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Marching Cubes cuda extension
Summary: Torch CUDA extension for Marching Cubes - MC involving 3 steps: - 1st forward pass to collect vertices and occupied state for each voxel - Compute compactVoxelArray to skip non-empty voxels - 2nd pass to genereate interpolated vertex positions and faces by marching through the grid - In contrast to existing MC: - Bind each interpolated vertex with a global edge_id to address floating-point precision - Added deduplication process to remove redundant vertices and faces Benchmarks (ms): | N / V(^3) | python | C++ | CUDA | Speedup | | 2 / 20 | 12176873 | 24338 | 4363 | 2790x/5x| | 1 / 100 | - | 3070511 | 27126 | 113x | | 2 / 100 | - | 5968934 | 53129 | 112x | | 1 / 256 | - | 61278092 | 430900 | 142x | | 2 / 256 | - |125687930 | 856941 | 146x | Reviewed By: kjchalup Differential Revision: D39644248 fbshipit-source-id: d679c0c79d67b98b235d12296f383d760a00042a
This commit is contained in:
Jiali Duan
Facebook GitHub Bot
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pytorch3d/csrc/marching_cubes/marching_cubes.cu
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559
pytorch3d/csrc/marching_cubes/marching_cubes.cu
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/*
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* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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*
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* This source code is licensed under the BSD-style license found in the
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* LICENSE file in the root directory of this source tree.
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*/
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#include <ATen/ATen.h>
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#include <ATen/cuda/CUDAContext.h>
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#include <c10/cuda/CUDAGuard.h>
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#include <thrust/device_vector.h>
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#include <thrust/scan.h>
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#include <cstdio>
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#include "marching_cubes/tables.h"
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#include "utils/pytorch3d_cutils.h"
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/*
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Parallelized marching cubes for pytorch extension
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referenced and adapted from CUDA-Samples:
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(https://github.com/NVIDIA/cuda-samples/tree/master/Samples/5_Domain_Specific/marchingCubes)
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We divide the algorithm into two forward-passes:
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(1) The first forward-pass executes "ClassifyVoxelKernel" to
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evaluate volume scalar field for each cube and pre-compute
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two arrays -- number of vertices per cube (d_voxelVerts) and
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occupied or not per cube (d_voxelOccupied).
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Some prepration steps:
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With d_voxelOccupied, an exclusive scan is performed to compute
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the number of activeVoxels, which can be used to accelerate
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computation. With d_voxelVerts, another exclusive scan
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is performed to compute the accumulated sum of vertices in the 3d
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grid and totalVerts.
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(2) The second forward-pass calls "GenerateFacesKernel" to
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generate interpolated vertex positions and face indices by "marching
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through" each cube in the grid.
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*/
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// EPS: Used to indicate if two float values are close
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__constant__ const float EPSILON = 1e-5;
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// Thrust wrapper for exclusive scan
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//
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// Args:
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// output: pointer to on-device output array
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// input: pointer to on-device input array, where scan is performed
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// numElements: number of elements for the input array
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//
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void ThrustScanWrapper(int* output, int* input, int numElements) {
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thrust::exclusive_scan(
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thrust::device_ptr<int>(input),
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thrust::device_ptr<int>(input + numElements),
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thrust::device_ptr<int>(output));
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}
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// Linearly interpolate the position where an isosurface cuts an edge
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// between two vertices, based on their scalar values
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//
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// Args:
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// isolevel: float value used as threshold
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// p1: position of point1
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// p2: position of point2
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// valp1: field value for p1
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// valp2: field value for p2
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//
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// Returns:
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// point: interpolated verte
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//
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__device__ float3
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vertexInterp(float isolevel, float3 p1, float3 p2, float valp1, float valp2) {
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float ratio;
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float3 p;
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if (abs(isolevel - valp1) < EPSILON) {
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return p1;
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} else if (abs(isolevel - valp2) < EPSILON) {
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return p2;
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} else if (abs(valp1 - valp2) < EPSILON) {
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return p1;
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}
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ratio = (isolevel - valp1) / (valp2 - valp1);
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p.x = p1.x * (1 - ratio) + p2.x * ratio;
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p.y = p1.y * (1 - ratio) + p2.y * ratio;
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p.z = p1.z * (1 - ratio) + p2.z * ratio;
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return p;
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}
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// Determine if the triangle is degenerate
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// A triangle is degenerate when at least two of the vertices
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// share the same position.
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//
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// Args:
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// p1: position of vertex p1
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// p2: position of vertex p2
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// p3: position of vertex p3
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//
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// Returns:
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// boolean indicator if the triangle is degenerate
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__device__ bool isDegenerate(float3 p1, float3 p2, float3 p3) {
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if ((abs(p1.x - p2.x) < EPSILON && abs(p1.y - p2.y) < EPSILON &&
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abs(p1.z - p2.z) < EPSILON) ||
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(abs(p2.x - p3.x) < EPSILON && abs(p2.y - p3.y) < EPSILON &&
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abs(p2.z - p3.z) < EPSILON) ||
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(abs(p3.x - p1.x) < EPSILON && abs(p3.y - p1.y) < EPSILON &&
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abs(p3.z - p1.z) < EPSILON)) {
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return true;
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} else {
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return false;
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}
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}
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// Convert from local vertex id to global vertex id, given position
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// of the cube where the vertex resides. The function ensures vertices
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// shared from adjacent cubes are mapped to the same global id.
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// Args:
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// v: local vertex id
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// x: x position of the cube where the vertex belongs
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// y: y position of the cube where the vertex belongs
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// z: z position of the cube where the vertex belongs
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// W: width of x dimension
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// H: height of y dimension
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// Returns:
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// global vertex id represented by its x/y/z offsets
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__device__ uint localToGlobal(int v, int x, int y, int z, int W, int H) {
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const int dx = v & 1;
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const int dy = v >> 1 & 1;
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const int dz = v >> 2 & 1;
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return (x + dx) + (y + dy) * W + (z + dz) * W * H;
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}
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// Hash_combine a pair of global vertex id to a single integer.
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//
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// Args:
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// v1_id: global id of vertex 1
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// v2_id: global id of vertex 2
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// W: width of the 3d grid
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// H: height of the 3d grid
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// Z: depth of the 3d grid
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//
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// Returns:
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// hashing for a pair of vertex ids
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//
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__device__ int64_t hashVpair(uint v1_id, uint v2_id, int W, int H, int D) {
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return (int64_t)v1_id * (W + W * H + W * H * D) + (int64_t)v2_id;
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}
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// precompute number of vertices and occupancy
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// for each voxel in the grid.
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//
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// Args:
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// voxelVerts: pointer to device array to store number
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// of verts per voxel
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// voxelOccupied: pointer to device array to store
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// occupancy state per voxel
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// vol: torch tensor stored with 3D scalar field
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// isolevel: threshold to determine isosurface intersection
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//
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__global__ void ClassifyVoxelKernel(
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at::PackedTensorAccessor32<int, 1, at::RestrictPtrTraits> voxelVerts,
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at::PackedTensorAccessor32<int, 1, at::RestrictPtrTraits> voxelOccupied,
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const at::PackedTensorAccessor32<float, 3, at::RestrictPtrTraits> vol,
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// const at::PackedTensorAccessor<int, 1, at::RestrictPtrTraits>
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// numVertsTable,
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float isolevel) {
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const int indexTable[8]{0, 1, 4, 5, 3, 2, 7, 6};
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const uint D = vol.size(0) - 1;
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const uint H = vol.size(1) - 1;
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const uint W = vol.size(2) - 1;
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// 1-d grid
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uint id = blockIdx.x * blockDim.x + threadIdx.x;
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uint num_threads = gridDim.x * blockDim.x;
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// Table mapping from cubeindex to number of vertices in the configuration
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const unsigned char numVertsTable[256] = {
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0, 3, 3, 6, 3, 6, 6, 9, 3, 6, 6, 9, 6, 9, 9, 6, 3, 6,
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6, 9, 6, 9, 9, 12, 6, 9, 9, 12, 9, 12, 12, 9, 3, 6, 6, 9,
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6, 9, 9, 12, 6, 9, 9, 12, 9, 12, 12, 9, 6, 9, 9, 6, 9, 12,
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12, 9, 9, 12, 12, 9, 12, 15, 15, 6, 3, 6, 6, 9, 6, 9, 9, 12,
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6, 9, 9, 12, 9, 12, 12, 9, 6, 9, 9, 12, 9, 12, 12, 15, 9, 12,
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12, 15, 12, 15, 15, 12, 6, 9, 9, 12, 9, 12, 6, 9, 9, 12, 12, 15,
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12, 15, 9, 6, 9, 12, 12, 9, 12, 15, 9, 6, 12, 15, 15, 12, 15, 6,
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12, 3, 3, 6, 6, 9, 6, 9, 9, 12, 6, 9, 9, 12, 9, 12, 12, 9,
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6, 9, 9, 12, 9, 12, 12, 15, 9, 6, 12, 9, 12, 9, 15, 6, 6, 9,
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9, 12, 9, 12, 12, 15, 9, 12, 12, 15, 12, 15, 15, 12, 9, 12, 12, 9,
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12, 15, 15, 12, 12, 9, 15, 6, 15, 12, 6, 3, 6, 9, 9, 12, 9, 12,
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12, 15, 9, 12, 12, 15, 6, 9, 9, 6, 9, 12, 12, 15, 12, 15, 15, 6,
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12, 9, 15, 12, 9, 6, 12, 3, 9, 12, 12, 15, 12, 15, 9, 12, 12, 15,
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15, 6, 9, 12, 6, 3, 6, 9, 9, 6, 9, 12, 6, 3, 9, 6, 12, 3,
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6, 3, 3, 0,
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};
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for (uint tid = id; tid < D * H * W; tid += num_threads) {
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// compute global location of the voxel
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const int gx = tid % W;
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const int gy = tid / W % H;
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const int gz = tid / (W * H);
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int cubeindex = 0;
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for (int i = 0; i < 8; i++) {
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const int dx = i & 1;
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const int dy = i >> 1 & 1;
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const int dz = i >> 2 & 1;
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const int x = gx + dx;
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const int y = gy + dy;
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const int z = gz + dz;
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if (vol[z][y][x] < isolevel) {
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cubeindex |= 1 << indexTable[i];
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}
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}
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// collect number of vertices for each voxel
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unsigned char numVerts = numVertsTable[cubeindex];
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voxelVerts[tid] = numVerts;
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voxelOccupied[tid] = (numVerts > 0);
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}
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}
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// extract compact voxel array for acceleration
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//
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// Args:
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// compactedVoxelArray: tensor of shape (activeVoxels,) which maps
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// from accumulated non-empty voxel index to original 3d grid index
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// voxelOccupied: tensor of shape (numVoxels,) which stores
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// the occupancy state per voxel
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// voxelOccupiedScan: tensor of shape (numVoxels,) which
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// stores the accumulated occupied voxel counts
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// numVoxels: number of total voxels in the grid
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//
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__global__ void CompactVoxelsKernel(
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at::PackedTensorAccessor32<int, 1, at::RestrictPtrTraits>
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compactedVoxelArray,
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const at::PackedTensorAccessor32<int, 1, at::RestrictPtrTraits>
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voxelOccupied,
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const at::PackedTensorAccessor32<int, 1, at::RestrictPtrTraits>
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voxelOccupiedScan,
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uint numVoxels) {
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uint id = blockIdx.x * blockDim.x + threadIdx.x;
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uint num_threads = gridDim.x * blockDim.x;
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for (uint tid = id; tid < numVoxels; tid += num_threads) {
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if (voxelOccupied[tid]) {
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compactedVoxelArray[voxelOccupiedScan[tid]] = tid;
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}
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}
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}
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// generate triangles for each voxel using marching cubes
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//
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// Args:
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// verts: torch tensor of shape (V, 3) to store interpolated mesh vertices
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// faces: torch tensor of shape (F, 3) to store indices for mesh faces
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// ids: torch tensor of shape (V) to store id of each vertex
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// compactedVoxelArray: tensor of shape (activeVoxels,) which stores
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// non-empty voxel index.
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// numVertsScanned: tensor of shape (numVoxels,) which stores accumulated
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// vertices count in the voxel
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// activeVoxels: number of active voxels used for acceleration
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// vol: torch tensor stored with 3D scalar field
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// isolevel: threshold to determine isosurface intersection
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//
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__global__ void GenerateFacesKernel(
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torch::PackedTensorAccessor32<float, 2, torch::RestrictPtrTraits> verts,
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torch::PackedTensorAccessor<int64_t, 2, torch::RestrictPtrTraits> faces,
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torch::PackedTensorAccessor<int64_t, 1, torch::RestrictPtrTraits> ids,
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torch::PackedTensorAccessor32<int, 1, torch::RestrictPtrTraits>
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compactedVoxelArray,
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torch::PackedTensorAccessor32<int, 1, torch::RestrictPtrTraits>
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numVertsScanned,
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const uint activeVoxels,
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const at::PackedTensorAccessor32<float, 3, at::RestrictPtrTraits> vol,
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const at::PackedTensorAccessor32<int, 2, at::RestrictPtrTraits> faceTable,
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// const at::PackedTensorAccessor32<int, 1, at::RestrictPtrTraits>
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// numVertsTable,
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const float isolevel) {
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uint id = blockIdx.x * blockDim.x + threadIdx.x;
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uint num_threads = gridDim.x * blockDim.x;
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const int faces_size = faces.size(0);
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// Table mapping each edge to the corresponding cube vertices offsets
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const int edgeToVertsTable[12][2] = {
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{0, 1},
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{1, 5},
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{4, 5},
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{0, 4},
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{2, 3},
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{3, 7},
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{6, 7},
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{2, 6},
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{0, 2},
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{1, 3},
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{5, 7},
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{4, 6},
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};
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// Table mapping from cubeindex to number of vertices in the configuration
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const unsigned char numVertsTable[256] = {
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0, 3, 3, 6, 3, 6, 6, 9, 3, 6, 6, 9, 6, 9, 9, 6, 3, 6,
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6, 9, 6, 9, 9, 12, 6, 9, 9, 12, 9, 12, 12, 9, 3, 6, 6, 9,
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6, 9, 9, 12, 6, 9, 9, 12, 9, 12, 12, 9, 6, 9, 9, 6, 9, 12,
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12, 9, 9, 12, 12, 9, 12, 15, 15, 6, 3, 6, 6, 9, 6, 9, 9, 12,
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6, 9, 9, 12, 9, 12, 12, 9, 6, 9, 9, 12, 9, 12, 12, 15, 9, 12,
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12, 15, 12, 15, 15, 12, 6, 9, 9, 12, 9, 12, 6, 9, 9, 12, 12, 15,
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12, 15, 9, 6, 9, 12, 12, 9, 12, 15, 9, 6, 12, 15, 15, 12, 15, 6,
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12, 3, 3, 6, 6, 9, 6, 9, 9, 12, 6, 9, 9, 12, 9, 12, 12, 9,
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6, 9, 9, 12, 9, 12, 12, 15, 9, 6, 12, 9, 12, 9, 15, 6, 6, 9,
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9, 12, 9, 12, 12, 15, 9, 12, 12, 15, 12, 15, 15, 12, 9, 12, 12, 9,
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|
12, 15, 15, 12, 12, 9, 15, 6, 15, 12, 6, 3, 6, 9, 9, 12, 9, 12,
|
||||||
|
12, 15, 9, 12, 12, 15, 6, 9, 9, 6, 9, 12, 12, 15, 12, 15, 15, 6,
|
||||||
|
12, 9, 15, 12, 9, 6, 12, 3, 9, 12, 12, 15, 12, 15, 9, 12, 12, 15,
|
||||||
|
15, 6, 9, 12, 6, 3, 6, 9, 9, 6, 9, 12, 6, 3, 9, 6, 12, 3,
|
||||||
|
6, 3, 3, 0,
|
||||||
|
};
|
||||||
|
|
||||||
|
for (uint tid = id; tid < activeVoxels; tid += num_threads) {
|
||||||
|
uint voxel = compactedVoxelArray[tid]; // maps from accumulated id to
|
||||||
|
// original 3d voxel id
|
||||||
|
// mapping from offsets to vi index
|
||||||
|
int indexTable[8]{0, 1, 4, 5, 3, 2, 7, 6};
|
||||||
|
// field value for each vertex
|
||||||
|
float val[8];
|
||||||
|
// position for each vertex
|
||||||
|
float3 p[8];
|
||||||
|
// 3d address
|
||||||
|
const uint D = vol.size(0) - 1;
|
||||||
|
const uint H = vol.size(1) - 1;
|
||||||
|
const uint W = vol.size(2) - 1;
|
||||||
|
|
||||||
|
const int gx = voxel % W;
|
||||||
|
const int gy = voxel / W % H;
|
||||||
|
const int gz = voxel / (W * H);
|
||||||
|
|
||||||
|
// recalculate cubeindex;
|
||||||
|
uint cubeindex = 0;
|
||||||
|
for (int i = 0; i < 8; i++) {
|
||||||
|
const int dx = i & 1;
|
||||||
|
const int dy = i >> 1 & 1;
|
||||||
|
const int dz = i >> 2 & 1;
|
||||||
|
|
||||||
|
const int x = gx + dx;
|
||||||
|
const int y = gy + dy;
|
||||||
|
const int z = gz + dz;
|
||||||
|
|
||||||
|
if (vol[z][y][x] < isolevel) {
|
||||||
|
cubeindex |= 1 << indexTable[i];
|
||||||
|
}
|
||||||
|
val[indexTable[i]] = vol[z][y][x]; // maps from vi to volume
|
||||||
|
p[indexTable[i]] = make_float3(x, y, z); // maps from vi to position
|
||||||
|
}
|
||||||
|
|
||||||
|
// Interpolate vertices where the surface intersects the cube
|
||||||
|
float3 vertlist[12];
|
||||||
|
vertlist[0] = vertexInterp(isolevel, p[0], p[1], val[0], val[1]);
|
||||||
|
vertlist[1] = vertexInterp(isolevel, p[1], p[2], val[1], val[2]);
|
||||||
|
vertlist[2] = vertexInterp(isolevel, p[3], p[2], val[3], val[2]);
|
||||||
|
vertlist[3] = vertexInterp(isolevel, p[0], p[3], val[0], val[3]);
|
||||||
|
|
||||||
|
vertlist[4] = vertexInterp(isolevel, p[4], p[5], val[4], val[5]);
|
||||||
|
vertlist[5] = vertexInterp(isolevel, p[5], p[6], val[5], val[6]);
|
||||||
|
vertlist[6] = vertexInterp(isolevel, p[7], p[6], val[7], val[6]);
|
||||||
|
vertlist[7] = vertexInterp(isolevel, p[4], p[7], val[4], val[7]);
|
||||||
|
|
||||||
|
vertlist[8] = vertexInterp(isolevel, p[0], p[4], val[0], val[4]);
|
||||||
|
vertlist[9] = vertexInterp(isolevel, p[1], p[5], val[1], val[5]);
|
||||||
|
vertlist[10] = vertexInterp(isolevel, p[2], p[6], val[2], val[6]);
|
||||||
|
vertlist[11] = vertexInterp(isolevel, p[3], p[7], val[3], val[7]);
|
||||||
|
|
||||||
|
// output triangle faces
|
||||||
|
uint numVerts = numVertsTable[cubeindex];
|
||||||
|
|
||||||
|
for (int i = 0; i < numVerts; i++) {
|
||||||
|
int index = numVertsScanned[voxel] + i;
|
||||||
|
unsigned char edge = faceTable[cubeindex][i];
|
||||||
|
|
||||||
|
uint v1 = edgeToVertsTable[edge][0];
|
||||||
|
uint v2 = edgeToVertsTable[edge][1];
|
||||||
|
uint v1_id = localToGlobal(v1, gx, gy, gz, W + 1, H + 1);
|
||||||
|
uint v2_id = localToGlobal(v2, gx, gy, gz, W + 1, H + 1);
|
||||||
|
int64_t edge_id = hashVpair(v1_id, v2_id, W + 1, H + 1, D + 1);
|
||||||
|
|
||||||
|
verts[index][0] = vertlist[edge].x;
|
||||||
|
verts[index][1] = vertlist[edge].y;
|
||||||
|
verts[index][2] = vertlist[edge].z;
|
||||||
|
|
||||||
|
if (index < faces_size) {
|
||||||
|
faces[index][0] = index * 3 + 0;
|
||||||
|
faces[index][1] = index * 3 + 1;
|
||||||
|
faces[index][2] = index * 3 + 2;
|
||||||
|
}
|
||||||
|
|
||||||
|
ids[index] = edge_id;
|
||||||
|
}
|
||||||
|
} // end for grid-strided kernel
|
||||||
|
}
|
||||||
|
|
||||||
|
// Entrance for marching cubes cuda extension. Marching Cubes is an algorithm to
|
||||||
|
// create triangle meshes from an implicit function (one of the form f(x, y, z)
|
||||||
|
// = 0). It works by iteratively checking a grid of cubes superimposed over a
|
||||||
|
// region of the function. The number of faces and positions of the vertices in
|
||||||
|
// each cube are determined by the the isolevel as well as the volume values
|
||||||
|
// from the eight vertices of the cube.
|
||||||
|
//
|
||||||
|
// We implement this algorithm with two forward passes where the first pass
|
||||||
|
// checks the occupancy and collects number of vertices for each cube. The
|
||||||
|
// second pass will skip empty voxels and generate vertices as well as faces for
|
||||||
|
// each cube through table lookup. The vertex positions, faces and identifiers
|
||||||
|
// for each vertex will be returned.
|
||||||
|
//
|
||||||
|
//
|
||||||
|
// Args:
|
||||||
|
// vol: torch tensor of shape (D, H, W) for volume scalar field
|
||||||
|
// isolevel: threshold to determine isosurface intesection
|
||||||
|
//
|
||||||
|
// Returns:
|
||||||
|
// tuple of <verts, faces, ids>: which stores vertex positions, face
|
||||||
|
// indices and integer identifiers for each vertex.
|
||||||
|
// verts: (N_verts, 3) FloatTensor for vertex positions
|
||||||
|
// faces: (N_faces, 3) LongTensor of face indices
|
||||||
|
// ids: (N_verts,) LongTensor used to identify each vertex. Vertices from
|
||||||
|
// adjacent edges can share the same 3d position. To reduce memory
|
||||||
|
// redudancy, we tag each vertex with a unique id for deduplication. In
|
||||||
|
// contrast to deduping on vertices, this has the benefit to avoid
|
||||||
|
// floating point precision issues.
|
||||||
|
//
|
||||||
|
std::tuple<at::Tensor, at::Tensor, at::Tensor> MarchingCubesCuda(
|
||||||
|
const at::Tensor& vol,
|
||||||
|
const float isolevel) {
|
||||||
|
// Set the device for the kernel launch based on the device of vol
|
||||||
|
at::cuda::CUDAGuard device_guard(vol.device());
|
||||||
|
cudaStream_t stream = at::cuda::getCurrentCUDAStream();
|
||||||
|
|
||||||
|
// transfer _FACE_TABLE data to device
|
||||||
|
torch::Tensor face_table_tensor = torch::zeros(
|
||||||
|
{256, 16}, torch::TensorOptions().dtype(at::kInt).device(at::kCPU));
|
||||||
|
auto face_table_a = face_table_tensor.accessor<int, 2>();
|
||||||
|
for (int i = 0; i < 256; i++) {
|
||||||
|
for (int j = 0; j < 16; j++) {
|
||||||
|
face_table_a[i][j] = _FACE_TABLE[i][j];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
torch::Tensor faceTable = face_table_tensor.to(vol.device());
|
||||||
|
|
||||||
|
// get numVoxels
|
||||||
|
int threads = 128;
|
||||||
|
const uint D = vol.size(0);
|
||||||
|
const uint H = vol.size(1);
|
||||||
|
const uint W = vol.size(2);
|
||||||
|
const int numVoxels = (D - 1) * (H - 1) * (W - 1);
|
||||||
|
dim3 grid((numVoxels + threads - 1) / threads, 1, 1);
|
||||||
|
if (grid.x > 65535) {
|
||||||
|
grid.x = 65535;
|
||||||
|
}
|
||||||
|
|
||||||
|
auto d_voxelVerts =
|
||||||
|
torch::zeros({numVoxels}, torch::TensorOptions().dtype(at::kInt))
|
||||||
|
.to(vol.device());
|
||||||
|
auto d_voxelOccupied =
|
||||||
|
torch::zeros({numVoxels}, torch::TensorOptions().dtype(at::kInt))
|
||||||
|
.to(vol.device());
|
||||||
|
|
||||||
|
// Execute "ClassifyVoxelKernel" kernel to precompute
|
||||||
|
// two arrays - d_voxelOccupied and d_voxelVertices to global memory,
|
||||||
|
// which stores the occupancy state and number of voxel vertices per voxel.
|
||||||
|
ClassifyVoxelKernel<<<grid, threads, 0, stream>>>(
|
||||||
|
d_voxelVerts.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
d_voxelOccupied.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
vol.packed_accessor32<float, 3, at::RestrictPtrTraits>(),
|
||||||
|
isolevel);
|
||||||
|
AT_CUDA_CHECK(cudaGetLastError());
|
||||||
|
cudaDeviceSynchronize();
|
||||||
|
|
||||||
|
// Scan "d_voxelOccupied" array to generate accumulated voxel occupancy
|
||||||
|
// count for voxels in the grid and compute the number of active voxels.
|
||||||
|
// If the number of active voxels is 0, return zero tensor for verts and
|
||||||
|
// faces.
|
||||||
|
auto d_voxelOccupiedScan =
|
||||||
|
torch::zeros({numVoxels}, torch::TensorOptions().dtype(at::kInt))
|
||||||
|
.to(vol.device());
|
||||||
|
ThrustScanWrapper(
|
||||||
|
d_voxelOccupiedScan.data_ptr<int>(),
|
||||||
|
d_voxelOccupied.data_ptr<int>(),
|
||||||
|
numVoxels);
|
||||||
|
|
||||||
|
// number of active voxels
|
||||||
|
int lastElement = d_voxelVerts[numVoxels - 1].cpu().item<int>();
|
||||||
|
int lastScan = d_voxelOccupiedScan[numVoxels - 1].cpu().item<int>();
|
||||||
|
int activeVoxels = lastElement + lastScan;
|
||||||
|
|
||||||
|
const int device_id = vol.device().index();
|
||||||
|
auto opt =
|
||||||
|
torch::TensorOptions().dtype(torch::kInt).device(torch::kCUDA, device_id);
|
||||||
|
auto opt_long = torch::TensorOptions()
|
||||||
|
.dtype(torch::kInt64)
|
||||||
|
.device(torch::kCUDA, device_id);
|
||||||
|
|
||||||
|
if (activeVoxels == 0) {
|
||||||
|
int ntris = 0;
|
||||||
|
torch::Tensor verts = torch::zeros({ntris * 3, 3}, vol.options());
|
||||||
|
torch::Tensor faces = torch::zeros({ntris, 3}, opt_long);
|
||||||
|
torch::Tensor ids = torch::zeros({ntris}, opt_long);
|
||||||
|
return std::make_tuple(verts, faces, ids);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Execute "CompactVoxelsKernel" kernel to compress voxels for accleration.
|
||||||
|
// This allows us to run triangle generation on only the occupied voxels.
|
||||||
|
auto d_compVoxelArray = torch::zeros({activeVoxels}, opt);
|
||||||
|
CompactVoxelsKernel<<<grid, threads, 0, stream>>>(
|
||||||
|
d_compVoxelArray.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
d_voxelOccupied.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
d_voxelOccupiedScan.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
numVoxels);
|
||||||
|
AT_CUDA_CHECK(cudaGetLastError());
|
||||||
|
cudaDeviceSynchronize();
|
||||||
|
|
||||||
|
// Scan d_voxelVerts array to generate offsets of vertices for each voxel
|
||||||
|
auto d_voxelVertsScan = torch::zeros({numVoxels}, opt);
|
||||||
|
ThrustScanWrapper(
|
||||||
|
d_voxelVertsScan.data_ptr<int>(),
|
||||||
|
d_voxelVerts.data_ptr<int>(),
|
||||||
|
numVoxels);
|
||||||
|
|
||||||
|
// total number of vertices
|
||||||
|
lastElement = d_voxelVerts[numVoxels - 1].cpu().item<int>();
|
||||||
|
lastScan = d_voxelVertsScan[numVoxels - 1].cpu().item<int>();
|
||||||
|
int totalVerts = lastElement + lastScan;
|
||||||
|
|
||||||
|
// Execute "GenerateFacesKernel" kernel
|
||||||
|
// This runs only on the occupied voxels.
|
||||||
|
// It looks up the field values and generates the triangle data.
|
||||||
|
torch::Tensor verts = torch::zeros({totalVerts, 3}, vol.options());
|
||||||
|
torch::Tensor faces = torch::zeros({totalVerts / 3, 3}, opt_long);
|
||||||
|
|
||||||
|
torch::Tensor ids = torch::zeros({totalVerts}, opt_long);
|
||||||
|
|
||||||
|
dim3 grid2((activeVoxels + threads - 1) / threads, 1, 1);
|
||||||
|
if (grid2.x > 65535) {
|
||||||
|
grid2.x = 65535;
|
||||||
|
}
|
||||||
|
|
||||||
|
GenerateFacesKernel<<<grid2, threads, 0, stream>>>(
|
||||||
|
verts.packed_accessor32<float, 2, at::RestrictPtrTraits>(),
|
||||||
|
faces.packed_accessor<int64_t, 2, at::RestrictPtrTraits>(),
|
||||||
|
ids.packed_accessor<int64_t, 1, at::RestrictPtrTraits>(),
|
||||||
|
d_compVoxelArray.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
d_voxelVertsScan.packed_accessor32<int, 1, at::RestrictPtrTraits>(),
|
||||||
|
activeVoxels,
|
||||||
|
vol.packed_accessor32<float, 3, at::RestrictPtrTraits>(),
|
||||||
|
faceTable.packed_accessor32<int, 2, at::RestrictPtrTraits>(),
|
||||||
|
isolevel);
|
||||||
|
AT_CUDA_CHECK(cudaGetLastError());
|
||||||
|
|
||||||
|
return std::make_tuple(verts, faces, ids);
|
||||||
|
}
|
||||||
@ -23,17 +23,40 @@
|
|||||||
// the points are within a volume.
|
// the points are within a volume.
|
||||||
//
|
//
|
||||||
// Returns:
|
// Returns:
|
||||||
// vertices: List of N FloatTensors of vertices
|
// vertices: (N_verts, 3) FloatTensor of vertices
|
||||||
// faces: List of N LongTensors of faces
|
// faces: (N_faces, 3) LongTensor of faces
|
||||||
|
// ids: (N_verts,) LongTensor used to identify each vertex and deduplication
|
||||||
|
// to avoid floating point precision issues.
|
||||||
|
// For Cuda, will be used to dedupe redundant vertices.
|
||||||
|
// For cpp implementation, this tensor is just a placeholder.
|
||||||
|
|
||||||
// CPU implementation
|
// CPU implementation
|
||||||
std::tuple<at::Tensor, at::Tensor> MarchingCubesCpu(
|
std::tuple<at::Tensor, at::Tensor, at::Tensor> MarchingCubesCpu(
|
||||||
|
const at::Tensor& vol,
|
||||||
|
const float isolevel);
|
||||||
|
|
||||||
|
// CUDA implementation
|
||||||
|
std::tuple<at::Tensor, at::Tensor, at::Tensor> MarchingCubesCuda(
|
||||||
const at::Tensor& vol,
|
const at::Tensor& vol,
|
||||||
const float isolevel);
|
const float isolevel);
|
||||||
|
|
||||||
// Implementation which is exposed
|
// Implementation which is exposed
|
||||||
inline std::tuple<at::Tensor, at::Tensor> MarchingCubes(
|
inline std::tuple<at::Tensor, at::Tensor, at::Tensor> MarchingCubes(
|
||||||
const at::Tensor& vol,
|
const at::Tensor& vol,
|
||||||
const float isolevel) {
|
const float isolevel) {
|
||||||
|
if (vol.is_cuda()) {
|
||||||
|
#ifdef WITH_CUDA
|
||||||
|
CHECK_CUDA(vol);
|
||||||
|
const int D = vol.size(0);
|
||||||
|
const int H = vol.size(1);
|
||||||
|
const int W = vol.size(2);
|
||||||
|
if (D > 1024 || H > 1024 || W > 1024) {
|
||||||
|
AT_ERROR("Maximum volume size allowed 1K x 1K x 1K");
|
||||||
|
}
|
||||||
|
return MarchingCubesCuda(vol.contiguous(), isolevel);
|
||||||
|
#else
|
||||||
|
AT_ERROR("Not compiled with GPU support.");
|
||||||
|
#endif
|
||||||
|
}
|
||||||
return MarchingCubesCpu(vol.contiguous(), isolevel);
|
return MarchingCubesCpu(vol.contiguous(), isolevel);
|
||||||
}
|
}
|
||||||
|
|||||||
@ -13,6 +13,7 @@
|
|||||||
#include <unordered_map>
|
#include <unordered_map>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
#include "marching_cubes/marching_cubes_utils.h"
|
#include "marching_cubes/marching_cubes_utils.h"
|
||||||
|
#include "marching_cubes/tables.h"
|
||||||
|
|
||||||
// Cpu implementation for Marching Cubes
|
// Cpu implementation for Marching Cubes
|
||||||
// Args:
|
// Args:
|
||||||
@ -21,10 +22,11 @@
|
|||||||
// whether points are within a volume.
|
// whether points are within a volume.
|
||||||
//
|
//
|
||||||
// Returns:
|
// Returns:
|
||||||
// vertices: a float tensor of shape (N, 3) for positions of the mesh
|
// vertices: a float tensor of shape (N_verts, 3) for positions of the mesh
|
||||||
// faces: a long tensor of shape (N, 3) for indices of the face vertices
|
// faces: a long tensor of shape (N_faces, 3) for indices of the face
|
||||||
|
// ids: a long tensor of shape (N_verts) as placeholder
|
||||||
//
|
//
|
||||||
std::tuple<at::Tensor, at::Tensor> MarchingCubesCpu(
|
std::tuple<at::Tensor, at::Tensor, at::Tensor> MarchingCubesCpu(
|
||||||
const at::Tensor& vol,
|
const at::Tensor& vol,
|
||||||
const float isolevel) {
|
const float isolevel) {
|
||||||
// volume shapes
|
// volume shapes
|
||||||
@ -48,7 +50,7 @@ std::tuple<at::Tensor, at::Tensor> MarchingCubesCpu(
|
|||||||
for (int x = 0; x < W - 1; x++) {
|
for (int x = 0; x < W - 1; x++) {
|
||||||
Cube cube(x, y, z, vol_a, isolevel);
|
Cube cube(x, y, z, vol_a, isolevel);
|
||||||
// Cube is entirely in/out of the surface
|
// Cube is entirely in/out of the surface
|
||||||
if (_FACE_TABLE[cube.cubeindex][0] == -1) {
|
if (_FACE_TABLE[cube.cubeindex][0] == 255) {
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
// store all boundary vertices that intersect with the edges
|
// store all boundary vertices that intersect with the edges
|
||||||
@ -58,7 +60,7 @@ std::tuple<at::Tensor, at::Tensor> MarchingCubesCpu(
|
|||||||
std::vector<Vertex> ps;
|
std::vector<Vertex> ps;
|
||||||
|
|
||||||
// Interpolate the vertices where the surface intersects with the cube
|
// Interpolate the vertices where the surface intersects with the cube
|
||||||
for (int j = 0; _FACE_TABLE[cube.cubeindex][j] != -1; j++) {
|
for (int j = 0; _FACE_TABLE[cube.cubeindex][j] != 255; j++) {
|
||||||
const int e = _FACE_TABLE[cube.cubeindex][j];
|
const int e = _FACE_TABLE[cube.cubeindex][j];
|
||||||
interp_points[e] = cube.VertexInterp(isolevel, e, vol_a);
|
interp_points[e] = cube.VertexInterp(isolevel, e, vol_a);
|
||||||
|
|
||||||
@ -95,6 +97,7 @@ std::tuple<at::Tensor, at::Tensor> MarchingCubesCpu(
|
|||||||
const int n_vertices = verts.size();
|
const int n_vertices = verts.size();
|
||||||
const int64_t n_faces = (int64_t)faces.size() / 3;
|
const int64_t n_faces = (int64_t)faces.size() / 3;
|
||||||
auto vert_tensor = torch::zeros({n_vertices, 3}, torch::kFloat);
|
auto vert_tensor = torch::zeros({n_vertices, 3}, torch::kFloat);
|
||||||
|
auto id_tensor = torch::zeros({n_vertices}, torch::kInt64); // placeholder
|
||||||
auto face_tensor = torch::zeros({n_faces, 3}, torch::kInt64);
|
auto face_tensor = torch::zeros({n_faces, 3}, torch::kInt64);
|
||||||
|
|
||||||
auto vert_a = vert_tensor.accessor<float, 2>();
|
auto vert_a = vert_tensor.accessor<float, 2>();
|
||||||
@ -111,5 +114,5 @@ std::tuple<at::Tensor, at::Tensor> MarchingCubesCpu(
|
|||||||
face_a[i][2] = faces.at(i * 3 + 2);
|
face_a[i][2] = faces.at(i * 3 + 2);
|
||||||
}
|
}
|
||||||
|
|
||||||
return std::make_tuple(vert_tensor, face_tensor);
|
return std::make_tuple(vert_tensor, face_tensor, id_tensor);
|
||||||
}
|
}
|
||||||
|
|||||||
@ -12,291 +12,11 @@
|
|||||||
#include <cstdint>
|
#include <cstdint>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
#include "ATen/core/TensorAccessor.h"
|
#include "ATen/core/TensorAccessor.h"
|
||||||
|
#include "marching_cubes/tables.h"
|
||||||
|
|
||||||
// EPS: Used to assess whether two float values are close
|
// EPS: Used to assess whether two float values are close
|
||||||
const float EPS = 1e-5;
|
const float EPS = 1e-5;
|
||||||
|
|
||||||
// A table mapping from cubeindex to a list of face configurations.
|
|
||||||
// Each list contains at most 5 faces, where each face is represented with
|
|
||||||
// 3 consecutive numbers
|
|
||||||
// Table taken from http://paulbourke.net/geometry/polygonise/
|
|
||||||
const int _FACE_TABLE[256][16] = {
|
|
||||||
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 1, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 8, 3, 9, 8, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 3, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 2, 10, 0, 2, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 8, 3, 2, 10, 8, 10, 9, 8, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 11, 2, 8, 11, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 9, 0, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 11, 2, 1, 9, 11, 9, 8, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 10, 1, 11, 10, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 10, 1, 0, 8, 10, 8, 11, 10, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 9, 0, 3, 11, 9, 11, 10, 9, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 3, 0, 7, 3, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 1, 9, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 1, 9, 4, 7, 1, 7, 3, 1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 10, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 4, 7, 3, 0, 4, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 2, 10, 9, 0, 2, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, -1, -1, -1, -1},
|
|
||||||
{8, 4, 7, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{11, 4, 7, 11, 2, 4, 2, 0, 4, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 0, 1, 8, 4, 7, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, -1, -1, -1, -1},
|
|
||||||
{3, 10, 1, 3, 11, 10, 7, 8, 4, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, -1, -1, -1, -1},
|
|
||||||
{4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, -1, -1, -1, -1},
|
|
||||||
{4, 7, 11, 4, 11, 9, 9, 11, 10, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 5, 4, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 5, 4, 1, 5, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 5, 4, 8, 3, 5, 3, 1, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 10, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 0, 8, 1, 2, 10, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 2, 10, 5, 4, 2, 4, 0, 2, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, -1, -1, -1, -1},
|
|
||||||
{9, 5, 4, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 11, 2, 0, 8, 11, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 5, 4, 0, 1, 5, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, -1, -1, -1, -1},
|
|
||||||
{10, 3, 11, 10, 1, 3, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, -1, -1, -1, -1},
|
|
||||||
{5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, -1, -1, -1, -1},
|
|
||||||
{5, 4, 8, 5, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 7, 8, 5, 7, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 3, 0, 9, 5, 3, 5, 7, 3, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 7, 8, 0, 1, 7, 1, 5, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 7, 8, 9, 5, 7, 10, 1, 2, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, -1, -1, -1, -1},
|
|
||||||
{8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, -1, -1, -1, -1},
|
|
||||||
{2, 10, 5, 2, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{7, 9, 5, 7, 8, 9, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, -1, -1, -1, -1},
|
|
||||||
{2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, -1, -1, -1, -1},
|
|
||||||
{11, 2, 1, 11, 1, 7, 7, 1, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, -1, -1, -1, -1},
|
|
||||||
{5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, -1},
|
|
||||||
{11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, -1},
|
|
||||||
{11, 10, 5, 7, 11, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 3, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 0, 1, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 8, 3, 1, 9, 8, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 6, 5, 2, 6, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 6, 5, 1, 2, 6, 3, 0, 8, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 6, 5, 9, 0, 6, 0, 2, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, -1, -1, -1, -1},
|
|
||||||
{2, 3, 11, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{11, 0, 8, 11, 2, 0, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 1, 9, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, -1, -1, -1, -1},
|
|
||||||
{6, 3, 11, 6, 5, 3, 5, 1, 3, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, -1, -1, -1, -1},
|
|
||||||
{3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, -1, -1, -1, -1},
|
|
||||||
{6, 5, 9, 6, 9, 11, 11, 9, 8, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 10, 6, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 3, 0, 4, 7, 3, 6, 5, 10, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 9, 0, 5, 10, 6, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, -1, -1, -1, -1},
|
|
||||||
{6, 1, 2, 6, 5, 1, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, -1, -1, -1, -1},
|
|
||||||
{8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, -1, -1, -1, -1},
|
|
||||||
{7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, -1},
|
|
||||||
{3, 11, 2, 7, 8, 4, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, -1, -1, -1, -1},
|
|
||||||
{0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1},
|
|
||||||
{9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, -1},
|
|
||||||
{8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, -1, -1, -1, -1},
|
|
||||||
{5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, -1},
|
|
||||||
{0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, -1},
|
|
||||||
{6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, -1, -1, -1, -1},
|
|
||||||
{10, 4, 9, 6, 4, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 10, 6, 4, 9, 10, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 0, 1, 10, 6, 0, 6, 4, 0, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, -1, -1, -1, -1},
|
|
||||||
{1, 4, 9, 1, 2, 4, 2, 6, 4, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, -1, -1, -1, -1},
|
|
||||||
{0, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 3, 2, 8, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 4, 9, 10, 6, 4, 11, 2, 3, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, -1, -1, -1, -1},
|
|
||||||
{3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, -1, -1, -1, -1},
|
|
||||||
{6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, -1},
|
|
||||||
{9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, -1, -1, -1, -1},
|
|
||||||
{8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, -1},
|
|
||||||
{3, 11, 6, 3, 6, 0, 0, 6, 4, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{6, 4, 8, 11, 6, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{7, 10, 6, 7, 8, 10, 8, 9, 10, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, -1, -1, -1, -1},
|
|
||||||
{10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, -1, -1, -1, -1},
|
|
||||||
{10, 6, 7, 10, 7, 1, 1, 7, 3, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, -1, -1, -1, -1},
|
|
||||||
{2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, -1},
|
|
||||||
{7, 8, 0, 7, 0, 6, 6, 0, 2, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{7, 3, 2, 6, 7, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, -1, -1, -1, -1},
|
|
||||||
{2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, -1},
|
|
||||||
{1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, -1},
|
|
||||||
{11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, -1, -1, -1, -1},
|
|
||||||
{8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, -1},
|
|
||||||
{0, 9, 1, 11, 6, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, -1, -1, -1, -1},
|
|
||||||
{7, 11, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 0, 8, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 1, 9, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 1, 9, 8, 3, 1, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 1, 2, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 10, 3, 0, 8, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 9, 0, 2, 10, 9, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, -1, -1, -1, -1},
|
|
||||||
{7, 2, 3, 6, 2, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{7, 0, 8, 7, 6, 0, 6, 2, 0, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 7, 6, 2, 3, 7, 0, 1, 9, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, -1, -1, -1, -1},
|
|
||||||
{10, 7, 6, 10, 1, 7, 1, 3, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, -1, -1, -1, -1},
|
|
||||||
{0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, -1, -1, -1, -1},
|
|
||||||
{7, 6, 10, 7, 10, 8, 8, 10, 9, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{6, 8, 4, 11, 8, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 6, 11, 3, 0, 6, 0, 4, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 6, 11, 8, 4, 6, 9, 0, 1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, -1, -1, -1, -1},
|
|
||||||
{6, 8, 4, 6, 11, 8, 2, 10, 1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, -1, -1, -1, -1},
|
|
||||||
{4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, -1, -1, -1, -1},
|
|
||||||
{10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, -1},
|
|
||||||
{8, 2, 3, 8, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, -1, -1, -1, -1},
|
|
||||||
{1, 9, 4, 1, 4, 2, 2, 4, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, -1, -1, -1, -1},
|
|
||||||
{10, 1, 0, 10, 0, 6, 6, 0, 4, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, -1},
|
|
||||||
{10, 9, 4, 6, 10, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 9, 5, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 3, 4, 9, 5, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 0, 1, 5, 4, 0, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, -1, -1, -1, -1},
|
|
||||||
{9, 5, 4, 10, 1, 2, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, -1, -1, -1, -1},
|
|
||||||
{7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, -1, -1, -1, -1},
|
|
||||||
{3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, -1},
|
|
||||||
{7, 2, 3, 7, 6, 2, 5, 4, 9, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, -1, -1, -1, -1},
|
|
||||||
{3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, -1, -1, -1, -1},
|
|
||||||
{6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, -1},
|
|
||||||
{9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, -1, -1, -1, -1},
|
|
||||||
{1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, -1},
|
|
||||||
{4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, -1},
|
|
||||||
{7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, -1, -1, -1, -1},
|
|
||||||
{6, 9, 5, 6, 11, 9, 11, 8, 9, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, -1, -1, -1, -1},
|
|
||||||
{0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, -1, -1, -1, -1},
|
|
||||||
{6, 11, 3, 6, 3, 5, 5, 3, 1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, -1, -1, -1, -1},
|
|
||||||
{0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, -1},
|
|
||||||
{11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, -1},
|
|
||||||
{6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, -1, -1, -1, -1},
|
|
||||||
{5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, -1, -1, -1, -1},
|
|
||||||
{9, 5, 6, 9, 6, 0, 0, 6, 2, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, -1},
|
|
||||||
{1, 5, 6, 2, 1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, -1},
|
|
||||||
{10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, -1, -1, -1, -1},
|
|
||||||
{0, 3, 8, 5, 6, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 5, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{11, 5, 10, 7, 5, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{11, 5, 10, 11, 7, 5, 8, 3, 0, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 11, 7, 5, 10, 11, 1, 9, 0, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, -1, -1, -1, -1},
|
|
||||||
{11, 1, 2, 11, 7, 1, 7, 5, 1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, -1, -1, -1, -1},
|
|
||||||
{9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, -1, -1, -1, -1},
|
|
||||||
{7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, -1},
|
|
||||||
{2, 5, 10, 2, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, -1, -1, -1, -1},
|
|
||||||
{9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, -1, -1, -1, -1},
|
|
||||||
{9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, -1},
|
|
||||||
{1, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 7, 0, 7, 1, 1, 7, 5, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 0, 3, 9, 3, 5, 5, 3, 7, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 8, 7, 5, 9, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 8, 4, 5, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, -1, -1, -1, -1},
|
|
||||||
{0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, -1, -1, -1, -1},
|
|
||||||
{10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, -1},
|
|
||||||
{2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, -1, -1, -1, -1},
|
|
||||||
{0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, -1},
|
|
||||||
{0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, -1},
|
|
||||||
{9, 4, 5, 2, 11, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, -1, -1, -1, -1},
|
|
||||||
{5, 10, 2, 5, 2, 4, 4, 2, 0, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, -1},
|
|
||||||
{5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, -1, -1, -1, -1},
|
|
||||||
{8, 4, 5, 8, 5, 3, 3, 5, 1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 4, 5, 1, 0, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, -1, -1, -1, -1},
|
|
||||||
{9, 4, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 11, 7, 4, 9, 11, 9, 10, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, -1, -1, -1, -1},
|
|
||||||
{1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, -1, -1, -1, -1},
|
|
||||||
{3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, -1},
|
|
||||||
{4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, -1, -1, -1, -1},
|
|
||||||
{9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, -1},
|
|
||||||
{11, 7, 4, 11, 4, 2, 2, 4, 0, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, -1, -1, -1, -1},
|
|
||||||
{2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, -1, -1, -1, -1},
|
|
||||||
{9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, -1},
|
|
||||||
{3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, -1},
|
|
||||||
{1, 10, 2, 8, 7, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 9, 1, 4, 1, 7, 7, 1, 3, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, -1, -1, -1, -1},
|
|
||||||
{4, 0, 3, 7, 4, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{4, 8, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 0, 9, 3, 9, 11, 11, 9, 10, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 1, 10, 0, 10, 8, 8, 10, 11, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 1, 10, 11, 3, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 2, 11, 1, 11, 9, 9, 11, 8, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, -1, -1, -1, -1},
|
|
||||||
{0, 2, 11, 8, 0, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{3, 2, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 3, 8, 2, 8, 10, 10, 8, 9, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{9, 10, 2, 0, 9, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, -1, -1, -1, -1},
|
|
||||||
{1, 10, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{1, 3, 8, 9, 1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 9, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{0, 3, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
|
|
||||||
{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}};
|
|
||||||
|
|
||||||
// Table mapping each edge to the corresponding cube vertices
|
|
||||||
const int _EDGE_TO_VERTICES[12][2] = {
|
|
||||||
{0, 1},
|
|
||||||
{1, 5},
|
|
||||||
{4, 5},
|
|
||||||
{0, 4},
|
|
||||||
{2, 3},
|
|
||||||
{3, 7},
|
|
||||||
{6, 7},
|
|
||||||
{2, 6},
|
|
||||||
{0, 2},
|
|
||||||
{1, 3},
|
|
||||||
{5, 7},
|
|
||||||
{4, 6},
|
|
||||||
};
|
|
||||||
|
|
||||||
// Table mapping from 0-7 to v0-v7 in cube.vertices
|
|
||||||
const int _INDEX_TABLE[8] = {0, 1, 5, 4, 2, 3, 7, 6};
|
|
||||||
|
|
||||||
// Data structures for the marching cubes
|
// Data structures for the marching cubes
|
||||||
struct Vertex {
|
struct Vertex {
|
||||||
// Constructor used when performing marching cube in each cell
|
// Constructor used when performing marching cube in each cell
|
||||||
|
|||||||
294
pytorch3d/csrc/marching_cubes/tables.h
Normal file
294
pytorch3d/csrc/marching_cubes/tables.h
Normal file
@ -0,0 +1,294 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (c) Meta Platforms, Inc. and affiliates.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* This source code is licensed under the BSD-style license found in the
|
||||||
|
* LICENSE file in the root directory of this source tree.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
using uint = unsigned int;
|
||||||
|
|
||||||
|
// A table mapping from cubeindex to a list of face configurations.
|
||||||
|
// Each list contains at most 5 faces, where each face is represented with
|
||||||
|
// 3 consecutive numbers
|
||||||
|
// Table adapted from http://paulbourke.net/geometry/polygonise/
|
||||||
|
//
|
||||||
|
#define X 255
|
||||||
|
const unsigned char _FACE_TABLE[256][16] = {
|
||||||
|
{X, X, X, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 3, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 1, 9, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 8, 3, 9, 8, 1, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 10, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 3, 1, 2, 10, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{9, 2, 10, 0, 2, 9, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{2, 8, 3, 2, 10, 8, 10, 9, 8, X, X, X, X, X, X, X},
|
||||||
|
{3, 11, 2, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 11, 2, 8, 11, 0, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 9, 0, 2, 3, 11, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 11, 2, 1, 9, 11, 9, 8, 11, X, X, X, X, X, X, X},
|
||||||
|
{3, 10, 1, 11, 10, 3, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 10, 1, 0, 8, 10, 8, 11, 10, X, X, X, X, X, X, X},
|
||||||
|
{3, 9, 0, 3, 11, 9, 11, 10, 9, X, X, X, X, X, X, X},
|
||||||
|
{9, 8, 10, 10, 8, 11, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 7, 8, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 3, 0, 7, 3, 4, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 1, 9, 8, 4, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 1, 9, 4, 7, 1, 7, 3, 1, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 10, 8, 4, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{3, 4, 7, 3, 0, 4, 1, 2, 10, X, X, X, X, X, X, X},
|
||||||
|
{9, 2, 10, 9, 0, 2, 8, 4, 7, X, X, X, X, X, X, X},
|
||||||
|
{2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, X, X, X, X},
|
||||||
|
{8, 4, 7, 3, 11, 2, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{11, 4, 7, 11, 2, 4, 2, 0, 4, X, X, X, X, X, X, X},
|
||||||
|
{9, 0, 1, 8, 4, 7, 2, 3, 11, X, X, X, X, X, X, X},
|
||||||
|
{4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, X, X, X, X},
|
||||||
|
{3, 10, 1, 3, 11, 10, 7, 8, 4, X, X, X, X, X, X, X},
|
||||||
|
{1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, X, X, X, X},
|
||||||
|
{4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, X, X, X, X},
|
||||||
|
{4, 7, 11, 4, 11, 9, 9, 11, 10, X, X, X, X, X, X, X},
|
||||||
|
{9, 5, 4, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{9, 5, 4, 0, 8, 3, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 5, 4, 1, 5, 0, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{8, 5, 4, 8, 3, 5, 3, 1, 5, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 10, 9, 5, 4, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{3, 0, 8, 1, 2, 10, 4, 9, 5, X, X, X, X, X, X, X},
|
||||||
|
{5, 2, 10, 5, 4, 2, 4, 0, 2, X, X, X, X, X, X, X},
|
||||||
|
{2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, X, X, X, X},
|
||||||
|
{9, 5, 4, 2, 3, 11, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 11, 2, 0, 8, 11, 4, 9, 5, X, X, X, X, X, X, X},
|
||||||
|
{0, 5, 4, 0, 1, 5, 2, 3, 11, X, X, X, X, X, X, X},
|
||||||
|
{2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, X, X, X, X},
|
||||||
|
{10, 3, 11, 10, 1, 3, 9, 5, 4, X, X, X, X, X, X, X},
|
||||||
|
{4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, X, X, X, X},
|
||||||
|
{5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, X, X, X, X},
|
||||||
|
{5, 4, 8, 5, 8, 10, 10, 8, 11, X, X, X, X, X, X, X},
|
||||||
|
{9, 7, 8, 5, 7, 9, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{9, 3, 0, 9, 5, 3, 5, 7, 3, X, X, X, X, X, X, X},
|
||||||
|
{0, 7, 8, 0, 1, 7, 1, 5, 7, X, X, X, X, X, X, X},
|
||||||
|
{1, 5, 3, 3, 5, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{9, 7, 8, 9, 5, 7, 10, 1, 2, X, X, X, X, X, X, X},
|
||||||
|
{10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, X, X, X, X},
|
||||||
|
{8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, X, X, X, X},
|
||||||
|
{2, 10, 5, 2, 5, 3, 3, 5, 7, X, X, X, X, X, X, X},
|
||||||
|
{7, 9, 5, 7, 8, 9, 3, 11, 2, X, X, X, X, X, X, X},
|
||||||
|
{9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, X, X, X, X},
|
||||||
|
{2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, X, X, X, X},
|
||||||
|
{11, 2, 1, 11, 1, 7, 7, 1, 5, X, X, X, X, X, X, X},
|
||||||
|
{9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, X, X, X, X},
|
||||||
|
{5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, X},
|
||||||
|
{11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, X},
|
||||||
|
{11, 10, 5, 7, 11, 5, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{10, 6, 5, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 3, 5, 10, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{9, 0, 1, 5, 10, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 8, 3, 1, 9, 8, 5, 10, 6, X, X, X, X, X, X, X},
|
||||||
|
{1, 6, 5, 2, 6, 1, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 6, 5, 1, 2, 6, 3, 0, 8, X, X, X, X, X, X, X},
|
||||||
|
{9, 6, 5, 9, 0, 6, 0, 2, 6, X, X, X, X, X, X, X},
|
||||||
|
{5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, X, X, X, X},
|
||||||
|
{2, 3, 11, 10, 6, 5, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{11, 0, 8, 11, 2, 0, 10, 6, 5, X, X, X, X, X, X, X},
|
||||||
|
{0, 1, 9, 2, 3, 11, 5, 10, 6, X, X, X, X, X, X, X},
|
||||||
|
{5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, X, X, X, X},
|
||||||
|
{6, 3, 11, 6, 5, 3, 5, 1, 3, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, X, X, X, X},
|
||||||
|
{3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, X, X, X, X},
|
||||||
|
{6, 5, 9, 6, 9, 11, 11, 9, 8, X, X, X, X, X, X, X},
|
||||||
|
{5, 10, 6, 4, 7, 8, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 3, 0, 4, 7, 3, 6, 5, 10, X, X, X, X, X, X, X},
|
||||||
|
{1, 9, 0, 5, 10, 6, 8, 4, 7, X, X, X, X, X, X, X},
|
||||||
|
{10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, X, X, X, X},
|
||||||
|
{6, 1, 2, 6, 5, 1, 4, 7, 8, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, X, X, X, X},
|
||||||
|
{8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, X, X, X, X},
|
||||||
|
{7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, X},
|
||||||
|
{3, 11, 2, 7, 8, 4, 10, 6, 5, X, X, X, X, X, X, X},
|
||||||
|
{5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, X, X, X, X},
|
||||||
|
{0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, X, X, X, X},
|
||||||
|
{9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, X},
|
||||||
|
{8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, X, X, X, X},
|
||||||
|
{5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, X},
|
||||||
|
{0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, X},
|
||||||
|
{6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, X, X, X, X},
|
||||||
|
{10, 4, 9, 6, 4, 10, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 10, 6, 4, 9, 10, 0, 8, 3, X, X, X, X, X, X, X},
|
||||||
|
{10, 0, 1, 10, 6, 0, 6, 4, 0, X, X, X, X, X, X, X},
|
||||||
|
{8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, X, X, X, X},
|
||||||
|
{1, 4, 9, 1, 2, 4, 2, 6, 4, X, X, X, X, X, X, X},
|
||||||
|
{3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, X, X, X, X},
|
||||||
|
{0, 2, 4, 4, 2, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{8, 3, 2, 8, 2, 4, 4, 2, 6, X, X, X, X, X, X, X},
|
||||||
|
{10, 4, 9, 10, 6, 4, 11, 2, 3, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, X, X, X, X},
|
||||||
|
{3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, X, X, X, X},
|
||||||
|
{6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, X},
|
||||||
|
{9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, X, X, X, X},
|
||||||
|
{8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, X},
|
||||||
|
{3, 11, 6, 3, 6, 0, 0, 6, 4, X, X, X, X, X, X, X},
|
||||||
|
{6, 4, 8, 11, 6, 8, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{7, 10, 6, 7, 8, 10, 8, 9, 10, X, X, X, X, X, X, X},
|
||||||
|
{0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, X, X, X, X},
|
||||||
|
{10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, X, X, X, X},
|
||||||
|
{10, 6, 7, 10, 7, 1, 1, 7, 3, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, X, X, X, X},
|
||||||
|
{2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, X},
|
||||||
|
{7, 8, 0, 7, 0, 6, 6, 0, 2, X, X, X, X, X, X, X},
|
||||||
|
{7, 3, 2, 6, 7, 2, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, X, X, X, X},
|
||||||
|
{2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, X},
|
||||||
|
{1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, X},
|
||||||
|
{11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, X, X, X, X},
|
||||||
|
{8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, X},
|
||||||
|
{0, 9, 1, 11, 6, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, X, X, X, X},
|
||||||
|
{7, 11, 6, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{7, 6, 11, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{3, 0, 8, 11, 7, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 1, 9, 11, 7, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{8, 1, 9, 8, 3, 1, 11, 7, 6, X, X, X, X, X, X, X},
|
||||||
|
{10, 1, 2, 6, 11, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 10, 3, 0, 8, 6, 11, 7, X, X, X, X, X, X, X},
|
||||||
|
{2, 9, 0, 2, 10, 9, 6, 11, 7, X, X, X, X, X, X, X},
|
||||||
|
{6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, X, X, X, X},
|
||||||
|
{7, 2, 3, 6, 2, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{7, 0, 8, 7, 6, 0, 6, 2, 0, X, X, X, X, X, X, X},
|
||||||
|
{2, 7, 6, 2, 3, 7, 0, 1, 9, X, X, X, X, X, X, X},
|
||||||
|
{1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, X, X, X, X},
|
||||||
|
{10, 7, 6, 10, 1, 7, 1, 3, 7, X, X, X, X, X, X, X},
|
||||||
|
{10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, X, X, X, X},
|
||||||
|
{0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, X, X, X, X},
|
||||||
|
{7, 6, 10, 7, 10, 8, 8, 10, 9, X, X, X, X, X, X, X},
|
||||||
|
{6, 8, 4, 11, 8, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{3, 6, 11, 3, 0, 6, 0, 4, 6, X, X, X, X, X, X, X},
|
||||||
|
{8, 6, 11, 8, 4, 6, 9, 0, 1, X, X, X, X, X, X, X},
|
||||||
|
{9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, X, X, X, X},
|
||||||
|
{6, 8, 4, 6, 11, 8, 2, 10, 1, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, X, X, X, X},
|
||||||
|
{4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, X, X, X, X},
|
||||||
|
{10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, X},
|
||||||
|
{8, 2, 3, 8, 4, 2, 4, 6, 2, X, X, X, X, X, X, X},
|
||||||
|
{0, 4, 2, 4, 6, 2, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, X, X, X, X},
|
||||||
|
{1, 9, 4, 1, 4, 2, 2, 4, 6, X, X, X, X, X, X, X},
|
||||||
|
{8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, X, X, X, X},
|
||||||
|
{10, 1, 0, 10, 0, 6, 6, 0, 4, X, X, X, X, X, X, X},
|
||||||
|
{4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, X},
|
||||||
|
{10, 9, 4, 6, 10, 4, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 9, 5, 7, 6, 11, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 3, 4, 9, 5, 11, 7, 6, X, X, X, X, X, X, X},
|
||||||
|
{5, 0, 1, 5, 4, 0, 7, 6, 11, X, X, X, X, X, X, X},
|
||||||
|
{11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, X, X, X, X},
|
||||||
|
{9, 5, 4, 10, 1, 2, 7, 6, 11, X, X, X, X, X, X, X},
|
||||||
|
{6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, X, X, X, X},
|
||||||
|
{7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, X, X, X, X},
|
||||||
|
{3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, X},
|
||||||
|
{7, 2, 3, 7, 6, 2, 5, 4, 9, X, X, X, X, X, X, X},
|
||||||
|
{9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, X, X, X, X},
|
||||||
|
{3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, X, X, X, X},
|
||||||
|
{6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, X},
|
||||||
|
{9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, X, X, X, X},
|
||||||
|
{1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, X},
|
||||||
|
{4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, X},
|
||||||
|
{7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, X, X, X, X},
|
||||||
|
{6, 9, 5, 6, 11, 9, 11, 8, 9, X, X, X, X, X, X, X},
|
||||||
|
{3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, X, X, X, X},
|
||||||
|
{0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, X, X, X, X},
|
||||||
|
{6, 11, 3, 6, 3, 5, 5, 3, 1, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, X, X, X, X},
|
||||||
|
{0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, X},
|
||||||
|
{11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, X},
|
||||||
|
{6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, X, X, X, X},
|
||||||
|
{5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, X, X, X, X},
|
||||||
|
{9, 5, 6, 9, 6, 0, 0, 6, 2, X, X, X, X, X, X, X},
|
||||||
|
{1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, X},
|
||||||
|
{1, 5, 6, 2, 1, 6, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, X},
|
||||||
|
{10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, X, X, X, X},
|
||||||
|
{0, 3, 8, 5, 6, 10, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{10, 5, 6, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{11, 5, 10, 7, 5, 11, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{11, 5, 10, 11, 7, 5, 8, 3, 0, X, X, X, X, X, X, X},
|
||||||
|
{5, 11, 7, 5, 10, 11, 1, 9, 0, X, X, X, X, X, X, X},
|
||||||
|
{10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, X, X, X, X},
|
||||||
|
{11, 1, 2, 11, 7, 1, 7, 5, 1, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, X, X, X, X},
|
||||||
|
{9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, X, X, X, X},
|
||||||
|
{7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, X},
|
||||||
|
{2, 5, 10, 2, 3, 5, 3, 7, 5, X, X, X, X, X, X, X},
|
||||||
|
{8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, X, X, X, X},
|
||||||
|
{9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, X, X, X, X},
|
||||||
|
{9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, X},
|
||||||
|
{1, 3, 5, 3, 7, 5, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 7, 0, 7, 1, 1, 7, 5, X, X, X, X, X, X, X},
|
||||||
|
{9, 0, 3, 9, 3, 5, 5, 3, 7, X, X, X, X, X, X, X},
|
||||||
|
{9, 8, 7, 5, 9, 7, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{5, 8, 4, 5, 10, 8, 10, 11, 8, X, X, X, X, X, X, X},
|
||||||
|
{5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, X, X, X, X},
|
||||||
|
{0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, X, X, X, X},
|
||||||
|
{10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, X},
|
||||||
|
{2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, X, X, X, X},
|
||||||
|
{0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, X},
|
||||||
|
{0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, X},
|
||||||
|
{9, 4, 5, 2, 11, 3, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, X, X, X, X},
|
||||||
|
{5, 10, 2, 5, 2, 4, 4, 2, 0, X, X, X, X, X, X, X},
|
||||||
|
{3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, X},
|
||||||
|
{5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, X, X, X, X},
|
||||||
|
{8, 4, 5, 8, 5, 3, 3, 5, 1, X, X, X, X, X, X, X},
|
||||||
|
{0, 4, 5, 1, 0, 5, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, X, X, X, X},
|
||||||
|
{9, 4, 5, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 11, 7, 4, 9, 11, 9, 10, 11, X, X, X, X, X, X, X},
|
||||||
|
{0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, X, X, X, X},
|
||||||
|
{1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, X, X, X, X},
|
||||||
|
{3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, X},
|
||||||
|
{4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, X, X, X, X},
|
||||||
|
{9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, X},
|
||||||
|
{11, 7, 4, 11, 4, 2, 2, 4, 0, X, X, X, X, X, X, X},
|
||||||
|
{11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, X, X, X, X},
|
||||||
|
{2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, X, X, X, X},
|
||||||
|
{9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, X},
|
||||||
|
{3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, X},
|
||||||
|
{1, 10, 2, 8, 7, 4, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 9, 1, 4, 1, 7, 7, 1, 3, X, X, X, X, X, X, X},
|
||||||
|
{4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, X, X, X, X},
|
||||||
|
{4, 0, 3, 7, 4, 3, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{4, 8, 7, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{9, 10, 8, 10, 11, 8, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{3, 0, 9, 3, 9, 11, 11, 9, 10, X, X, X, X, X, X, X},
|
||||||
|
{0, 1, 10, 0, 10, 8, 8, 10, 11, X, X, X, X, X, X, X},
|
||||||
|
{3, 1, 10, 11, 3, 10, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 2, 11, 1, 11, 9, 9, 11, 8, X, X, X, X, X, X, X},
|
||||||
|
{3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, X, X, X, X},
|
||||||
|
{0, 2, 11, 8, 0, 11, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{3, 2, 11, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{2, 3, 8, 2, 8, 10, 10, 8, 9, X, X, X, X, X, X, X},
|
||||||
|
{9, 10, 2, 0, 9, 2, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, X, X, X, X},
|
||||||
|
{1, 10, 2, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{1, 3, 8, 9, 1, 8, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 9, 1, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{0, 3, 8, X, X, X, X, X, X, X, X, X, X, X, X, X},
|
||||||
|
{X, X, X, X, X, X, X, X, X, X, X, X, X, X, X, X}};
|
||||||
|
#undef X
|
||||||
|
|
||||||
|
// Table mapping each edge to the corresponding cube vertices offsets
|
||||||
|
const uint _EDGE_TO_VERTICES[12][2] = {
|
||||||
|
{0, 1},
|
||||||
|
{1, 5},
|
||||||
|
{4, 5},
|
||||||
|
{0, 4},
|
||||||
|
{2, 3},
|
||||||
|
{3, 7},
|
||||||
|
{6, 7},
|
||||||
|
{2, 6},
|
||||||
|
{0, 2},
|
||||||
|
{1, 3},
|
||||||
|
{5, 7},
|
||||||
|
{4, 6},
|
||||||
|
};
|
||||||
|
|
||||||
|
// Table mapping from 0-7 to v0-v7 in cube.vertices
|
||||||
|
const int _INDEX_TABLE[8] = {0, 1, 5, 4, 2, 3, 7, 6};
|
||||||
@ -230,18 +230,19 @@ def marching_cubes_naive(
|
|||||||
|
|
||||||
|
|
||||||
########################################
|
########################################
|
||||||
# Marching Cubes Implementation in C++
|
# Marching Cubes Implementation in C++/Cuda
|
||||||
########################################
|
########################################
|
||||||
class _marching_cubes(Function):
|
class _marching_cubes(Function):
|
||||||
"""
|
"""
|
||||||
Torch Function wrapper for marching_cubes C++ implementation
|
Torch Function wrapper for marching_cubes implementation.
|
||||||
Backward is not supported.
|
This function is not differentiable. An autograd wrapper is used
|
||||||
|
to ensure an error if user tries to get gradients.
|
||||||
"""
|
"""
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def forward(ctx, vol, isolevel):
|
def forward(ctx, vol, isolevel):
|
||||||
verts, faces = _C.marching_cubes(vol, isolevel)
|
verts, faces, ids = _C.marching_cubes(vol, isolevel)
|
||||||
return verts, faces
|
return verts, faces, ids
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def backward(ctx, grad_verts, grad_faces):
|
def backward(ctx, grad_verts, grad_faces):
|
||||||
@ -268,7 +269,6 @@ def marching_cubes(
|
|||||||
the range [-1, 1] x [-1, 1] x [-1, 1]. If False they will be in the range
|
the range [-1, 1] x [-1, 1] x [-1, 1]. If False they will be in the range
|
||||||
[0, W-1] x [0, H-1] x [0, D-1]
|
[0, W-1] x [0, H-1] x [0, D-1]
|
||||||
|
|
||||||
|
|
||||||
Returns:
|
Returns:
|
||||||
verts: [{V_0}, {V_1}, ...] List of N sets of vertices of shape (|V_i|, 3) in FloatTensor
|
verts: [{V_0}, {V_1}, ...] List of N sets of vertices of shape (|V_i|, 3) in FloatTensor
|
||||||
faces: [{F_0}, {F_1}, ...] List of N sets of faces of shape (|F_i|, 3) in LongTensors
|
faces: [{F_0}, {F_1}, ...] List of N sets of faces of shape (|F_i|, 3) in LongTensors
|
||||||
@ -279,7 +279,7 @@ def marching_cubes(
|
|||||||
vol = vol_batch[i]
|
vol = vol_batch[i]
|
||||||
thresh = ((vol.max() + vol.min()) / 2).item() if isolevel is None else isolevel
|
thresh = ((vol.max() + vol.min()) / 2).item() if isolevel is None else isolevel
|
||||||
# pyre-fixme[16]: `_marching_cubes` has no attribute `apply`.
|
# pyre-fixme[16]: `_marching_cubes` has no attribute `apply`.
|
||||||
verts, faces = _marching_cubes.apply(vol, thresh)
|
verts, faces, ids = _marching_cubes.apply(vol, thresh)
|
||||||
if len(faces) > 0 and len(verts) > 0:
|
if len(faces) > 0 and len(verts) > 0:
|
||||||
# Convert from world coordinates ([0, D-1], [0, H-1], [0, W-1]) to
|
# Convert from world coordinates ([0, D-1], [0, H-1], [0, W-1]) to
|
||||||
# local coordinates in the range [-1, 1]
|
# local coordinates in the range [-1, 1]
|
||||||
@ -289,6 +289,13 @@ def marching_cubes(
|
|||||||
.scale((vol.new_tensor([W, H, D])[None] - 1) * 0.5)
|
.scale((vol.new_tensor([W, H, D])[None] - 1) * 0.5)
|
||||||
.inverse()
|
.inverse()
|
||||||
).transform_points(verts[None])[0]
|
).transform_points(verts[None])[0]
|
||||||
|
# deduplication for cuda
|
||||||
|
if vol.is_cuda:
|
||||||
|
unique_ids, inverse_idx = torch.unique(ids, return_inverse=True)
|
||||||
|
verts_ = verts.new_zeros(unique_ids.shape[0], 3)
|
||||||
|
verts_[inverse_idx] = verts
|
||||||
|
verts = verts_
|
||||||
|
faces = inverse_idx[faces]
|
||||||
batched_verts.append(verts)
|
batched_verts.append(verts)
|
||||||
batched_faces.append(faces)
|
batched_faces.append(faces)
|
||||||
else:
|
else:
|
||||||
|
|||||||
@ -14,10 +14,11 @@ def bm_marching_cubes() -> None:
|
|||||||
case_grid = {
|
case_grid = {
|
||||||
"algo_type": [
|
"algo_type": [
|
||||||
"naive",
|
"naive",
|
||||||
"cextension",
|
"extension",
|
||||||
],
|
],
|
||||||
"batch_size": [1, 5, 20],
|
"batch_size": [1, 2],
|
||||||
"V": [5, 10, 20],
|
"V": [5, 10, 20, 100, 512],
|
||||||
|
"device": ["cpu", "cuda:0"],
|
||||||
}
|
}
|
||||||
test_cases = itertools.product(*case_grid.values())
|
test_cases = itertools.product(*case_grid.values())
|
||||||
kwargs_list = [dict(zip(case_grid.keys(), case)) for case in test_cases]
|
kwargs_list = [dict(zip(case_grid.keys(), case)) for case in test_cases]
|
||||||
|
|||||||
@ -37,7 +37,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts, expected_verts)
|
self.assertClose(verts, expected_verts)
|
||||||
self.assertClose(faces, expected_faces)
|
self.assertClose(faces, expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts, expected_verts)
|
self.assertClose(verts, expected_verts)
|
||||||
self.assertClose(faces, expected_faces)
|
self.assertClose(faces, expected_faces)
|
||||||
@ -46,7 +45,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
volume_data = torch.ones(1, 2, 2, 2) # (B, W, H, D)
|
volume_data = torch.ones(1, 2, 2, 2) # (B, W, H, D)
|
||||||
volume_data[0, 0, 0, 0] = 0
|
volume_data[0, 0, 0, 0] = 0
|
||||||
volume_data = volume_data.permute(0, 3, 2, 1) # (B, D, H, W)
|
volume_data = volume_data.permute(0, 3, 2, 1) # (B, D, H, W)
|
||||||
verts, faces = marching_cubes_naive(volume_data, return_local_coords=False)
|
|
||||||
expected_verts = torch.tensor(
|
expected_verts = torch.tensor(
|
||||||
[
|
[
|
||||||
[0.5, 0, 0],
|
[0.5, 0, 0],
|
||||||
@ -54,22 +52,21 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
[0, 0, 0.5],
|
[0, 0, 0.5],
|
||||||
]
|
]
|
||||||
)
|
)
|
||||||
|
|
||||||
expected_faces = torch.tensor([[0, 1, 2]])
|
expected_faces = torch.tensor([[0, 1, 2]])
|
||||||
|
|
||||||
|
verts, faces = marching_cubes_naive(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
verts, faces = marching_cubes_naive(volume_data, return_local_coords=True)
|
|
||||||
expected_verts = convert_to_local(expected_verts, 2)
|
expected_verts = convert_to_local(expected_verts, 2)
|
||||||
|
verts, faces = marching_cubes_naive(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -92,7 +89,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -102,7 +98,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -128,7 +123,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -138,7 +132,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -164,7 +157,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -174,7 +166,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -198,7 +189,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -208,7 +198,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -239,7 +228,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -249,7 +237,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -285,7 +272,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -295,7 +281,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -324,7 +309,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -334,7 +318,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -363,7 +346,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -373,7 +355,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -401,7 +382,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -411,7 +391,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -441,7 +420,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -451,7 +429,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -483,7 +460,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -493,7 +469,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -525,7 +500,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -535,7 +509,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -565,7 +538,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -575,7 +547,6 @@ class TestCubeConfiguration(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -613,7 +584,6 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -624,7 +594,6 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -641,8 +610,6 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
volume_data[0, 2, 2, 1] = 1
|
volume_data[0, 2, 2, 1] = 1
|
||||||
volume_data[0, 2, 2, 2] = 1
|
volume_data[0, 2, 2, 2] = 1
|
||||||
volume_data = volume_data.permute(0, 3, 2, 1) # (B, D, H, W)
|
volume_data = volume_data.permute(0, 3, 2, 1) # (B, D, H, W)
|
||||||
verts, faces = marching_cubes_naive(volume_data, 0.9, return_local_coords=False)
|
|
||||||
|
|
||||||
expected_verts = torch.tensor(
|
expected_verts = torch.tensor(
|
||||||
[
|
[
|
||||||
[1.0000, 0.9000, 1.0000],
|
[1.0000, 0.9000, 1.0000],
|
||||||
@ -720,11 +687,13 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
[17, 23, 19],
|
[17, 23, 19],
|
||||||
]
|
]
|
||||||
)
|
)
|
||||||
|
verts, faces = marching_cubes_naive(volume_data, 0.9, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, 0.9, return_local_coords=False)
|
verts, faces = marching_cubes(volume_data, 0.9, return_local_coords=False)
|
||||||
|
verts2, faces2 = marching_cubes(volume_data, 0.9, return_local_coords=False)
|
||||||
|
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
@ -736,7 +705,6 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
# Check all values are in the range [-1, 1]
|
# Check all values are in the range [-1, 1]
|
||||||
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume_data, 0.9, return_local_coords=True)
|
verts, faces = marching_cubes(volume_data, 0.9, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -803,12 +771,14 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
|
verts, faces = marching_cubes(volume_data, 1, return_local_coords=False)
|
||||||
|
self.assertClose(verts[0], expected_verts)
|
||||||
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
verts, faces = marching_cubes_naive(volume_data, 1, return_local_coords=True)
|
verts, faces = marching_cubes_naive(volume_data, 1, return_local_coords=True)
|
||||||
expected_verts = convert_to_local(expected_verts, 5)
|
expected_verts = convert_to_local(expected_verts, 5)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# Check all values are in the range [-1, 1]
|
|
||||||
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
||||||
|
|
||||||
def test_sphere(self):
|
def test_sphere(self):
|
||||||
@ -837,7 +807,6 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume, 64, return_local_coords=False)
|
verts, faces = marching_cubes(volume, 64, return_local_coords=False)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -853,7 +822,6 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
# Check all values are in the range [-1, 1]
|
# Check all values are in the range [-1, 1]
|
||||||
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
self.assertTrue(verts[0].ge(-1).all() and verts[0].le(1).all())
|
||||||
|
|
||||||
# test C++ implementation
|
|
||||||
verts, faces = marching_cubes(volume, 64, return_local_coords=True)
|
verts, faces = marching_cubes(volume, 64, return_local_coords=True)
|
||||||
self.assertClose(verts[0], expected_verts)
|
self.assertClose(verts[0], expected_verts)
|
||||||
self.assertClose(faces[0], expected_faces)
|
self.assertClose(faces[0], expected_faces)
|
||||||
@ -964,7 +932,7 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(surf, surf_c)
|
self.assertClose(surf, surf_c)
|
||||||
|
|
||||||
def test_ball_example(self):
|
def test_ball_example(self):
|
||||||
N = 15
|
N = 30
|
||||||
axis_tensor = torch.arange(0, N)
|
axis_tensor = torch.arange(0, N)
|
||||||
X, Y, Z = torch.meshgrid(axis_tensor, axis_tensor, axis_tensor, indexing="ij")
|
X, Y, Z = torch.meshgrid(axis_tensor, axis_tensor, axis_tensor, indexing="ij")
|
||||||
u = (X - 15) ** 2 + (Y - 15) ** 2 + (Z - 15) ** 2 - 8**2
|
u = (X - 15) ** 2 + (Y - 15) ** 2 + (Z - 15) ** 2 - 8**2
|
||||||
@ -975,14 +943,14 @@ class TestMarchingCubes(TestCaseMixin, unittest.TestCase):
|
|||||||
self.assertClose(faces[0], faces2[0])
|
self.assertClose(faces[0], faces2[0])
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def marching_cubes_with_init(algo_type: str, batch_size: int, V: int):
|
def marching_cubes_with_init(algo_type: str, batch_size: int, V: int, device: str):
|
||||||
device = torch.device("cuda:0")
|
device = torch.device(device)
|
||||||
volume_data = torch.rand(
|
volume_data = torch.rand(
|
||||||
(batch_size, V, V, V), dtype=torch.float32, device=device
|
(batch_size, V, V, V), dtype=torch.float32, device=device
|
||||||
)
|
)
|
||||||
algo_table = {
|
algo_table = {
|
||||||
"naive": marching_cubes_naive,
|
"naive": marching_cubes_naive,
|
||||||
"cextension": marching_cubes,
|
"extension": marching_cubes,
|
||||||
}
|
}
|
||||||
|
|
||||||
def convert():
|
def convert():
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user