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WIP: AABBTreeIndirect - optimized ray_box_intersect_invdir() test,

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sandbox for comparing the AABBTreeIndirect with libigl::AABB
This commit is contained in:
Vojtech Bubnik 2020-05-21 17:27:06 +02:00
parent 2b8f655020
commit 99514ba42b
4 changed files with 284 additions and 9 deletions
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225
sandboxes/aabb-evaluation/aabb-evaluation.cpp Normal file
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#include <iostream>
#include <fstream>
#include <string>
#include <libslic3r/TriangleMesh.hpp>
#include <libslic3r/AABBTreeIndirect.hpp>
#include <libslic3r/SLA/EigenMesh3D.hpp>
#include <Shiny/Shiny.h>
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4244)
#pragma warning(disable: 4267)
#endif
#include <igl/ray_mesh_intersect.h>
#include <igl/point_mesh_squared_distance.h>
#include <igl/remove_duplicate_vertices.h>
#include <igl/collapse_small_triangles.h>
#include <igl/signed_distance.h>
#include <igl/random_dir.h>
#ifdef _MSC_VER
#pragma warning(pop)
#endif
const std::string USAGE_STR = {
"Usage: aabb-evaluation stlfilename.stl"
};
using namespace Slic3r;
void profile(const TriangleMesh &mesh)
{
Eigen::MatrixXd V;
Eigen::MatrixXi F;
Eigen::MatrixXd vertex_normals;
sla::to_eigen_mesh(mesh, V, F);
igl::per_vertex_normals(V, F, vertex_normals);
static constexpr int num_samples = 100;
const int num_vertices = std::min(10000, int(mesh.its.vertices.size()));
const Eigen::MatrixXd dirs = igl::random_dir_stratified(num_samples).cast<double>();
Eigen::MatrixXd occlusion_output0;
{
AABBTreeIndirect::Tree3f tree;
{
PROFILE_BLOCK(AABBIndirect_Init);
tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(mesh.its.vertices, mesh.its.indices);
}
{
PROFILE_BLOCK(EigenMesh3D_AABBIndirectF_AmbientOcclusion);
occlusion_output0.resize(num_vertices, 1);
for (int ivertex = 0; ivertex < num_vertices; ++ ivertex) {
const Eigen::Vector3d origin = mesh.its.vertices[ivertex].template cast<double>();
const Eigen::Vector3d normal = vertex_normals.row(ivertex).template cast<double>();
int num_hits = 0;
for (int s = 0; s < num_samples; s++) {
Eigen::Vector3d d = dirs.row(s);
if(d.dot(normal) < 0) {
// reverse ray
d *= -1;
}
igl::Hit hit;
if (AABBTreeIndirect::intersect_ray_first_hit(mesh.its.vertices, mesh.its.indices, tree, (origin + 1e-4 * d).eval(), d, hit))
++ num_hits;
}
occlusion_output0(ivertex) = (double)num_hits/(double)num_samples;
}
}
{
PROFILE_BLOCK(EigenMesh3D_AABBIndirectFF_AmbientOcclusion);
occlusion_output0.resize(num_vertices, 1);
for (int ivertex = 0; ivertex < num_vertices; ++ ivertex) {
const Eigen::Vector3d origin = mesh.its.vertices[ivertex].template cast<double>();
const Eigen::Vector3d normal = vertex_normals.row(ivertex).template cast<double>();
int num_hits = 0;
for (int s = 0; s < num_samples; s++) {
Eigen::Vector3d d = dirs.row(s);
if(d.dot(normal) < 0) {
// reverse ray
d *= -1;
}
igl::Hit hit;
if (AABBTreeIndirect::intersect_ray_first_hit(mesh.its.vertices, mesh.its.indices, tree,
Eigen::Vector3f((origin + 1e-4 * d).template cast<float>()),
Eigen::Vector3f(d.template cast<float>()), hit))
++ num_hits;
}
occlusion_output0(ivertex) = (double)num_hits/(double)num_samples;
}
}
}
Eigen::MatrixXd occlusion_output1;
{
std::vector<Vec3d> vertices;
std::vector<Vec3i> triangles;
for (int i = 0; i < V.rows(); ++ i)
vertices.emplace_back(V.row(i).transpose());
for (int i = 0; i < F.rows(); ++ i)
triangles.emplace_back(F.row(i).transpose());
AABBTreeIndirect::Tree3d tree;
{
PROFILE_BLOCK(AABBIndirectD_Init);
tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(vertices, triangles);
}
{
PROFILE_BLOCK(EigenMesh3D_AABBIndirectD_AmbientOcclusion);
occlusion_output1.resize(num_vertices, 1);
for (int ivertex = 0; ivertex < num_vertices; ++ ivertex) {
const Eigen::Vector3d origin = V.row(ivertex).template cast<double>();
const Eigen::Vector3d normal = vertex_normals.row(ivertex).template cast<double>();
int num_hits = 0;
for (int s = 0; s < num_samples; s++) {
Eigen::Vector3d d = dirs.row(s);
if(d.dot(normal) < 0) {
// reverse ray
d *= -1;
}
igl::Hit hit;
if (AABBTreeIndirect::intersect_ray_first_hit(vertices, triangles, tree, Eigen::Vector3d(origin + 1e-4 * d), d, hit))
++ num_hits;
}
occlusion_output1(ivertex) = (double)num_hits/(double)num_samples;
}
}
}
// Build the AABB accelaration tree
Eigen::MatrixXd occlusion_output2;
{
igl::AABB<Eigen::MatrixXd, 3> AABB;
{
PROFILE_BLOCK(EigenMesh3D_AABB_Init);
AABB.init(V, F);
}
{
PROFILE_BLOCK(EigenMesh3D_AABB_AmbientOcclusion);
occlusion_output2.resize(num_vertices, 1);
for (int ivertex = 0; ivertex < num_vertices; ++ ivertex) {
const Eigen::Vector3d origin = V.row(ivertex).template cast<double>();
const Eigen::Vector3d normal = vertex_normals.row(ivertex).template cast<double>();
int num_hits = 0;
for (int s = 0; s < num_samples; s++) {
Eigen::Vector3d d = dirs.row(s);
if(d.dot(normal) < 0) {
// reverse ray
d *= -1;
}
igl::Hit hit;
if (AABB.intersect_ray(V, F, origin + 1e-4 * d, d, hit))
++ num_hits;
}
occlusion_output2(ivertex) = (double)num_hits/(double)num_samples;
}
}
}
Eigen::MatrixXd occlusion_output3;
{
typedef Eigen::Map<const Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXfUnaligned;
typedef Eigen::Map<const Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Eigen::DontAlign>> MapMatrixXiUnaligned;
igl::AABB<MapMatrixXfUnaligned, 3> AABB;
auto vertices = MapMatrixXfUnaligned(mesh.its.vertices.front().data(), mesh.its.vertices.size(), 3);
auto faces = MapMatrixXiUnaligned(mesh.its.indices.front().data(), mesh.its.indices.size(), 3);
{
PROFILE_BLOCK(EigenMesh3D_AABBf_Init);
AABB.init(
vertices,
faces);
}
{
PROFILE_BLOCK(EigenMesh3D_AABBf_AmbientOcclusion);
occlusion_output3.resize(num_vertices, 1);
for (int ivertex = 0; ivertex < num_vertices; ++ ivertex) {
const Eigen::Vector3d origin = mesh.its.vertices[ivertex].template cast<double>();
const Eigen::Vector3d normal = vertex_normals.row(ivertex).template cast<double>();
int num_hits = 0;
for (int s = 0; s < num_samples; s++) {
Eigen::Vector3d d = dirs.row(s);
if(d.dot(normal) < 0) {
// reverse ray
d *= -1;
}
igl::Hit hit;
if (AABB.intersect_ray(vertices, faces, (origin + 1e-4 * d).eval().template cast<float>(), d.template cast<float>(), hit))
++ num_hits;
}
occlusion_output3(ivertex) = (double)num_hits/(double)num_samples;
}
}
}
PROFILE_UPDATE();
PROFILE_OUTPUT(nullptr);
}
int main(const int argc, const char *argv[])
{
if(argc < 2) {
std::cout << USAGE_STR << std::endl;
return EXIT_SUCCESS;
}
TriangleMesh mesh;
if (! mesh.ReadSTLFile(argv[1])) {
std::cerr << "Error loading " << argv[1] << std::endl;
return -1;
}
mesh.repair();
if (mesh.facets_count() == 0) {
std::cerr << "Error loading " << argv[1] << " . It is empty." << std::endl;
return -1;
}
profile(mesh);
return EXIT_SUCCESS;
}