT_MODE = InputMode::Mesh; - } else { - std::vector positions, normals; - std::tie(positions, normals) = readPointCloud(meshFilepath); - size_t nPts = positions.size(); - cloud = std::unique_ptr(new pointcloud::PointCloud(nPts)); - pointPositions = pointcloud::PointData(*cloud); - pointcloud::PointData pointNormals = pointcloud::PointData(*cloud); - for (size_t i = 0; i < nPts; i++) { - pointPositions[i] = positions[i]; - pointNormals[i] = normals[i]; - } - pointGeom = std::unique_ptr( - new pointcloud::PointPositionNormalGeometry(*cloud, pointPositions, pointNormals)); - INPUT_MODE = InputMode::Points; - } - tetSolver = std::unique_ptr(new SignedHeatTetSolver()); - gridSolver = std::unique_ptr(new SignedHeatGridSolver()); - tetSolver->VERBOSE = verbose; - gridSolver->VERBOSE = verbose; - - // Get the parameters of the computational domain. - if (bbox) { - std::vector b = args::get(bbox); - if (b.size() != 6) throw std::logic_error("Need to specify domain corners as two 3-dimensional vectors."); - for (int i = 0; i < 3; i++) { - SHM_OPTIONS.bboxMin[i] = b[i]; - SHM_OPTIONS.bboxMax[i] = b[3 + i]; - } - Vector3 diag = SHM_OPTIONS.bboxMax - SHM_OPTIONS.bboxMin; - if (diag[0] < 0. || diag[1] < 0. || diag[2] < 0.) - throw std::logic_error("The minimum node needs to be smaller than the maximum node."); - } - if (hCoef) { - std::vector b = args::get(hCoef); - if (b.size() < 3) { - RESOLUTION = {b[0], b[0], b[0]}; - } else { - for (int i = 0; i < 3; i++) RESOLUTION[i] = b[i]; - } - } - - if (!HEADLESS) { - polyscope::init(); - polyscope::state::userCallback = callback; - if (ext != "pc") { - psMesh = polyscope::registerSurfaceMesh(MESHNAME, geometry->vertexPositions, mesh->getFaceVertexList()); - if (mesh->isTriangular()) psMesh->setAllPermutations(polyscopePermutations(*mesh)); - } else { - psCloud = polyscope::registerPointCloud("point cloud", pointPositions); - } - polyscope::show(); - } else { - solve(); - } - - return EXIT_SUCCESS; -} \ No newline at end of file diff --git a/src/signed_heat_3d.cpp b/src/signed_heat_3d.cpp index cdb0f02..2652182 100644 --- a/src/signed_heat_3d.cpp +++ b/src/signed_heat_3d.cpp @@ -1,4 +1,6 @@ -#include "signed_heat_3d.h" +#include "signedheat3d/signed_heat_3d.h" + +#include Vector3 centroid(VertexPositionGeometry& geometry) { @@ -120,7 +122,7 @@ void setFaceVectorAreas(VertexPositionGeometry& geometry, FaceData& area } #ifndef SHM_NO_AMGCL -Vector AMGCL_solve(const SparseMatrix& L, const Vector& RHS, bool verbose) { +Vector AMGCL_solve(SparseMatrix& L, const Vector& RHS, bool& success, bool verbose) { // AMGCL needs Eigen matrices to be in row-major order. Eigen::SparseMatrix LHS = L; @@ -130,16 +132,39 @@ Vector AMGCL_solve(const SparseMatrix& L, const Vector& // Use AMG as preconditioner: amgcl::amg, // Set iterative solver: - amgcl::solver::bicgstab> + amgcl::solver::bicgstab> // seems the most reliable + // amgcl::solver::cg> + // amgcl::solver::gmres> Solver; - Solver solve(LHS); + + Solver::params prm; + prm.solver.tol = 1e-2; + prm.solver.maxiter = 1000; + + Solver solve(LHS, prm); int iters; double error; size_t n = LHS.rows(); Vector x(n); - std::tie(iters, error) = solve(LHS, RHS, x); + success = true; + try { + std::tie(iters, error) = solve(LHS, RHS, x); + } catch (const std::exception& e) { + if (verbose) { + std::cerr << "Caught exception: '" << e.what() << std::endl; + std::cerr << "Use direct solver" << std::endl; + success = false; + } + return x; + } if (verbose) std::cerr << "AMGCL # iters: " << iters << "\tAMGCL residual: " << error << std::endl; + + if (std::isnan(error) || abs(error) > prm.solver.tol) { + if (verbose) std::cerr << "AMGCL failed, use direct solver" << std::endl; + success = false; + } + return x; } #endif \ No newline at end of file diff --git a/src/signed_heat_grid_solver.cpp b/src/signed_heat_grid_solver.cpp index 372fcd2..e9f7a2d 100644 --- a/src/signed_heat_grid_solver.cpp +++ b/src/signed_heat_grid_solver.cpp @@ -1,4 +1,4 @@ -#include "signed_heat_grid_solver.h" +#include "signedheat3d/signed_heat_grid_solver.h" SignedHeatGridSolver::SignedHeatGridSolver() {} @@ -19,7 +19,8 @@ std::tuple SignedHeatGridSolver::getBBox() con Vector SignedHeatGridSolver::computeDistance(VertexPositionGeometry& geometry, const SignedHeat3DOptions& options) { - if (options.rebuild) { + rebuild = ((laplaceMat.rows() == 0) || ((laplaceMat.rows() > 0) && (lastOptions != options))); + if (rebuild) { if (VERBOSE) std::cerr << "Building grid..." << std::endl; std::chrono::time_point t1, t2; std::chrono::duration ms_fp; @@ -39,6 +40,7 @@ Vector SignedHeatGridSolver::computeDistance(VertexPositionGeometry& geo ms_fp = t2 - t1; if (VERBOSE) std::cerr << "Pre-compute time (s): " << ms_fp.count() / 1000. << std::endl; } + lastOptions = options; if (VERBOSE) std::cerr << "Steps 1 & 2..." << std::endl; // With direct convolution in R^n, it's not clear what we should pick as our timestep. Use the @@ -111,7 +113,9 @@ Vector SignedHeatGridSolver::computeDistance(VertexPositionGeometry& geo RHS.head(totalNodes) = divYt; // clang-format off #ifndef SHM_NO_AMGCL - Vector soln = AMGCL_solve(LHS, RHS, VERBOSE); + bool success; + Vector soln = AMGCL_solve(LHS, RHS, success, VERBOSE); + if (!success) soln = solveSquare(LHS, RHS); #else Vector soln = solveSquare(LHS, RHS); #endif @@ -129,7 +133,8 @@ Vector SignedHeatGridSolver::computeDistance(VertexPositionGeometry& geo Vector SignedHeatGridSolver::computeDistance(pointcloud::PointPositionNormalGeometry& pointGeom, const SignedHeat3DOptions& options) { - if (options.rebuild) { + rebuild = ((laplaceMat.rows() == 0) || ((laplaceMat.rows() > 0) && (lastOptions != options))); + if (rebuild) { if (VERBOSE) std::cerr << "Building grid..." << std::endl; std::chrono::time_point t1, t2; std::chrono::duration ms_fp; @@ -149,6 +154,7 @@ Vector SignedHeatGridSolver::computeDistance(pointcloud::PointPositionNo ms_fp = t2 - t1; if (VERBOSE) std::cerr << "Pre-compute time (s): " << ms_fp.count() / 1000. << std::endl; } + lastOptions = options; if (VERBOSE) std::cerr << "Steps 1 & 2..." << std::endl; // With direct convolution in R^n, it's not clear what we should pick as our timestep. Use the @@ -219,7 +225,9 @@ Vector SignedHeatGridSolver::computeDistance(pointcloud::PointPositionNo RHS.head(totalNodes) = divYt; // clang-format off #ifndef SHM_NO_AMGCL - Vector soln = AMGCL_solve(LHS, RHS, VERBOSE); + bool success; + Vector soln = AMGCL_solve(LHS, RHS, success, VERBOSE); + if (!success) soln = solveSquare(LHS, RHS); #else Vector soln = solveSquare(LHS, RHS); #endif diff --git a/src/signed_heat_tet_solver.cpp b/src/signed_heat_tet_solver.cpp index 695070b..c28b1e8 100755 --- a/src/signed_heat_tet_solver.cpp +++ b/src/signed_heat_tet_solver.cpp @@ -1,4 +1,4 @@ -#include "signed_heat_tet_solver.h" +#include "signedheat3d/signed_heat_tet_solver.h" SignedHeatTetSolver::SignedHeatTetSolver() {} @@ -15,8 +15,9 @@ Eigen::MatrixXi SignedHeatTetSolver::getTets() const { Vector SignedHeatTetSolver::computeDistance(VertexPositionGeometry& geometry, const SignedHeat3DOptions& options) { - bool isConforming = false; - if (options.rebuild || vertices.size() == 0) { + rebuild = ((vertices.size() == 0) || ((vertices.size() > 0) && (lastOptions != options))); + if (rebuild) { + isConforming = false; std::chrono::time_point t1, t2; std::chrono::duration ms_fp; t1 = high_resolution_clock::now(); @@ -61,6 +62,7 @@ Vector SignedHeatTetSolver::computeDistance(VertexPositionGeometry& geom ms_fp = t2 - t1; if (VERBOSE) std::cerr << "Pre-compute time (s): " << ms_fp.count() / 1000. << std::endl; } + lastOptions = options; if (VERBOSE) std::cerr << "Steps 1 & 2..." << std::endl; Eigen::MatrixXd Yt = Eigen::MatrixXd::Zero(nTets, 3); @@ -113,7 +115,8 @@ Vector SignedHeatTetSolver::computeDistance(pointcloud::PointPositionNor pointGeom.requireTuftedTriangulation(); pointGeom.tuftedGeom->requireVertexDualAreas(); - if (options.rebuild || vertices.size() == 0) { + rebuild = ((vertices.size() == 0) || ((vertices.size() > 0) && (lastOptions != options))); + if (rebuild) { std::chrono::time_point t1, t2; std::chrono::duration ms_fp; t1 = high_resolution_clock::now(); @@ -147,6 +150,7 @@ Vector SignedHeatTetSolver::computeDistance(pointcloud::PointPositionNor ms_fp = t2 - t1; if (VERBOSE) std::cerr << "Pre-compute time (s): " << ms_fp.count() / 1000. << std::endl; } + lastOptions = options; if (VERBOSE) std::cerr << "Steps 1 & 2..." << std::endl; @@ -204,7 +208,9 @@ Vector SignedHeatTetSolver::integrateVectorField(VertexPositionGeometry& Vector combinedRHS = rhsValsA; // clang-format off #ifndef SHM_NO_AMGCL - Vector Aresult = AMGCL_solve(decomp.AA, combinedRHS, VERBOSE); + bool success; + Vector Aresult = AMGCL_solve(decomp.AA, combinedRHS, success, VERBOSE); + if (!success) Aresult = solvePositiveDefinite(decomp.AA, combinedRHS); // success #else Vector Aresult = solvePositiveDefinite(decomp.AA, combinedRHS); #endif @@ -248,7 +254,9 @@ Vector SignedHeatTetSolver::integrateVectorField(VertexPositionGeometry& RHS.head(nVertices) = div; // clang-format off #ifndef SHM_NO_AMGCL - Vector soln = AMGCL_solve(LHS, RHS, VERBOSE); + bool success; + Vector soln = AMGCL_solve(LHS, RHS, success, VERBOSE); + if (!success) soln = solveSquare(LHS, RHS); // direct solver #else Vector soln = solveSquare(LHS, RHS); #endif @@ -257,13 +265,25 @@ Vector SignedHeatTetSolver::integrateVectorField(VertexPositionGeometry& double shift = averageVertexDataOnSource(geometry, phi); phi -= shift * Vector::Ones(nVertices); } else { - if (options.rebuild || poissonSolver == nullptr) { - if (VERBOSE) std::cerr << "\tFactorizing..." << std::endl; - poissonSolver.reset(new PositiveDefiniteSolver(laplaceMat)); - } - phi = poissonSolver->solve(div); - double shift = averageVertexDataOnSource(geometry, phi); - phi -= shift * Vector::Ones(nVertices); + auto solveDirect = [&]() -> Vector { + if (rebuild || poissonSolver == nullptr) { + if (VERBOSE) std::cerr << "\tFactorizing..." << std::endl; + poissonSolver.reset(new PositiveDefiniteSolver(laplaceMat)); + } + phi = poissonSolver->solve(div); + double shift = averageVertexDataOnSource(geometry, phi); + phi -= shift * Vector::Ones(nVertices); + return phi; + }; + // clang-format off + #ifndef SHM_NO_AMGCL + bool success; + phi = AMGCL_solve(laplaceMat, div, success, VERBOSE); + if (!success) phi = solveDirect(); + #else + phi = solveDirect(); + #endif + // clang-format on } return phi; @@ -272,7 +292,6 @@ Vector SignedHeatTetSolver::integrateVectorField(VertexPositionGeometry& Vector SignedHeatTetSolver::integrateVectorFieldToFaces(VertexPositionGeometry& geometry, const Eigen::MatrixXd& Yt, const SignedHeat3DOptions& options) { - geometry.requireFaceIndices(); SurfaceMesh& mesh = geometry.mesh; @@ -291,7 +310,9 @@ Vector SignedHeatTetSolver::integrateVectorFieldToFaces(VertexPositionGe Vector combinedRHS = rhsValsA; // clang-format off #ifndef SHM_NO_AMGCL - Vector Aresult = AMGCL_solve(decomp.AA, combinedRHS, VERBOSE); + bool success; + Vector Aresult = AMGCL_solve(decomp.AA, combinedRHS, success, VERBOSE); + if (!success) Aresult = solvePositiveDefinite(decomp.AA, combinedRHS); // direct solver #else Vector Aresult = solvePositiveDefinite(decomp.AA, combinedRHS); #endif @@ -335,7 +356,9 @@ Vector SignedHeatTetSolver::integrateVectorFieldToFaces(VertexPositionGe RHS.head(nFaces) = div; // clang-format off #ifndef SHM_NO_AMGCL - Vector soln = AMGCL_solve(LHS, RHS, VERBOSE); + bool success; + Vector soln = AMGCL_solve(LHS, RHS, success, VERBOSE); + if (!success) soln = solveSquare(LHS, RHS); #else Vector soln = solveSquare(LHS, RHS); #endif @@ -344,16 +367,28 @@ Vector SignedHeatTetSolver::integrateVectorFieldToFaces(VertexPositionGe double shift = averageFaceDataOnSource(geometry, phi); phi -= shift * Vector::Ones(nFaces); } else { - if (options.rebuild || poissonSolverCR == nullptr) { - if (VERBOSE) std::cerr << "\tFactorizing..." << std::endl; - poissonSolverCR.reset(new PositiveDefiniteSolver(laplaceCR)); - } - phi = poissonSolverCR->solve(div); - double shift = averageFaceDataOnSource(geometry, phi); - phi -= shift * Vector::Ones(nFaces); + auto solveDirect = [&]() -> Vector { + if (rebuild || poissonSolverCR == nullptr) { + if (VERBOSE) std::cerr << "\tFactorizing..." << std::endl; + poissonSolverCR.reset(new PositiveDefiniteSolver(laplaceCR)); + } + phi = poissonSolverCR->solve(div); + double shift = averageFaceDataOnSource(geometry, phi); + phi -= shift * Vector::Ones(nFaces); + return phi; + }; + // clang-format off + #ifndef SHM_NO_AMGCL + bool success; + phi = AMGCL_solve(laplaceCR, div, success, VERBOSE); + if (!success) phi = solveDirect(); + #else + phi = solveDirect(); + #endif + // clang-format on } - if (options.rebuild || projectionSolver == nullptr) { + if (rebuild || projectionSolver == nullptr) { massMat = buildCrouzeixRaviartMassMatrix(); avgMat = buildAveragingMatrix(); SparseMatrix P = avgMat.transpose() * massMat * avgMat; @@ -373,14 +408,28 @@ Vector SignedHeatTetSolver::integrateVectorField(pointcloud::PointPositi Vector phi; switch (options.levelSetConstraint) { case (LevelSetConstraint::None): { - if (options.rebuild || poissonSolver == nullptr) { - if (VERBOSE) std::cerr << "\tFactorizing..." << std::endl; - poissonSolver.reset(new PositiveDefiniteSolver(laplaceMat)); - } Vector div = vertexDivergence(Yt); - phi = poissonSolver->solve(div); - double shift = averageVertexDataOnSource(pointGeom, phi); - phi -= shift * Vector::Ones(nVertices); + + auto solveDirect = [&]() -> Vector { + if (rebuild || poissonSolver == nullptr) { + if (VERBOSE) std::cerr << "\tFactorizing..." << std::endl; + poissonSolver.reset(new PositiveDefiniteSolver(laplaceMat)); + } + phi = poissonSolver->solve(div); + double shift = averageVertexDataOnSource(pointGeom, phi); + phi -= shift * Vector::Ones(nVertices); + return phi; + }; + + // clang-format off + #ifndef SHM_NO_AMGCL + bool success; + phi = AMGCL_solve(laplaceMat, div, success, VERBOSE); + if (!success) phi = solveDirect(); + #else + phi = solveDirect(); + #endif + // clang-format on break; } case (LevelSetConstraint::ZeroSet): { @@ -396,7 +445,9 @@ Vector SignedHeatTetSolver::integrateVectorField(pointcloud::PointPositi Vector combinedRHS = rhsValsA; // clang-format off #ifndef SHM_NO_AMGCL - Vector Aresult = AMGCL_solve(decomp.AA, combinedRHS, VERBOSE); + bool success; + Vector Aresult = AMGCL_solve(decomp.AA, combinedRHS, success, VERBOSE); + if (!success) Aresult = solvePositiveDefinite(decomp.AA, combinedRHS); // direct solver #else Vector Aresult = solvePositiveDefinite(decomp.AA, combinedRHS); #endif @@ -442,7 +493,9 @@ Vector SignedHeatTetSolver::integrateVectorField(pointcloud::PointPositi RHS.head(nVertices) = div; // clang-format off #ifndef SHM_NO_AMGCL - Vector soln = AMGCL_solve(LHS, RHS, VERBOSE); + bool success; + Vector soln = AMGCL_solve(LHS, RHS, success, VERBOSE); + if (!success) soln = solveSquare(LHS, RHS); // direct solver #else Vector soln = solveSquare(LHS, RHS); #endif diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt new file mode 100644 index 0000000..6a6faaa --- /dev/null +++ b/test/CMakeLists.txt @@ -0,0 +1,111 @@ +cmake_minimum_required(VERSION 3.8.0) + +# Set up testing +enable_testing() + +project(signed-heat-3d-tests) + +list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../cmake") + +### Configure output locations +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) +set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) + +### Configure the compiler + +if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") + + # using Clang (linux or apple) or GCC + message("Using clang/gcc compiler flags") + SET(BASE_CXX_FLAGS "-std=c++14 -Wall -Wextra -g3") + SET(CMAKE_CXX_FLAGS_DEBUG "") + SET(DISABLED_WARNINGS " -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-deprecated-declarations -Wno-missing-braces -Wno-unused-private-field") + SET(TRACE_INCLUDES " -H -Wno-error=unused-command-line-argument") + + if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") + message("Setting clang-specific options") + SET(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} -ferror-limit=3 -fcolor-diagnostics") + SET(CMAKE_CXX_FLAGS_DEBUG "-fsanitize=address -fno-limit-debug-info") + elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") + message("Setting gcc-specific options") + SET(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} -fmax-errors=5") + SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} -Wno-maybe-uninitialized -Wno-format-zero-length -Wno-unused-but-set-parameter -Wno-unused-but-set-variable") + endif() + + SET(CMAKE_CXX_FLAGS "${BASE_CXX_FLAGS} ${DISABLED_WARNINGS}") + SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g3") + SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -march=native -DNDEBUG") + + include(CheckCXXCompilerFlag) + unset(COMPILER_SUPPORTS_MARCH_NATIVE CACHE) + CHECK_CXX_COMPILER_FLAG(-march=native COMPILER_SUPPORTS_MARCH_NATIVE) + if(COMPILER_SUPPORTS_MARCH_NATIVE) + SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -march=native -DNDEBUG -std=c++11") + else() + SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -mcpu=apple-m1 -DNDEBUG -std=c++11") # Apple M1 + endif() + +elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC") + # using Visual Studio C++ + message("Using Visual Studio compiler flags") + set(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} /W4") + set(BASE_CXX_FLAGS "${BASE_CXX_FLAGS} /MP") # parallel build + SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} /wd\"4267\"") # ignore conversion to smaller type (fires more aggressively than the gcc version, which is annoying) + SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} /wd\"4244\"") # ignore conversion to smaller type (fires more aggressively than the gcc version, which is annoying) + SET(DISABLED_WARNINGS "${DISABLED_WARNINGS} /wd\"4305\"") # ignore truncation on initialization + SET(CMAKE_CXX_FLAGS "${BASE_CXX_FLAGS} ${DISABLED_WARNINGS}") + set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MD") + set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MDd") + + add_definitions(/D "_CRT_SECURE_NO_WARNINGS") + add_definitions (-DNOMINMAX) +else() + # unrecognized + message( FATAL_ERROR "Unrecognized compiler [${CMAKE_CXX_COMPILER_ID}]" ) +endif() + + +### Download and unpack googletest at configure time +# (from the googletest docs) +if(${CMAKE_VERSION} VERSION_LESS 3.14) + include(FetchContentLocal) +else() + include(FetchContent) +endif() + +FetchContent_Declare( + googletest + GIT_REPOSITORY https://github.com/google/googletest.git + GIT_TAG v1.15.2 + SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src" + BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build" +) + +# Prevent overriding the parent project's compiler/linker +# settings on Windows +set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) + +FetchContent_MakeAvailable(googletest) + +set_property(TARGET gtest PROPERTY CXX_STANDARD 11) + +# silence warning about deprecated copies in gtest +# https://github.com/abseil/abseil-cpp/issues/948#issuecomment-846592426 +if(NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC") + target_compile_options(gtest INTERFACE -Wno-deprecated-copy) +endif() + + +# Build the tests +set(TEST_SRCS + src/solve.cpp +) + +add_executable(shm_test "${TEST_SRCS}") +target_include_directories(shm_test PUBLIC "${gtest_SOURCE_DIR}/include") +target_include_directories(shm_test PRIVATE "include/") +target_link_libraries(shm_test gtest_main signed-heat-3d) + +# Add signed-heat-3d as a subproject +add_subdirectory(../src/ "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}") diff --git a/test/assets/bunny_small.obj b/test/assets/bunny_small.obj new file mode 100644 index 0000000..1c38d38 --- /dev/null +++ b/test/assets/bunny_small.obj @@ -0,0 +1,2020 @@ +#### +# +# OBJ File Generated by Meshlab +# +#### +# Object bunny_smaller.obj +# +# Vertices: 502 +# Faces: 1000 +# +#### +vn 0.5576287 0.0243640 0.8297329 +v -0.3494289 0.5578908 0.1211330 +vn 0.0268837 -0.9861402 0.1637218 +v -0.0578522 -0.9804541 -0.2499462 +vn -0.0303291 -0.9749210 -0.2204748 +v -0.0069422 -0.9663405 0.5986791 +vn 0.2445469 -0.9695324 0.0142737 +v -0.2360906 -0.9667037 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346//346 +f 14//14 48//48 246//246 +f 476//476 229//229 232//232 +f 502//502 266//266 378//378 +f 375//375 330//330 37//37 +f 451//451 231//231 240//240 +f 500//500 502//502 378//378 +f 134//134 501//501 454//454 +f 341//341 155//155 154//154 +f 9//9 470//470 409//409 +f 353//353 263//263 390//390 +f 422//422 161//161 60//60 +f 227//227 311//311 86//86 +f 377//377 69//69 363//363 +f 471//471 249//249 486//486 +f 26//26 316//316 215//215 +f 39//39 15//15 135//135 +f 330//330 404//404 45//45 +f 248//248 264//264 92//92 +f 339//339 2//2 8//8 +f 143//143 328//328 297//297 +f 367//367 363//363 76//76 +f 246//246 481//481 466//466 +f 316//316 53//53 283//283 +f 253//253 63//63 440//440 +f 260//260 142//142 319//319 +f 296//296 313//313 372//372 +f 123//123 478//478 374//374 +f 168//168 157//157 138//138 +# 1000 faces, 0 coords texture + +# End of File diff --git a/test/src/solve.cpp b/test/src/solve.cpp new file mode 100644 index 0000000..a6917c7 --- /dev/null +++ b/test/src/solve.cpp @@ -0,0 +1,320 @@ +#include "geometrycentral/surface/meshio.h" + +#include "gtest/gtest.h" + +#include "signedheat3d/signed_heat_grid_solver.h" +#include "signedheat3d/signed_heat_tet_solver.h" + +#include +using std::chrono::duration; +using std::chrono::duration_cast; +using std::chrono::high_resolution_clock; +using std::chrono::milliseconds; +std::chrono::time_point t1, t2; +std::chrono::duration ms_fp; + +using namespace geometrycentral; +using namespace geometrycentral::surface; + +namespace { + +class SignedDistanceSolversTest : public ::testing::Test { + + // class SignedDistanceSolversTest { + + public: + // Constructor + SignedDistanceSolversTest() { + + // Load in mesh + std::tie(mesh, geometry) = readSurfaceMesh("../assets/bunny_small.obj"); + // Just initialize point cloud from mesh + size_t nPts = mesh->nVertices(); + cloud = std::unique_ptr(new pointcloud::PointCloud(nPts)); + pointcloud::PointData pointPositions = pointcloud::PointData(*cloud); + pointcloud::PointData pointNormals = pointcloud::PointData(*cloud); + geometry->requireVertexNormals(); + for (size_t i = 0; i < nPts; i++) { + pointPositions[i] = geometry->vertexPositions[i]; + pointNormals[i] = geometry->vertexNormals[i]; + } + pointGeom = std::unique_ptr( + new pointcloud::PointPositionNormalGeometry(*cloud, pointPositions, pointNormals)); + + // Initialize solvers + tetSolver = std::unique_ptr(new SignedHeatTetSolver()); + gridSolver = std::unique_ptr(new SignedHeatGridSolver()); + tetSolver->VERBOSE = true; + gridSolver->VERBOSE = true; + + // Set some "standard" options + options.levelSetConstraint = LevelSetConstraint::ZeroSet; + options.tCoef = 1.0; + options.resolution = {16, 16, 16}; + } + + // For all these tests, naively double-loop without acceleration, and simply compute pseudonormal distance. + Vector tetDistanceToMesh() { + Eigen::MatrixXd nodes = tetSolver->getVertices(); + geometry->requireFaceNormals(); + size_t nNodes = nodes.rows(); + Vector sdf(nNodes); + for (size_t i = 0; i < nNodes; i++) { + Vector3 q = {nodes(i, 0), nodes(i, 1), nodes(i, 2)}; + // Assume tet mesh is more refined than mesh + double min_dist = std::numeric_limits::infinity(); + size_t min_idx = 0; + for (size_t fIdx = 0; fIdx < mesh->nFaces(); fIdx++) { + Halfedge he = mesh->face(fIdx).halfedge(); + Vector3 a = geometry->vertexPositions[he.vertex()]; + Vector3 b = geometry->vertexPositions[he.next().vertex()]; + Vector3 c = geometry->vertexPositions[he.next().next().vertex()]; + double dist = distanceToTriangle(q, a, b, c); + if (dist < min_dist) { + min_dist = dist; + min_idx = fIdx; + } + } + Vector3 n = geometry->faceNormals[min_idx]; + Vector3 c = {0, 0, 0}; + for (Vertex v : mesh->face(min_idx).adjacentVertices()) { + c += geometry->vertexPositions[v]; + } + c /= mesh->face(min_idx).degree(); + double s = dot(q - c, n) > 0. ? 1. : -1.; + sdf[i] = s * min_dist; + } + return sdf; + } + + // Vector tetApproximateDistanceToPointCloud() { + // Eigen::MatrixXd nodes = tetSolver->getVertices(); + // pointGeom->requireNormals(); + // size_t nNodes = nodes.rows(); + // size_t nPoints = cloud->nPoints(); + // Vector sdf(nNodes); + // for (size_t i = 0; i < nNodes; i++) { + // Vector3 q = {nodes(i, 0), nodes(i, 1), nodes(i, 2)}; + // // Assume tet mesh is more refined than the point cloud, so loop over the point cloud in the inner loop + // double min_dist = std::numeric_limits::infinity(); + // size_t min_idx = 0; + // for (size_t ptIdx = 0; ptIdx < nPoints; ptIdx++) { + // double dist = (q - pointGeom->positions[ptIdx]).norm(); + // if (dist < min_dist) { + // min_dist = dist; + // min_idx = ptIdx; + // } + // } + // Vector3 n = pointGeom->normals[min_idx]; + // Vector3 c = pointGeom->positions[min_idx]; + // double s = dot(q - c, n) > 0. ? 1. : -1.; + // sdf[i] = s * min_dist; + // } + // return sdf; + // } + + Vector gridDistanceToMesh() { + std::array resolution = gridSolver->getGridResolution(); + geometry->requireFaceNormals(); + size_t nNodes = resolution[0] * resolution[1] * resolution[2]; + Vector sdf(nNodes); + for (size_t i = 0; i < resolution[0]; i++) { + for (size_t j = 0; j < resolution[1]; j++) { + for (size_t k = 0; k < resolution[2]; k++) { + size_t idx = gridSolver->indicesToNodeIndex(i, j, k); + Vector3 q = gridSolver->indicesToNodePosition(i, j, k); + // Assume grid is more refined than mesh + double min_dist = std::numeric_limits::infinity(); + size_t min_idx = 0; + for (size_t fIdx = 0; fIdx < mesh->nFaces(); fIdx++) { + Halfedge he = mesh->face(fIdx).halfedge(); + Vector3 a = geometry->vertexPositions[he.vertex()]; + Vector3 b = geometry->vertexPositions[he.next().vertex()]; + Vector3 c = geometry->vertexPositions[he.next().next().vertex()]; + double dist = distanceToTriangle(q, a, b, c); + if (dist < min_dist) { + min_dist = dist; + min_idx = fIdx; + } + } + Vector3 n = geometry->faceNormals[min_idx]; + Vector3 c = {0, 0, 0}; + for (Vertex v : mesh->face(min_idx).adjacentVertices()) { + c += geometry->vertexPositions[v]; + } + c /= mesh->face(min_idx).degree(); + double s = dot(q - c, n) > 0. ? 1. : -1.; + sdf[idx] = s * min_dist; + } + } + } + return sdf; + } + + std::unique_ptr tetSolver; + std::unique_ptr gridSolver; + SignedHeat3DOptions options; + + std::unique_ptr mesh; + std::unique_ptr geometry; + std::unique_ptr cloud; + std::unique_ptr pointGeom; + + protected: + // quick-copied off https://stackoverflow.com/a/74395029 + Vector3 closestPointOnTriangle(const Vector3& p, const Vector3& a, const Vector3& b, const Vector3& c) { + const Vector3 ab = b - a; + const Vector3 ac = c - a; + const Vector3 ap = p - a; + + const float d1 = dot(ab, ap); + const float d2 = dot(ac, ap); + if (d1 <= 0.f && d2 <= 0.f) return a; // #1 + + const Vector3 bp = p - b; + const float d3 = dot(ab, bp); + const float d4 = dot(ac, bp); + if (d3 >= 0.f && d4 <= d3) return b; // #2 + + const Vector3 cp = p - c; + const float d5 = dot(ab, cp); + const float d6 = dot(ac, cp); + if (d6 >= 0.f && d5 <= d6) return c; // #3 + + const float vc = d1 * d4 - d3 * d2; + if (vc <= 0.f && d1 >= 0.f && d3 <= 0.f) { + const float v = d1 / (d1 - d3); + return a + v * ab; // #4 + } + + const float vb = d5 * d2 - d1 * d6; + if (vb <= 0.f && d2 >= 0.f && d6 <= 0.f) { + const float v = d2 / (d2 - d6); + return a + v * ac; // #5 + } + + const float va = d3 * d6 - d5 * d4; + if (va <= 0.f && (d4 - d3) >= 0.f && (d5 - d6) >= 0.f) { + const float v = (d4 - d3) / ((d4 - d3) + (d5 - d6)); + return b + v * (c - b); // #6 + } + + const float denom = 1.f / (va + vb + vc); + const float v = vb * denom; + const float w = vc * denom; + return a + v * ab + w * ac; // #0 + } + + double distanceToTriangle(const Vector3& p, const Vector3& a, const Vector3& b, const Vector3& c) { + Vector3 cp = closestPointOnTriangle(p, a, b, c); + return (p - cp).norm(); + } +}; + +double range(const Vector& u) { + double minVal = std::numeric_limits::infinity(); + double maxVal = 0.; + for (size_t i = 0; i < u.size(); i++) { + minVal = std::min(minVal, u[i]); + maxVal = std::max(maxVal, u[i]); + } + return maxVal - minVal; +} + +TEST_F(SignedDistanceSolversTest, tetComputeDistanceToMesh) { + + t1 = high_resolution_clock::now(); + Vector phi = tetSolver->computeDistance(*geometry, options); + t2 = high_resolution_clock::now(); + ms_fp = t2 - t1; + std::cerr << "Solve time (s): " << ms_fp.count() / 1000. << std::endl; + + phi = tetSolver->computeDistance(*geometry, options); // solve twice to test "rebuild" functionality + + Vector sdf = tetDistanceToMesh(); + + double error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + + EXPECT_TRUE(std::abs(error) < 2e-2) + << "[LevelSetConstraint::ZeroSet] SDF not close to approximate ground-truth, residual = " << error; + + options.levelSetConstraint = LevelSetConstraint::None; + phi = tetSolver->computeDistance(*geometry, options); + error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + EXPECT_TRUE(std::abs(error) < 2e-2) + << "[LevelSetConstraint::None] SDF not close to approximate ground-truth, residual = " << error; + + options.levelSetConstraint = LevelSetConstraint::Multiple; + phi = tetSolver->computeDistance(*geometry, options); + error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + EXPECT_TRUE(std::abs(error) < 1e-1) + << "[LevelSetConstraint::Multiple] SDF not close to approximate ground-truth, residual = " << error; +} + +TEST_F(SignedDistanceSolversTest, tetDistanceToPointCloud) { + t1 = high_resolution_clock::now(); + Vector phi = tetSolver->computeDistance(*pointGeom, options); + t2 = high_resolution_clock::now(); + ms_fp = t2 - t1; + std::cerr << "Solve time (s): " << ms_fp.count() / 1000. << std::endl; + + phi = tetSolver->computeDistance(*pointGeom, options); // solve twice to test "rebuild" functionality + + Vector sdf = tetDistanceToMesh(); + + double error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + + EXPECT_TRUE(std::abs(error) < 2e-2) + << "[LevelSetConstraint::ZeroSet] SDF not close to approximate ground-truth, residual = " << error; + + options.levelSetConstraint = LevelSetConstraint::None; + phi = tetSolver->computeDistance(*pointGeom, options); + error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + EXPECT_TRUE(std::abs(error) < 2e-0) + << "[LevelSetConstraint::None] SDF not close to approximate ground-truth, residual = " << error; + + options.levelSetConstraint = LevelSetConstraint::Multiple; + phi = tetSolver->computeDistance(*pointGeom, options); + error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + EXPECT_TRUE(std::abs(error) < 2e-2) + << "[LevelSetConstraint::Multiple] SDF not close to approximate ground-truth, residual = " << error; +} + +TEST_F(SignedDistanceSolversTest, gridDistanceToMesh) { + t1 = high_resolution_clock::now(); + Vector phi = gridSolver->computeDistance(*geometry, options); + t2 = high_resolution_clock::now(); + ms_fp = t2 - t1; + std::cerr << "Solve time (s): " << ms_fp.count() / 1000. << std::endl; + + phi = gridSolver->computeDistance(*geometry, options); // solve twice to test "rebuild" functionality + + Vector sdf = gridDistanceToMesh(); + + double error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + + EXPECT_TRUE(std::abs(error) < 2e-2) << "SDF not close to approximate ground-truth, residual = " << error; +} + +TEST_F(SignedDistanceSolversTest, gridDistanceToPointCloud) { + t1 = high_resolution_clock::now(); + Vector phi = gridSolver->computeDistance(*pointGeom, options); + t2 = high_resolution_clock::now(); + ms_fp = t2 - t1; + std::cerr << "Solve time (s): " << ms_fp.count() / 1000. << std::endl; + + phi = gridSolver->computeDistance(*pointGeom, options); // solve twice to test "rebuild" functionality + + Vector sdf = gridDistanceToMesh(); + + double error = (phi.cwiseAbs() - sdf.cwiseAbs()).mean() / range(sdf); + + EXPECT_TRUE(std::abs(error) < 2e-2) << "SDF not close to approximate ground-truth, residual = " << error; +} + +} // namespace + +int main(int argc, char** argv) { + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file