1442 lines
54 KiB
C++
1442 lines
54 KiB
C++
#ifndef g3eigen
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#define g3eigen
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#include "../../eigen/Eigen/Dense"
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#include "../timing_decorator.hpp"
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#include "../output/frame.hpp"
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#include "camera.hpp"
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#include <vector>
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#include <array>
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#include <memory>
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#include <algorithm>
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#include <limits>
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#include <cmath>
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#include <functional>
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#include <iostream>
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#include <iomanip>
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#include <fstream>
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#include <mutex>
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#ifdef SSE
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#include <immintrin.h>
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#endif
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constexpr int Dim = 3;
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template<typename T>
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class Octree {
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public:
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using PointType = Eigen::Matrix<float, Dim, 1>;
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using BoundingBox = std::pair<PointType, PointType>;
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enum class Shape {
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SPHERE,
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CUBE
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};
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struct NodeData {
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T data;
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PointType position;
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int objectId;
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bool active;
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bool visible;
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float size;
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Eigen::Vector3f color;
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bool light;
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float emittance;
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float refraction;
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float reflection;
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Shape shape;
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NodeData(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size = 0.01f,
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bool active = true, int objectId = -1, bool light = false, float emittance = 0.0f,
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float refraction = 0.0f, float reflection = 0.0f, Shape shape = Shape::SPHERE)
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: data(data), position(pos), objectId(objectId), active(active), visible(visible),
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color(color), size(size), light(light), emittance(emittance), refraction(refraction),
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reflection(reflection), shape(shape) {}
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NodeData() : objectId(-1), active(false), visible(false), size(0.0f), light(false),
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emittance(0.0f), refraction(0.0f), reflection(0.0f), shape(Shape::SPHERE) {}
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// Helper method to get half-size for cube
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PointType getHalfSize() const {
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return PointType(size * 0.5f, size * 0.5f, size * 0.5f);
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}
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// Helper method to get bounding box for cube
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BoundingBox getCubeBounds() const {
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PointType halfSize = getHalfSize();
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return {position - halfSize, position + halfSize};
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}
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};
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struct OctreeNode {
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BoundingBox bounds;
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std::vector<std::shared_ptr<NodeData>> points;
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std::array<std::unique_ptr<OctreeNode>, 8> children;
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PointType center;
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float nodeSize;
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bool isLeaf;
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mutable std::shared_ptr<NodeData> lodData;
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mutable std::mutex lodMutex;
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OctreeNode(const PointType& min, const PointType& max) : bounds(min,max), isLeaf(true), lodData(nullptr) {
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for (std::unique_ptr<OctreeNode>& child : children) {
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child = nullptr;
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}
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center = (bounds.first + bounds.second) * 0.5;
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nodeSize = (bounds.second - bounds.first).norm();
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}
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bool contains(const PointType& point) const {
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for (int i = 0; i < Dim; ++i) {
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if (point[i] < bounds.first[i] || point[i] > bounds.second[i]) {
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return false;
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}
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}
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return true;
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}
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bool isEmpty() const {
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return points.empty();
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}
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};
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private:
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std::unique_ptr<OctreeNode> root_;
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size_t maxDepth;
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size_t size;
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size_t maxPointsPerNode;
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Eigen::Vector3f skylight_ = {0.1f, 0.1f, 0.1f};
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Eigen::Vector3f backgroundColor_ = {0.53f, 0.81f, 0.92f};
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float lodFalloffRate_ = 0.1f; // Lower = better, higher = worse. 0-1
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float lodMinDistance_ = 100.0f;
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uint8_t getOctant(const PointType& point, const PointType& center) const {
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int octant = 0;
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for (int i = 0; i < Dim; ++i) {
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if (point[i] >= center[i]) octant |= (1 << i);
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}
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return octant;
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}
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BoundingBox createChildBounds(const OctreeNode* node, uint8_t octant) const {
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PointType childMin, childMax;
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PointType center = node->center;
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for (int i = 0; i < Dim; ++i) {
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bool high = (octant >> i) & 1;
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childMin[i] = high ? center[i] : node->bounds.first[i];
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childMax[i] = high ? node->bounds.second[i] : center[i];
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}
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return {childMin, childMax};
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}
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void splitNode(OctreeNode* node, int depth) {
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if (depth >= maxDepth) return;
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for (int i = 0; i < 8; ++i) {
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BoundingBox childBounds = createChildBounds(node, i);
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node->children[i] = std::make_unique<OctreeNode>(childBounds.first, childBounds.second);
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}
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for (const auto& pointData : node->points) {
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int octant = getOctant(pointData->position, node->center);
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node->children[octant]->points.emplace_back(pointData);
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}
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node->points.clear();
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node->isLeaf = false;
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for (int i = 0; i < 8; ++i) {
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if (node->children[i]->points.size() > maxPointsPerNode) {
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splitNode(node->children[i].get(), depth + 1);
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}
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}
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}
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bool insertRecursive(OctreeNode* node, const std::shared_ptr<NodeData>& pointData, int depth) {
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{
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std::lock_guard<std::mutex> lock(node->lodMutex);
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node->lodData = nullptr;
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}
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if (!node->contains(pointData->position)) return false;
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if (node->isLeaf) {
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node->points.emplace_back(pointData);
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if (node->points.size() > maxPointsPerNode && depth < maxDepth) {
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splitNode(node, depth);
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}
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return true;
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} else {
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int octant = getOctant(pointData->position, node->center);
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if (node->children[octant]) {
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return insertRecursive(node->children[octant].get(), pointData, depth + 1);
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}
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}
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return false;
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}
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void ensureLOD(const OctreeNode* node) const {
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std::lock_guard<std::mutex> lock(node->lodMutex);
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if (node->lodData != nullptr) return;
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PointType avgPos = PointType::Zero();
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Eigen::Vector3f avgColor = Eigen::Vector3f::Zero();
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float avgEmittance = 0.0f;
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float avgRefl = 0.0f;
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float avgRefr = 0.0f;
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bool anyLight = false;
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int count = 0;
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if (node->isLeaf) {
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if (node->points.size() == 1) {
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node->lodData = node->points[0];
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return;
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} else if (node->points.size() == 0) {
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return;
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}
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}
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auto accumulate = [&](const std::shared_ptr<NodeData>& item) {
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if (!item || !item->active || !item->visible) return;
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avgPos += item->position;
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avgColor += item->color;
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avgEmittance += item->emittance;
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avgRefl += item->reflection;
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avgRefr += item->refraction;
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if (item->light) anyLight = true;
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count++;
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};
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for (const auto& child : node->children) {
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if (child) {
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ensureLOD(child.get());
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if (child->lodData) {
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accumulate(child->lodData);
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} else if (child->isLeaf && !child->points.empty()) {
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for(const auto& pt : child->points) accumulate(pt);
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}
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}
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}
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if (count > 0) {
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float invCount = 1.0f / count;
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auto lod = std::make_shared<NodeData>();
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lod->position = avgPos * invCount;
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lod->color = avgColor * invCount;
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PointType nodeDims = node->bounds.second - node->bounds.first;
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lod->size = nodeDims.maxCoeff();
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lod->emittance = avgEmittance * invCount;
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lod->reflection = avgRefl * invCount;
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lod->refraction = avgRefr * invCount;
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lod->light = anyLight;
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lod->active = true;
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lod->visible = true;
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lod->shape = Shape::CUBE;
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lod->objectId = -1;
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node->lodData = lod;
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}
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}
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template<typename V>
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void writeVal(std::ofstream& out, const V& val) const {
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out.write(reinterpret_cast<const char*>(&val), sizeof(V));
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}
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template<typename V>
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void readVal(std::ifstream& in, V& val) {
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in.read(reinterpret_cast<char*>(&val), sizeof(V));
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}
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void writeVec3(std::ofstream& out, const Eigen::Vector3f& vec) const {
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writeVal(out, vec.x());
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writeVal(out, vec.y());
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writeVal(out, vec.z());
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}
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void readVec3(std::ifstream& in, Eigen::Vector3f& vec) {
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float x, y, z;
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readVal(in, x); readVal(in, y); readVal(in, z);
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vec = Eigen::Vector3f(x, y, z);
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}
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void serializeNode(std::ofstream& out, const OctreeNode* node) const {
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writeVal(out, node->isLeaf);
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if (node->isLeaf) {
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size_t pointCount = node->points.size();
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writeVal(out, pointCount);
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for (const auto& pt : node->points) {
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// Write raw data T (Must be POD)
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writeVal(out, pt->data);
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// Write properties
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writeVec3(out, pt->position);
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writeVal(out, pt->objectId);
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writeVal(out, pt->active);
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writeVal(out, pt->visible);
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writeVal(out, pt->size);
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writeVec3(out, pt->color);
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writeVal(out, pt->light);
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writeVal(out, pt->emittance);
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writeVal(out, pt->refraction);
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writeVal(out, pt->reflection);
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writeVal(out, static_cast<int>(pt->shape));
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}
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} else {
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// Write bitmask of active children
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uint8_t childMask = 0;
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for (int i = 0; i < 8; ++i) {
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if (node->children[i] != nullptr) {
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childMask |= (1 << i);
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}
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}
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writeVal(out, childMask);
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// Recursively write only existing children
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for (int i = 0; i < 8; ++i) {
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if (node->children[i]) {
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serializeNode(out, node->children[i].get());
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}
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}
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}
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}
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void deserializeNode(std::ifstream& in, OctreeNode* node) {
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bool isLeaf;
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readVal(in, isLeaf);
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node->isLeaf = isLeaf;
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node->lodData = nullptr;
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if (isLeaf) {
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size_t pointCount;
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readVal(in, pointCount);
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node->points.reserve(pointCount);
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for (size_t i = 0; i < pointCount; ++i) {
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auto pt = std::make_shared<NodeData>();
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readVal(in, pt->data);
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readVec3(in, pt->position);
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readVal(in, pt->objectId);
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readVal(in, pt->active);
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readVal(in, pt->visible);
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readVal(in, pt->size);
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readVec3(in, pt->color);
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readVal(in, pt->light);
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readVal(in, pt->emittance);
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readVal(in, pt->refraction);
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readVal(in, pt->reflection);
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int shapeInt;
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readVal(in, shapeInt);
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pt->shape = static_cast<Shape>(shapeInt);
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node->points.push_back(pt);
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}
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} else {
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uint8_t childMask;
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readVal(in, childMask);
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PointType center = node->center;
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for (int i = 0; i < 8; ++i) {
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if ((childMask >> i) & 1) {
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// Reconstruct bounds for child
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PointType childMin, childMax;
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for (int d = 0; d < Dim; ++d) {
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bool high = (i >> d) & 1;
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childMin[d] = high ? center[d] : node->bounds.first[d];
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childMax[d] = high ? node->bounds.second[d] : center[d];
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}
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node->children[i] = std::make_unique<OctreeNode>(childMin, childMax);
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deserializeNode(in, node->children[i].get());
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} else {
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node->children[i] = nullptr;
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}
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}
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}
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}
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void bitonic_sort_8(std::array<std::pair<int, float>, 8>& arr) const noexcept {
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auto a0 = arr[0], a1 = arr[1], a2 = arr[2], a3 = arr[3];
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auto a4 = arr[4], a5 = arr[5], a6 = arr[6], a7 = arr[7];
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if (a0.second > a1.second) std::swap(a0, a1);
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if (a2.second < a3.second) std::swap(a2, a3);
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if (a4.second > a5.second) std::swap(a4, a5);
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if (a6.second < a7.second) std::swap(a6, a7);
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if (a0.second > a2.second) std::swap(a0, a2);
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if (a1.second > a3.second) std::swap(a1, a3);
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if (a0.second > a1.second) std::swap(a0, a1);
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if (a2.second > a3.second) std::swap(a2, a3);
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if (a4.second < a6.second) std::swap(a4, a6);
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if (a5.second < a7.second) std::swap(a5, a7);
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if (a4.second < a5.second) std::swap(a4, a5);
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if (a6.second < a7.second) std::swap(a6, a7);
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if (a0.second > a4.second) std::swap(a0, a4);
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if (a1.second > a5.second) std::swap(a1, a5);
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if (a2.second > a6.second) std::swap(a2, a6);
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if (a3.second > a7.second) std::swap(a3, a7);
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if (a0.second > a2.second) std::swap(a0, a2);
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if (a1.second > a3.second) std::swap(a1, a3);
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if (a4.second > a6.second) std::swap(a4, a6);
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if (a5.second > a7.second) std::swap(a5, a7);
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if (a0.second > a1.second) std::swap(a0, a1);
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if (a2.second > a3.second) std::swap(a2, a3);
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if (a4.second > a5.second) std::swap(a4, a5);
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if (a6.second > a7.second) std::swap(a6, a7);
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arr[0] = a0; arr[1] = a1; arr[2] = a2; arr[3] = a3;
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arr[4] = a4; arr[5] = a5; arr[6] = a6; arr[7] = a7;
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}
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bool rayBoxIntersect(const PointType& origin, const PointType& dir, const BoundingBox& box,
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float& tMin, float& tMax) const {
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tMin = 0.0f;
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tMax = std::numeric_limits<float>::max();
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for (int i = 0; i < Dim; ++i) {
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if (std::abs(dir[i]) < std::numeric_limits<float>::epsilon()) {
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if (origin[i] < box.first[i] || origin[i] > box.second[i]) return false;
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} else {
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float invD = 1.f / dir[i];
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float t1 = (box.first[i] - origin[i]) * invD;
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float t2 = (box.second[i] - origin[i]) * invD;
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if (t1 > t2) std::swap(t1, t2);
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tMin = std::max(tMin, t1);
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tMax = std::min(tMax, t2);
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if (tMin > tMax) return false;
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}
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}
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return true;
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}
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bool raySphereIntersect(const PointType& origin, const PointType& dir, const PointType& center,
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float radius, float& t) const {
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PointType oc = origin - center;
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float a = dir.dot(dir);
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float b = 2.0f * oc.dot(dir);
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float c = oc.dot(oc) - radius * radius;
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float discriminant = b * b - 4 * a * c;
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if (discriminant < 0) return false;
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float sqrtDisc = sqrt(discriminant);
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float t0 = (-b - sqrtDisc) / (2.0f * a);
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float t1 = (-b + sqrtDisc) / (2.0f * a);
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t = t0;
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if (t0 < 0.001f) {
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t = t1;
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if (t1 < 0.001f) return false;
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}
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return true;
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}
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// Ray-cube intersection
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bool rayCubeIntersect(const PointType& origin, const PointType& dir, const NodeData* cube,
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float& t, PointType& normal, PointType& hitPoint) const {
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// Use the cube's bounds for intersection
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BoundingBox bounds = cube->getCubeBounds();
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float tMin, tMax;
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if (!rayBoxIntersect(origin, dir, bounds, tMin, tMax)) {
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return false;
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}
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if (tMin < 0.001f) {
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if (tMax < 0.001f) return false;
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t = tMax;
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} else {
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t = tMin;
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}
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hitPoint = origin + dir * t;
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const float epsilon = 0.0001f;
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normal = PointType::Zero();
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for (int i = 0; i < Dim; ++i) {
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if (std::abs(hitPoint[i] - bounds.first[i]) < epsilon) {
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normal[i] = -1.0f;
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} else if (std::abs(hitPoint[i] - bounds.second[i]) < epsilon) {
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normal[i] = 1.0f;
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}
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}
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return true;
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}
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|
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float randomValueNormalDistribution(uint32_t& state) {
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std::mt19937 gen(state);
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state = gen();
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std::uniform_real_distribution<float> dist(0.0f, 1.0f);
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float θ = 2 * M_PI * dist(gen);
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float ρ = sqrt(-2 * log(dist(gen)));
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return ρ * cos(θ);
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}
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|
||
PointType randomInHemisphere(const PointType& normal, uint32_t& state) {
|
||
float x = randomValueNormalDistribution(state);
|
||
float y = randomValueNormalDistribution(state);
|
||
float z = randomValueNormalDistribution(state);
|
||
PointType randomDir(x, y, z);
|
||
randomDir.normalize();
|
||
|
||
if (randomDir.dot(normal) < 0.0f) {
|
||
randomDir = -randomDir;
|
||
}
|
||
return randomDir;
|
||
}
|
||
|
||
float rgbToGrayscale(const Eigen::Vector3f& color) const {
|
||
return 0.2126f * color[0] + 0.7152f * color[1] + 0.0722f * color[2];
|
||
}
|
||
|
||
void collectNodesByObjectId(OctreeNode* node, int id, std::vector<std::shared_ptr<NodeData>>& results) const {
|
||
if (!node) return;
|
||
|
||
if (node->isLeaf) {
|
||
for (const auto& pt : node->points) {
|
||
if (pt->active && (id == -1 || pt->objectId == id)) {
|
||
results.push_back(pt);
|
||
}
|
||
}
|
||
} else {
|
||
for (const auto& child : node->children) {
|
||
if (child) {
|
||
collectNodesByObjectId(child.get(), id, results);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
public:
|
||
Octree(const PointType& minBound, const PointType& maxBound, size_t maxPointsPerNode=16, size_t maxDepth = 16) :
|
||
root_(std::make_unique<OctreeNode>(minBound, maxBound)), maxPointsPerNode(maxPointsPerNode),
|
||
maxDepth(maxDepth), size(0) {}
|
||
|
||
Octree() : root_(nullptr), maxPointsPerNode(16), maxDepth(16), size(0) {}
|
||
|
||
void setSkylight(const Eigen::Vector3f& skylight) {
|
||
skylight_ = skylight;
|
||
}
|
||
|
||
Eigen::Vector3f getSkylight() const {
|
||
return skylight_;
|
||
}
|
||
|
||
void setBackgroundColor(const Eigen::Vector3f& color) {
|
||
backgroundColor_ = color;
|
||
}
|
||
|
||
Eigen::Vector3f getBackgroundColor() const {
|
||
return backgroundColor_;
|
||
}
|
||
|
||
void setLODFalloff(float rate) { lodFalloffRate_ = rate; }
|
||
void setLODMinDistance(float dist) { lodMinDistance_ = dist; }
|
||
|
||
void generateLODs() {
|
||
if (!root_) return;
|
||
ensureLOD(root_.get());
|
||
}
|
||
|
||
bool set(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size, bool active,
|
||
int objectId = -1, bool light = false, float emittance = 0.0f, float refraction = 0.0f,
|
||
float reflection = 0.0f, Shape shape = Shape::SPHERE) {
|
||
auto pointData = std::make_shared<NodeData>(data, pos, visible, color, size, active, objectId,
|
||
light, emittance, refraction, reflection, shape);
|
||
if (insertRecursive(root_.get(), pointData, 0)) {
|
||
this->size++;
|
||
return true;
|
||
}
|
||
return false;
|
||
}
|
||
|
||
bool save(const std::string& filename) const {
|
||
if (!root_) return false;
|
||
std::ofstream out(filename, std::ios::binary);
|
||
if (!out) return false;
|
||
|
||
uint32_t magic = 0x79676733;
|
||
writeVal(out, magic);
|
||
writeVal(out, maxDepth);
|
||
writeVal(out, maxPointsPerNode);
|
||
writeVal(out, size);
|
||
|
||
// Save global settings
|
||
writeVec3(out, skylight_);
|
||
writeVec3(out, backgroundColor_);
|
||
|
||
writeVec3(out, root_->bounds.first);
|
||
writeVec3(out, root_->bounds.second);
|
||
|
||
serializeNode(out, root_.get());
|
||
|
||
out.close();
|
||
std::cout << "successfully saved grid to " << filename << std::endl;
|
||
return true;
|
||
}
|
||
|
||
bool load(const std::string& filename) {
|
||
std::ifstream in(filename, std::ios::binary);
|
||
if (!in) return false;
|
||
|
||
uint32_t magic;
|
||
readVal(in, magic);
|
||
if (magic != 0x79676733) {
|
||
std::cerr << "Invalid Octree file format" << std::endl;
|
||
return false;
|
||
}
|
||
|
||
readVal(in, maxDepth);
|
||
readVal(in, maxPointsPerNode);
|
||
readVal(in, size);
|
||
|
||
// Load global settings
|
||
readVec3(in, skylight_);
|
||
readVec3(in, backgroundColor_);
|
||
|
||
PointType minBound, maxBound;
|
||
readVec3(in, minBound);
|
||
readVec3(in, maxBound);
|
||
|
||
root_ = std::make_unique<OctreeNode>(minBound, maxBound);
|
||
deserializeNode(in, root_.get());
|
||
|
||
in.close();
|
||
std::cout << "successfully loaded grid from " << filename << std::endl;
|
||
return true;
|
||
}
|
||
|
||
std::shared_ptr<NodeData> find(const PointType& pos, float tolerance = 0.0001f) {
|
||
std::function<std::shared_ptr<NodeData>(OctreeNode*)> searchNode = [&](OctreeNode* node) -> std::shared_ptr<NodeData> {
|
||
if (!node->contains(pos)) return nullptr;
|
||
|
||
if (node->isLeaf) {
|
||
for (const auto& pointData : node->points) {
|
||
if (!pointData->active) continue;
|
||
|
||
float distSq = (pointData->position - pos).squaredNorm();
|
||
if (distSq <= tolerance * tolerance) {
|
||
return pointData;
|
||
}
|
||
}
|
||
return nullptr;
|
||
} else {
|
||
int octant = getOctant(pos, node->center);
|
||
if (node->children[octant]) {
|
||
return searchNode(node->children[octant].get());
|
||
}
|
||
}
|
||
return nullptr;
|
||
};
|
||
|
||
return searchNode(root_.get());
|
||
}
|
||
|
||
bool remove(const PointType& pos, float tolerance = 0.0001f) {
|
||
bool found = false;
|
||
std::function<bool(OctreeNode*)> removeNode = [&](OctreeNode* node) -> bool {
|
||
{
|
||
std::lock_guard<std::mutex> lock(node->lodMutex);
|
||
node->lodData = nullptr;
|
||
}
|
||
|
||
if (!node->contains(pos)) return false;
|
||
|
||
if (node->isLeaf) {
|
||
auto it = std::remove_if(node->points.begin(), node->points.end(),
|
||
[&](const std::shared_ptr<NodeData>& pointData) {
|
||
if (!pointData->active) return false;
|
||
|
||
float distSq = (pointData->position - pos).squaredNorm();
|
||
if (distSq <= tolerance * tolerance) {
|
||
found = true;
|
||
return true;
|
||
}
|
||
return false;
|
||
});
|
||
|
||
if (found) {
|
||
node->points.erase(it, node->points.end());
|
||
size--;
|
||
return true;
|
||
}
|
||
return false;
|
||
} else {
|
||
int octant = getOctant(pos, node->center);
|
||
if (node->children[octant]) {
|
||
return removeNode(node->children[octant].get());
|
||
}
|
||
}
|
||
return false;
|
||
};
|
||
|
||
return removeNode(root_.get());
|
||
}
|
||
|
||
std::vector<std::shared_ptr<NodeData>> findInRadius(const PointType& center, float radius) const {
|
||
std::vector<std::shared_ptr<NodeData>> results;
|
||
if (!root_) return results;
|
||
|
||
float radiusSq = radius * radius;
|
||
|
||
std::function<void(OctreeNode*)> searchNode = [&](OctreeNode* node) {
|
||
// Check if node's bounding box intersects with search sphere
|
||
PointType closestPoint;
|
||
for (int i = 0; i < Dim; ++i) {
|
||
closestPoint[i] = std::max(node->bounds.first[i],
|
||
std::min(center[i], node->bounds.second[i]));
|
||
}
|
||
|
||
float distSq = (closestPoint - center).squaredNorm();
|
||
if (distSq > radiusSq) {
|
||
return;
|
||
}
|
||
|
||
if (node->isLeaf) {
|
||
for (const auto& pointData : node->points) {
|
||
if (!pointData->active) continue;
|
||
|
||
float pointDistSq = (pointData->position - center).squaredNorm();
|
||
if (pointDistSq <= radiusSq) {
|
||
results.emplace_back(pointData);
|
||
}
|
||
}
|
||
} else {
|
||
for (const auto& child : node->children) {
|
||
if (child) {
|
||
searchNode(child.get());
|
||
}
|
||
}
|
||
}
|
||
};
|
||
|
||
searchNode(root_.get());
|
||
return results;
|
||
}
|
||
|
||
bool update(const PointType& oldPos, const PointType& newPos, const T& newData = T(), bool newVisible = true,
|
||
Eigen::Vector3f newColor = Eigen::Vector3f(1.0f, 1.0f, 1.0f), float newSize = 0.01f, bool newActive = true,
|
||
int newObjectId = -2, bool newLight = false, float newEmittance = 0.0f, float newRefraction = 0.0f,
|
||
float newReflection = 0.0f, Shape newShape = Shape::SPHERE, float tolerance = 0.0001f) {
|
||
|
||
// Find the existing point
|
||
auto pointData = find(oldPos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
// If position changed, we need to remove and reinsert
|
||
float moveDistSq = (newPos - oldPos).squaredNorm();
|
||
if (moveDistSq > tolerance * tolerance) {
|
||
// Save the data
|
||
T dataCopy = pointData->data;
|
||
bool activeCopy = pointData->active;
|
||
bool visibleCopy = pointData->visible;
|
||
Eigen::Vector3f colorCopy = pointData->color;
|
||
float sizeCopy = pointData->size;
|
||
int objectIdCopy = pointData->objectId;
|
||
bool lightCopy = pointData->light;
|
||
float emittanceCopy = pointData->emittance;
|
||
float refractionCopy = pointData->refraction;
|
||
float reflectionCopy = pointData->reflection;
|
||
Shape shapeCopy = pointData->shape;
|
||
|
||
// Remove the old point
|
||
if (!remove(oldPos, tolerance)) {
|
||
return false;
|
||
}
|
||
|
||
// Insert at new position with updated properties
|
||
return set(newData != T() ? newData : dataCopy, newPos,
|
||
newVisible ? newVisible : visibleCopy,
|
||
newColor != Eigen::Vector3f(1.0f, 1.0f, 1.0f) ? newColor : colorCopy,
|
||
newSize > 0 ? newSize : sizeCopy,
|
||
newActive ? newActive : activeCopy,
|
||
newObjectId != -2 ? newObjectId : objectIdCopy,
|
||
newLight ? newLight : lightCopy,
|
||
newEmittance > 0 ? newEmittance : emittanceCopy,
|
||
newRefraction >= 0 ? newRefraction : refractionCopy,
|
||
newReflection >= 0 ? newReflection : reflectionCopy,
|
||
newShape);
|
||
} else {
|
||
// Just update properties in place
|
||
pointData->data = newData;
|
||
pointData->position = newPos; // Minor adjustment within tolerance
|
||
pointData->visible = newVisible;
|
||
pointData->color = newColor;
|
||
pointData->size = newSize;
|
||
if (newObjectId != -2) pointData->objectId = newObjectId;
|
||
pointData->active = newActive;
|
||
pointData->light = newLight;
|
||
pointData->emittance = newEmittance;
|
||
pointData->refraction = newRefraction;
|
||
pointData->reflection = newReflection;
|
||
pointData->shape = newShape;
|
||
return true;
|
||
}
|
||
}
|
||
|
||
bool setObjectId(const PointType& pos, int objectId, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
pointData->objectId = objectId;
|
||
return true;
|
||
}
|
||
|
||
bool updateData(const PointType& pos, const T& newData, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->data = newData;
|
||
return true;
|
||
}
|
||
|
||
bool setActive(const PointType& pos, bool active, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->active = active;
|
||
return true;
|
||
}
|
||
|
||
bool setVisible(const PointType& pos, bool visible, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->visible = visible;
|
||
return true;
|
||
}
|
||
|
||
bool setLight(const PointType& pos, bool light, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->light = light;
|
||
return true;
|
||
}
|
||
|
||
bool setColor(const PointType& pos, Eigen::Vector3f color, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->color = color;
|
||
return true;
|
||
}
|
||
|
||
bool setReflection(const PointType& pos, float reflection, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->reflection = reflection;
|
||
return true;
|
||
}
|
||
|
||
bool setEmittance(const PointType& pos, float emittance, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->emittance = emittance;
|
||
return true;
|
||
}
|
||
|
||
bool setShape(const PointType& pos, Shape shape, float tolerance = 0.0001f) {
|
||
auto pointData = find(pos, tolerance);
|
||
if (!pointData) return false;
|
||
|
||
pointData->shape = shape;
|
||
return true;
|
||
}
|
||
|
||
std::vector<std::shared_ptr<NodeData>> voxelTraverse(const PointType& origin, const PointType& direction,
|
||
float maxDist, bool stopAtFirstHit, bool enableLOD = false) const {
|
||
std::vector<std::shared_ptr<NodeData>> hits;
|
||
|
||
if (empty()) return hits;
|
||
float invLodf = 1.0f / lodFalloffRate_;
|
||
uint8_t raySignMask = (direction.x() < 0 ? 1 : 0) | (direction.y() < 0 ? 2 : 0) | (direction.z() < 0 ? 4 : 0);
|
||
|
||
std::function<void(OctreeNode*, const PointType&, const PointType&, float, float)> traverseNode =
|
||
[&](OctreeNode* node, const PointType& origin, const PointType& dir, float tMin, float tMax) {
|
||
if (!node) return;
|
||
|
||
if (enableLOD && !node->isLeaf) {
|
||
float dist = (node->center - origin).norm();
|
||
|
||
if (dist > lodMinDistance_) {
|
||
float ratio = dist / (node->nodeSize + 0.0001f);
|
||
|
||
if (ratio > (invLodf)) {
|
||
ensureLOD(node);
|
||
if (node->lodData) {
|
||
float t;
|
||
PointType n;
|
||
PointType h;
|
||
if (rayCubeIntersect(origin, dir, node->lodData.get(), t, n, h)) {
|
||
if (t >= 0 && t <= maxDist) hits.emplace_back(node->lodData);
|
||
}
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
if (node->isLeaf) {
|
||
for (const auto& pointData : node->points) {
|
||
if (!pointData->active) continue;
|
||
|
||
float t;
|
||
// if (pointData->shape == Shape::SPHERE) {
|
||
// if (raySphereIntersect(origin, dir, pointData->position, pointData->size, t)) {
|
||
// if (t >= 0 && t <= maxDist) {
|
||
// hits.emplace_back(pointData);
|
||
// if (stopAtFirstHit) return;
|
||
// }
|
||
// }
|
||
// } else {
|
||
PointType normal, hitPoint;
|
||
if (rayCubeIntersect(origin, dir, pointData.get(), t, normal, hitPoint)) {
|
||
if (t >= 0 && t <= maxDist) {
|
||
hits.emplace_back(pointData);
|
||
if (stopAtFirstHit) return;
|
||
}
|
||
}
|
||
// }
|
||
}
|
||
} else {
|
||
for (int i = 0; i < 8; ++i) {
|
||
int childIdx = i ^ raySignMask;
|
||
|
||
if (node->children[childIdx]) {
|
||
const auto& childBounds = node->children[childIdx]->bounds;
|
||
|
||
float childtMin = tMin;
|
||
float childtMax = tMax;
|
||
if (rayBoxIntersect(origin, dir, childBounds, childtMin, childtMax)) {
|
||
traverseNode(node->children[childIdx].get(), origin, dir, childtMin, childtMax);
|
||
if (stopAtFirstHit && !hits.empty()) return;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
};
|
||
float tMin, tMax;
|
||
if (rayBoxIntersect(origin, direction, root_->bounds, tMin, tMax)) {
|
||
tMax = std::min(tMax, maxDist);
|
||
traverseNode(root_.get(), origin, direction, tMin, tMax);
|
||
}
|
||
return hits;
|
||
}
|
||
|
||
frame renderFrame(const Camera& cam, int height, int width, frame::colormap colorformat = frame::colormap::RGB, int samplesPerPixel = 2,
|
||
int maxBounces = 4, bool globalIllumination = false) {
|
||
PointType origin = cam.origin;
|
||
PointType dir = cam.direction.normalized();
|
||
PointType up = cam.up.normalized();
|
||
PointType right = cam.right();
|
||
|
||
frame outFrame(width, height, colorformat);
|
||
std::vector<uint8_t> colorBuffer;
|
||
int channels;
|
||
if (colorformat == frame::colormap::B) {
|
||
channels = 1;
|
||
} else if (colorformat == frame::colormap::RGB || colorformat == frame::colormap::BGR) {
|
||
channels = 3;
|
||
} else { //BGRA and RGBA
|
||
channels = 4;
|
||
}
|
||
colorBuffer.resize(width * height * channels);
|
||
|
||
float aspect = static_cast<float>(width) / height;
|
||
float fovRad = cam.fovRad();
|
||
float tanHalfFov = tan(fovRad * 0.5f);
|
||
float tanfovy = tanHalfFov;
|
||
float tanfovx = tanHalfFov * aspect;
|
||
|
||
std::function<Eigen::Vector3f(const PointType&, const PointType&, int, uint32_t&)> traceRay =
|
||
[&](const PointType& rayOrig, const PointType& rayDir, int bounces, uint32_t& rngState) -> Eigen::Vector3f {
|
||
|
||
if (bounces > maxBounces) return globalIllumination ? skylight_ : Eigen::Vector3f::Zero();
|
||
|
||
auto hits = voxelTraverse(rayOrig, rayDir, std::numeric_limits<float>::max(), true, true);
|
||
if (hits.empty()) {
|
||
if (bounces == 0) {
|
||
return backgroundColor_;
|
||
}
|
||
return globalIllumination ? skylight_ : Eigen::Vector3f::Zero();
|
||
}
|
||
|
||
auto obj = hits[0];
|
||
|
||
PointType hitPoint;
|
||
PointType normal;
|
||
float t = 0.0f;
|
||
|
||
// Calculate intersection based on shape
|
||
if (obj->shape == Shape::SPHERE) {
|
||
// Sphere intersection
|
||
PointType center = obj->position;
|
||
float radius = obj->size;
|
||
PointType L_vec = center - rayOrig;
|
||
float tca = L_vec.dot(rayDir);
|
||
float d2 = L_vec.dot(L_vec) - tca * tca;
|
||
float radius2 = radius * radius;
|
||
|
||
if (d2 <= radius2) {
|
||
float thc = std::sqrt(radius2 - d2);
|
||
t = tca - thc;
|
||
if (t < 0.001f) t = tca + thc;
|
||
}
|
||
|
||
hitPoint = rayOrig + rayDir * t;
|
||
normal = (hitPoint - center).normalized();
|
||
} else {
|
||
// Cube intersection
|
||
PointType cubeNormal;
|
||
if (!rayCubeIntersect(rayOrig, rayDir, obj.get(), t, normal, hitPoint)) {
|
||
return globalIllumination ? skylight_ : Eigen::Vector3f::Zero();
|
||
}
|
||
}
|
||
|
||
Eigen::Vector3f finalColor = globalIllumination ? skylight_ : Eigen::Vector3f::Zero();
|
||
|
||
if (obj->light) {
|
||
return obj->color * obj->emittance;
|
||
}
|
||
|
||
float refl = obj->reflection;
|
||
float refr = obj->refraction;
|
||
float diffuseProb = 1.0f - refl - refr;
|
||
|
||
if (diffuseProb > 0.001f) {
|
||
PointType scatterDir = randomInHemisphere(normal, rngState);
|
||
|
||
Eigen::Vector3f incomingLight = traceRay(hitPoint + normal * 0.002f, scatterDir, bounces + 1, rngState);
|
||
|
||
finalColor += obj->color.cwiseProduct(incomingLight) * diffuseProb;
|
||
}
|
||
|
||
if (refl > 0.001f) {
|
||
PointType rDir = (rayDir - 2.0f * rayDir.dot(normal) * normal).normalized();
|
||
finalColor += traceRay(hitPoint + normal * 0.002f, rDir, bounces + 1, rngState) * refl;
|
||
}
|
||
|
||
if (refr > 0.001f) {
|
||
float ior = 1.45f;
|
||
float η = 1.0f / ior;
|
||
float cosI = -normal.dot(rayDir);
|
||
PointType n_eff = normal;
|
||
|
||
if (cosI < 0) {
|
||
cosI = -cosI;
|
||
n_eff = -normal;
|
||
η = ior;
|
||
}
|
||
|
||
float k = 1.0f - η * η * (1.0f - cosI * cosI);
|
||
PointType nextDir;
|
||
if (k >= 0.0f) {
|
||
nextDir = (η * rayDir + (η * cosI - std::sqrt(k)) * n_eff).normalized();
|
||
finalColor += traceRay(hitPoint - n_eff * 0.002f, nextDir, bounces + 1, rngState) * refr;
|
||
} else {
|
||
nextDir = (rayDir - 2.0f * rayDir.dot(n_eff) * n_eff).normalized();
|
||
finalColor += traceRay(hitPoint + n_eff * 0.002f, nextDir, bounces + 1, rngState) * refr;
|
||
}
|
||
}
|
||
|
||
return finalColor;
|
||
};
|
||
|
||
#pragma omp parallel for schedule(dynamic) collapse(2)
|
||
for (int y = 0; y < height; ++y) {
|
||
for (int x = 0; x < width; ++x) {
|
||
int pidx = (y * width + x);
|
||
uint32_t seed = pidx * 1973 + 9277;
|
||
int idx = pidx * channels;
|
||
|
||
float px = (2.0f * (x + 0.5f) / width - 1.0f) * tanfovx;
|
||
float py = (1.0f - 2.0f * (y + 0.5f) / height) * tanfovy;
|
||
|
||
PointType rayDir = dir + (right * px) + (up * py);
|
||
rayDir.normalize();
|
||
|
||
Eigen::Vector3f accumulatedColor(0.0f, 0.0f, 0.0f);
|
||
|
||
for(int s = 0; s < samplesPerPixel; ++s) {
|
||
accumulatedColor += traceRay(origin, rayDir, 0, seed);
|
||
}
|
||
|
||
Eigen::Vector3f color = accumulatedColor / static_cast<float>(samplesPerPixel);
|
||
|
||
color = color.cwiseMax(0.0f).cwiseMin(1.0f);
|
||
|
||
switch(colorformat) {
|
||
case frame::colormap::B:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(rgbToGrayscale(color) * 255.0f);
|
||
break;
|
||
case frame::colormap::RGB:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
break;
|
||
case frame::colormap::BGR:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
break;
|
||
case frame::colormap::RGBA:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
colorBuffer[idx + 3] = 255;
|
||
break;
|
||
case frame::colormap::BGRA:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
colorBuffer[idx + 3] = 255;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
|
||
outFrame.setData(colorBuffer);
|
||
return outFrame;
|
||
}
|
||
|
||
std::shared_ptr<NodeData> fastVoxelTraverse(const PointType& origin, const PointType& direction,
|
||
float maxDist, bool enableLOD = false) const {
|
||
std::shared_ptr<NodeData> hit;
|
||
|
||
if (empty()) return hit;
|
||
|
||
std::function<void(OctreeNode*, const PointType&, const PointType&, float, float)> traverseNode =
|
||
[&](OctreeNode* node, const PointType& origin, const PointType& dir, float tMin, float tMax) {
|
||
if (!node || tMin > tMax) return;
|
||
|
||
// LOD Check for fast traverse
|
||
if (enableLOD && !node->isLeaf) {
|
||
float dist = (node->center - origin).norm();
|
||
float nodeSize = (node->bounds.second - node->bounds.first).norm();
|
||
if (dist > lodMinDistance_) {
|
||
float ratio = dist / (nodeSize + 0.0001f);
|
||
if (ratio > (1.0f / lodFalloffRate_)) {
|
||
ensureLOD(node);
|
||
if (node->lodData) {
|
||
// Project LOD
|
||
PointType toPoint = node->lodData->position - origin;
|
||
float projection = toPoint.dot(dir);
|
||
if (projection >= 0 && projection <= maxDist) {
|
||
PointType closestPoint = origin + dir * projection;
|
||
float distSq = (node->lodData->position - closestPoint).squaredNorm();
|
||
if (distSq < node->lodData->size * node->lodData->size) {
|
||
hit = node->lodData;
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
if (node->isLeaf) {
|
||
for (const auto& pointData : node->points) {
|
||
if (!pointData->active) continue;
|
||
|
||
PointType toPoint = pointData->position - origin;
|
||
float projection = toPoint.dot(dir);
|
||
if (projection >= 0 && projection <= maxDist) {
|
||
PointType closestPoint = origin + dir * projection;
|
||
float distSq = (pointData->position - closestPoint).squaredNorm();
|
||
if (distSq < pointData->size * pointData->size) {
|
||
hit = pointData;
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
} else {
|
||
std::array<std::pair<int, float>, 8> childOrder;
|
||
PointType center = node->center;
|
||
for (int i = 0; i < 8; ++i) {
|
||
if (node->children[i]) {
|
||
PointType childCenter = node->children[i]->center;
|
||
float dist = (childCenter - origin).dot(dir);
|
||
childOrder[i] = {i, dist};
|
||
} else {
|
||
childOrder[i] = {i, std::numeric_limits<float>::lowest()};
|
||
}
|
||
}
|
||
|
||
bitonic_sort_8(childOrder);
|
||
|
||
for (int i = 0; i < 8; ++i) {
|
||
int childIdx = childOrder[i].first;
|
||
if (node->children[childIdx]) {
|
||
const auto& childBounds = node->children[childIdx]->bounds;
|
||
|
||
float childtMin = tMin;
|
||
float childtMax = tMax;
|
||
if (rayBoxIntersect(origin, dir, childBounds, childtMin, childtMax)) {
|
||
traverseNode(node->children[childIdx].get(), origin, dir, childtMin, childtMax);
|
||
if (hit != nullptr) return;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
};
|
||
float tMin, tMax;
|
||
if (rayBoxIntersect(origin, direction, root_->bounds, tMin, tMax)) {
|
||
tMax = std::min(tMax, maxDist);
|
||
traverseNode(root_.get(), origin, direction, tMin, tMax);
|
||
}
|
||
return hit;
|
||
}
|
||
|
||
frame fastRenderFrame(const Camera& cam, int height, int width, frame::colormap colorformat = frame::colormap::RGB) {
|
||
|
||
PointType origin = cam.origin;
|
||
PointType dir = cam.direction.normalized();
|
||
PointType up = cam.up.normalized();
|
||
PointType right = cam.right();
|
||
|
||
frame outFrame(width, height, colorformat);
|
||
std::vector<uint8_t> colorBuffer;
|
||
int channels;
|
||
if (colorformat == frame::colormap::B) {
|
||
channels = 1;
|
||
} else if (colorformat == frame::colormap::RGB || colorformat == frame::colormap::BGR) {
|
||
channels = 3;
|
||
} else { //BGRA and RGBA
|
||
channels = 4;
|
||
}
|
||
colorBuffer.resize(width * height * channels);
|
||
|
||
float aspect = static_cast<float>(width) / height;
|
||
float fovRad = cam.fovRad();
|
||
float tanHalfFov = tan(fovRad * 0.5f);
|
||
float tanfovy = tanHalfFov;
|
||
float tanfovx = tanHalfFov * aspect;
|
||
|
||
#pragma omp parallel for schedule(dynamic) collapse(2)
|
||
for (int y = 0; y < height; ++y) {
|
||
for (int x = 0; x < width; ++x) {
|
||
int pidx = (y * width + x);
|
||
int idx = pidx * channels;
|
||
|
||
float px = (2.0f * (x + 0.5f) / width - 1.0f) * tanfovx;
|
||
float py = (1.0f - 2.0f * (y + 0.5f) / height) * tanfovy;
|
||
|
||
PointType rayDir = dir + (right * px) + (up * py);
|
||
rayDir.normalize();
|
||
|
||
Eigen::Vector3f color = backgroundColor_; // Start with background color
|
||
|
||
auto hit = fastVoxelTraverse(origin, rayDir, std::numeric_limits<float>::max(), true);
|
||
if (hit != nullptr) {
|
||
auto obj = hit;
|
||
|
||
color = obj->color;
|
||
|
||
if (obj->light) {
|
||
color = color * obj->emittance;
|
||
}
|
||
|
||
PointType normal = -rayDir;
|
||
|
||
// Simple directional lighting
|
||
float lightDot = std::max(0.2f, normal.dot(-rayDir));
|
||
color = color * lightDot;
|
||
}
|
||
|
||
switch(colorformat) {
|
||
case frame::colormap::B:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(rgbToGrayscale(color) * 255.0f);
|
||
break;
|
||
case frame::colormap::RGB:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
break;
|
||
case frame::colormap::BGR:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
break;
|
||
case frame::colormap::RGBA:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
colorBuffer[idx + 3] = 255;
|
||
break;
|
||
case frame::colormap::BGRA:
|
||
colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
|
||
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
|
||
colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
|
||
colorBuffer[idx + 3] = 255;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
|
||
outFrame.setData(colorBuffer);
|
||
return outFrame;
|
||
}
|
||
|
||
std::vector<std::shared_ptr<NodeData>> getExternalNodes(int targetObjectId) {
|
||
std::vector<std::shared_ptr<NodeData>> candidates;
|
||
std::vector<std::shared_ptr<NodeData>> surfaceNodes;
|
||
|
||
collectNodesByObjectId(root_.get(), targetObjectId, candidates);
|
||
|
||
if (candidates.empty()) return surfaceNodes;
|
||
|
||
surfaceNodes.reserve(candidates.size());
|
||
|
||
const std::array<PointType, 6> directions = {
|
||
PointType(1, 0, 0), PointType(-1, 0, 0), PointType(0, 1, 0),
|
||
PointType(0, -1, 0), PointType(0, 0, 1), PointType(0, 0, -1)
|
||
};
|
||
|
||
for (const auto& node : candidates) {
|
||
bool isExposed = false;
|
||
float step = node->size;
|
||
for (const auto& dir : directions) {
|
||
PointType probePos = node->position + (dir * step);
|
||
auto neighbor = find(probePos, step * 0.25f);
|
||
|
||
if (neighbor == nullptr || !neighbor->active || neighbor->objectId != node->objectId) {
|
||
isExposed = true;
|
||
}
|
||
|
||
if (isExposed) break;
|
||
}
|
||
|
||
if (isExposed) {
|
||
surfaceNodes.push_back(node);
|
||
}
|
||
}
|
||
surfaceNodes.shrink_to_fit();
|
||
|
||
return surfaceNodes;
|
||
}
|
||
|
||
void printStats(std::ostream& os = std::cout) const {
|
||
if (!root_) {
|
||
os << "[Octree Stats] Tree is null/empty." << std::endl;
|
||
return;
|
||
}
|
||
|
||
size_t totalNodes = 0;
|
||
size_t leafNodes = 0;
|
||
size_t actualPoints = 0;
|
||
size_t maxTreeDepth = 0;
|
||
size_t maxPointsInLeaf = 0;
|
||
size_t minPointsInLeaf = std::numeric_limits<size_t>::max();
|
||
size_t lodGeneratedNodes = 0;
|
||
|
||
std::function<void(const OctreeNode*, size_t)> traverse =
|
||
[&](const OctreeNode* node, size_t depth) {
|
||
if (!node) return;
|
||
|
||
totalNodes++;
|
||
maxTreeDepth = std::max(maxTreeDepth, depth);
|
||
|
||
if (node->lodData) lodGeneratedNodes++;
|
||
|
||
if (node->isLeaf) {
|
||
leafNodes++;
|
||
size_t pts = node->points.size();
|
||
actualPoints += pts;
|
||
maxPointsInLeaf = std::max(maxPointsInLeaf, pts);
|
||
minPointsInLeaf = std::min(minPointsInLeaf, pts);
|
||
} else {
|
||
for (const auto& child : node->children) {
|
||
traverse(child.get(), depth + 1);
|
||
}
|
||
}
|
||
};
|
||
|
||
traverse(root_.get(), 0);
|
||
|
||
if (leafNodes == 0) minPointsInLeaf = 0;
|
||
double avgPointsPerLeaf = leafNodes > 0 ? (double)actualPoints / leafNodes : 0.0;
|
||
|
||
size_t nodeMem = totalNodes * sizeof(OctreeNode);
|
||
size_t dataMem = actualPoints * (sizeof(NodeData) + 16);
|
||
|
||
os << "========================================\n";
|
||
os << " OCTREE STATS \n";
|
||
os << "========================================\n";
|
||
os << "Config:\n";
|
||
os << " Max Depth Allowed : " << maxDepth << "\n";
|
||
os << " Max Pts Per Node : " << maxPointsPerNode << "\n";
|
||
os << " LOD Falloff Rate : " << lodFalloffRate_ << "\n";
|
||
os << " LOD Min Distance : " << lodMinDistance_ << "\n";
|
||
os << "Structure:\n";
|
||
os << " Total Nodes : " << totalNodes << "\n";
|
||
os << " Leaf Nodes : " << leafNodes << "\n";
|
||
os << " Non-Leaf Nodes : " << (totalNodes - leafNodes) << "\n";
|
||
os << " LODs Generated : " << lodGeneratedNodes << "\n";
|
||
os << " Tree Height : " << maxTreeDepth << "\n";
|
||
os << "Data:\n";
|
||
os << " Total Points : " << size << " (Tracked) / " << actualPoints << " (Counted)\n";
|
||
os << " Points/Leaf (Avg) : " << std::fixed << std::setprecision(2) << avgPointsPerLeaf << "\n";
|
||
os << " Points/Leaf (Min) : " << minPointsInLeaf << "\n";
|
||
os << " Points/Leaf (Max) : " << maxPointsInLeaf << "\n";
|
||
os << "Bounds:\n";
|
||
os << " Min : [" << root_->bounds.first.transpose() << "]\n";
|
||
os << " Max : [" << root_->bounds.second.transpose() << "]\n";
|
||
os << "Memory (Approx):\n";
|
||
os << " Node Structure : " << (nodeMem / 1024.0) << " KB\n";
|
||
os << " Point Data : " << (dataMem / 1024.0) << " KB\n";
|
||
os << "========================================\n" << std::defaultfloat;
|
||
}
|
||
|
||
bool empty() const { return size == 0; }
|
||
|
||
void clear() {
|
||
if (!root_) return;
|
||
|
||
std::function<void(OctreeNode*)> clearNode = [&](OctreeNode* node) {
|
||
if (!node) return;
|
||
|
||
node->points.clear();
|
||
node->points.shrink_to_fit();
|
||
node->lodData = nullptr;
|
||
|
||
for (int i = 0; i < 8; ++i) {
|
||
if (node->children[i]) {
|
||
clearNode(node->children[i].get());
|
||
node->children[i].reset(nullptr);
|
||
}
|
||
}
|
||
|
||
node->isLeaf = true;
|
||
};
|
||
|
||
clearNode(root_.get());
|
||
|
||
PointType minBound = root_->bounds.first;
|
||
PointType maxBound = root_->bounds.second;
|
||
root_ = std::make_unique<OctreeNode>(minBound, maxBound);
|
||
|
||
size = 0;
|
||
}
|
||
};
|
||
|
||
#endif
|