mirror of
https://github.com/CloudCompare/PoissonRecon.git
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mkazhdan
739 lines
37 KiB
C++
739 lines
37 KiB
C++
/*
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Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list of
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conditions and the following disclaimer. Redistributions in binary form must reproduce
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the above copyright notice, this list of conditions and the following disclaimer
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in the documentation and/or other materials provided with the distribution.
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Neither the name of the Johns Hopkins University nor the names of its contributors
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may be used to endorse or promote products derived from this software without specific
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prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
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EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
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OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
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SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
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TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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DAMAGE.
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*/
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#undef SHOW_WARNINGS // Display compilation warnings
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#undef USE_DOUBLE // If enabled, double-precesion is used
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#undef FAST_COMPILE // If enabled, only a single version of the reconstruction code is compiled
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#undef ARRAY_DEBUG // If enabled, array access is tested for validity
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#define DATA_DEGREE 0 // The order of the B-Spline used to splat in data for color interpolation
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// This can be changed to zero if more interpolatory performance is desired.
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#define WEIGHT_DEGREE 2 // The order of the B-Spline used to splat in the weights for density estimation
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#define NORMAL_DEGREE 2 // The order of the B-Spline used to splat int the normals for constructing the Laplacian constraints
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#define DEFAULT_FEM_DEGREE 2 // The default finite-element degree
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#define DEFAULT_FEM_BOUNDARY BOUNDARY_NEUMANN // The default finite-element boundary type
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#define DIMENSION 3 // The dimension of the system
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include <float.h>
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#include "MyMiscellany.h"
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#include "CmdLineParser.h"
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#include "PPolynomial.h"
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#include "FEMTree.h"
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#include "Ply.h"
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#include "PointStreamData.h"
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MessageWriter messageWriter;
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double BaseSSDWeights[] = { 5e+1f , 5e-4f , 1e-5f };
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cmdLineParameter< char* >
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In( "in" ) ,
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Out( "out" ) ,
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TempDir( "tempDir" ) ,
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VoxelGrid( "voxel" ) ,
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Tree( "tree" ) ,
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Transform( "xForm" );
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cmdLineReadable
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Performance( "performance" ) ,
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ShowResidual( "showResidual" ) ,
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NoComments( "noComments" ) ,
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PolygonMesh( "polygonMesh" ) ,
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NonManifold( "nonManifold" ) ,
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ASCII( "ascii" ) ,
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Density( "density" ) ,
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NonLinearFit( "nonLinearFit" ) ,
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PrimalVoxel( "primalVoxel" ) ,
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ExactInterpolation( "exact" ) ,
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Normals( "normals" ) ,
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Colors( "colors" ) ,
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Verbose( "verbose" );
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cmdLineParameter< int >
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#ifndef FAST_COMPILE
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Degree( "degree" , DEFAULT_FEM_DEGREE ) ,
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#endif // !FAST_COMPILE
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Depth( "depth" , 8 ) ,
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KernelDepth( "kernelDepth" ) ,
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Iters( "iters" , 8 ) ,
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FullDepth( "fullDepth" , 5 ) ,
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BaseDepth( "baseDepth" , 5 ) ,
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BaseVCycles( "baseVCycles" , 4 ) ,
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#ifndef FAST_COMPILE
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BType( "bType" , DEFAULT_FEM_BOUNDARY+1 ) ,
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#endif // !FAST_COMPILE
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MaxMemoryGB( "maxMemory" , 0 ) ,
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Threads( "threads" , omp_get_num_procs() );
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cmdLineParameter< float >
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DataX( "data" , 32.f ) ,
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SamplesPerNode( "samplesPerNode" , 1.5f ) ,
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Scale( "scale" , 1.1f ) ,
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Width( "width" , 0.f ) ,
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Confidence( "confidence" , 0.f ) ,
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ConfidenceBias( "confidenceBias" , 0.f ) ,
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CGSolverAccuracy( "cgAccuracy" , 1e-3f ) ,
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ValueWeight ( "valueWeight" , 1.f ) ,
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GradientWeight( "gradientWeight" , 1.f ) ,
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BiLapWeight ( "biLapWeight" , 1.f );
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cmdLineReadable* params[] =
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{
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#ifndef FAST_COMPILE
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&Degree , &BType ,
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#endif // !FAST_COMPILE
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&In , &Depth , &Out , &Transform ,
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&Width ,
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&Scale , &Verbose , &CGSolverAccuracy , &NoComments ,
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&KernelDepth , &SamplesPerNode , &Confidence , &NonManifold , &PolygonMesh , &ASCII , &ShowResidual ,
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&ConfidenceBias ,
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&ValueWeight , &GradientWeight , &BiLapWeight ,
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&VoxelGrid , &Threads ,
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&Tree ,
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&Density ,
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&FullDepth ,
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&BaseDepth , &BaseVCycles ,
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&Iters ,
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&DataX ,
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&Colors ,
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&Normals ,
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&NonLinearFit ,
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&PrimalVoxel ,
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&TempDir ,
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&ExactInterpolation ,
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&Performance ,
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&MaxMemoryGB ,
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NULL
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};
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void ShowUsage(char* ex)
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{
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printf( "Usage: %s\n" , ex );
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printf( "\t --%s <input points>\n" , In.name );
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printf( "\t[--%s <ouput triangle mesh>]\n" , Out.name );
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printf( "\t[--%s <ouput voxel grid>]\n" , VoxelGrid.name );
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printf( "\t[--%s <ouput fem tree>]\n" , Tree.name );
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#ifndef FAST_COMPILE
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printf( "\t[--%s <b-spline degree>=%d]\n" , Degree.name , Degree.value );
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printf( "\t[--%s <boundary type>=%d]\n" , BType.name , BType.value );
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for( int i=0 ; i<BOUNDARY_COUNT ; i++ ) printf( "\t\t%d] %s\n" , i+1 , BoundaryNames[i] );
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#endif // !FAST_COMPILE
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printf( "\t[--%s <maximum reconstruction depth>=%d]\n" , Depth.name , Depth.value );
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printf( "\t[--%s <voxel width>]\n" , Width.name );
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printf( "\t[--%s <full depth>=%d]\n" , FullDepth.name , FullDepth.value );
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printf( "\t[--%s <coarse MG solver depth>=%d]\n" , BaseDepth.name , BaseDepth.value );
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printf( "\t[--%s <coarse MG solver v-cycles>=%d]\n" , BaseVCycles.name , BaseVCycles.value );
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printf( "\t[--%s <scale factor>=%f]\n" , Scale.name , Scale.value );
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printf( "\t[--%s <minimum number of samples per node>=%f]\n" , SamplesPerNode.name, SamplesPerNode.value );
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printf( "\t[--%s <zero-crossing weight>=%.3e]\n" , ValueWeight.name , ValueWeight.value );
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printf( "\t[--%s <gradient weight>=%.3e]\n" , GradientWeight.name , GradientWeight.value );
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printf( "\t[--%s <bi-laplacian weight>=%.3e]\n" , BiLapWeight.name , BiLapWeight.value );
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printf( "\t[--%s <iterations>=%d]\n" , Iters.name , Iters.value );
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printf( "\t[--%s]\n" , ExactInterpolation.name );
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printf( "\t[--%s <pull factor>=%f]\n" , DataX.name , DataX.value );
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printf( "\t[--%s]\n" , Colors.name );
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printf( "\t[--%s]\n" , Normals.name );
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#ifdef _OPENMP
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printf( "\t[--%s <num threads>=%d]\n" , Threads.name , Threads.value );
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#endif // _OPENMP
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printf( "\t[--%s <normal confidence exponent>=%f]\n" , Confidence.name , Confidence.value );
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printf( "\t[--%s <normal confidence bias exponent>=%f]\n" , ConfidenceBias.name , ConfidenceBias.value );
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printf( "\t[--%s]\n" , NonManifold.name );
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printf( "\t[--%s]\n" , PolygonMesh.name );
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printf( "\t[--%s <cg solver accuracy>=%g]\n" , CGSolverAccuracy.name , CGSolverAccuracy.value );
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printf( "\t[--%s <maximum memory (in GB)>=%d]\n" , MaxMemoryGB.name , MaxMemoryGB.value );
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printf( "\t[--%s]\n" , Performance.name );
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printf( "\t[--%s]\n" , Density.name );
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printf( "\t[--%s]\n" , NonLinearFit.name );
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printf( "\t[--%s]\n" , PrimalVoxel.name );
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printf( "\t[--%s]\n" , ASCII.name );
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printf( "\t[--%s]\n" , NoComments.name );
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printf( "\t[--%s]\n" , TempDir.name );
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printf( "\t[--%s]\n" , Verbose.name );
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}
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double Weight( double v , double start , double end )
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{
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v = ( v - start ) / ( end - start );
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if ( v<0 ) return 1.;
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else if( v>1 ) return 0.;
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else
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{
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// P(x) = a x^3 + b x^2 + c x + d
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// P (0) = 1 , P (1) = 0 , P'(0) = 0 , P'(1) = 0
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// => d = 1 , a + b + c + d = 0 , c = 0 , 3a + 2b + c = 0
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// => c = 0 , d = 1 , a + b = -1 , 3a + 2b = 0
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// => a = 2 , b = -3 , c = 0 , d = 1
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// => P(x) = 2 x^3 - 3 x^2 + 1
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return 2. * v * v * v - 3. * v * v + 1.;
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}
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}
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template< unsigned int Dim , class Real >
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struct FEMTreeProfiler
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{
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FEMTree< Dim , Real >& tree;
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double t;
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FEMTreeProfiler( FEMTree< Dim , Real >& t ) : tree(t) { ; }
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void start( void ){ t = Time() , FEMTree< Dim , Real >::ResetLocalMemoryUsage(); }
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void print( const char* header ) const
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{
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FEMTree< Dim , Real >::MemoryUsage();
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if( header ) printf( "%s %9.1f (s), %9.1f (MB) / %9.1f (MB) / %9.1f (MB)\n" , header , Time()-t , FEMTree< Dim , Real >::LocalMemoryUsage() , FEMTree< Dim , Real >::MaxMemoryUsage() , MemoryInfo::PeakMemoryUsageMB() );
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else printf( "%9.1f (s), %9.1f (MB) / %9.1f (MB) / %9.1f (MB)\n" , Time()-t , FEMTree< Dim , Real >::LocalMemoryUsage() , FEMTree< Dim , Real >::MaxMemoryUsage() , MemoryInfo::PeakMemoryUsageMB() );
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}
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void dumpOutput( const char* header ) const
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{
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FEMTree< Dim , Real >::MemoryUsage();
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if( header ) messageWriter( "%s %9.1f (s), %9.1f (MB) / %9.1f (MB) / %9.1f (MB)\n" , header , Time()-t , FEMTree< Dim , Real >::LocalMemoryUsage() , FEMTree< Dim , Real >::MaxMemoryUsage() , MemoryInfo::PeakMemoryUsageMB() );
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else messageWriter( "%9.1f (s), %9.1f (MB) / %9.1f (MB) / %9.1f (MB)\n" , Time()-t , FEMTree< Dim , Real >::LocalMemoryUsage() , FEMTree< Dim , Real >::MaxMemoryUsage() , MemoryInfo::PeakMemoryUsageMB() );
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}
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void dumpOutput2( std::vector< std::string >& comments , const char* header ) const
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{
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FEMTree< Dim , Real >::MemoryUsage();
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if( header ) messageWriter( comments , "%s %9.1f (s), %9.1f (MB) / %9.1f (MB) / %9.1f (MB)\n" , header , Time()-t , FEMTree< Dim , Real >::LocalMemoryUsage() , FEMTree< Dim , Real >::MaxMemoryUsage() , MemoryInfo::PeakMemoryUsageMB() );
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else messageWriter( comments , "%9.1f (s), %9.1f (MB) / %9.1f (MB) / %9.1f (MB)\n" , Time()-t , FEMTree< Dim , Real >::LocalMemoryUsage() , FEMTree< Dim , Real >::MaxMemoryUsage() , MemoryInfo::PeakMemoryUsageMB() );
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}
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};
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template< class Real , unsigned int Dim >
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XForm< Real , Dim+1 > GetBoundingBoxXForm( Point< Real , Dim > min , Point< Real , Dim > max , Real scaleFactor )
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{
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Point< Real , Dim > center = ( max + min ) / 2;
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Real scale = max[0] - min[0];
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for( int d=1 ; d<Dim ; d++ ) scale = std::max< Real >( scale , max[d]-min[d] );
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scale *= scaleFactor;
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for( int i=0 ; i<Dim ; i++ ) center[i] -= scale/2;
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XForm< Real , Dim+1 > tXForm = XForm< Real , Dim+1 >::Identity() , sXForm = XForm< Real , Dim+1 >::Identity();
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for( int i=0 ; i<Dim ; i++ ) sXForm(i,i) = (Real)(1./scale ) , tXForm(Dim,i) = -center[i];
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return sXForm * tXForm;
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}
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template< class Real , unsigned int Dim >
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XForm< Real , Dim+1 > GetBoundingBoxXForm( Point< Real , Dim > min , Point< Real , Dim > max , Real width , Real scaleFactor , int& depth )
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{
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// Get the target resolution (along the largest dimension)
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Real resolution = ( max[0]-min[0] ) / width;
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for( int d=1 ; d<Dim ; d++ ) resolution = std::max< Real >( resolution , ( max[d]-min[d] ) / width );
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resolution *= scaleFactor;
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depth = 0;
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while( (1<<depth)<resolution ) depth++;
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Point< Real , Dim > center = ( max + min ) / 2;
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Real scale = (1<<depth) * width;
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for( int i=0 ; i<Dim ; i++ ) center[i] -= scale/2;
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XForm< Real , Dim+1 > tXForm = XForm< Real , Dim+1 >::Identity() , sXForm = XForm< Real , Dim+1 >::Identity();
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for( int i=0 ; i<Dim ; i++ ) sXForm(i,i) = (Real)(1./scale ) , tXForm(Dim,i) = -center[i];
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return sXForm * tXForm;
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}
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template< class Real , unsigned int Dim >
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XForm< Real , Dim+1 > GetPointXForm( InputPointStream< Real , Dim >& stream , Real width , Real scaleFactor , int& depth )
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{
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Point< Real , Dim > min , max;
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stream.boundingBox( min , max );
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return GetBoundingBoxXForm( min , max , width , scaleFactor , depth );
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}
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template< class Real , unsigned int Dim >
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XForm< Real , Dim+1 > GetPointXForm( InputPointStream< Real , Dim >& stream , Real scaleFactor )
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{
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Point< Real , Dim > min , max;
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stream.boundingBox( min , max );
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return GetBoundingBoxXForm( min , max , scaleFactor );
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}
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template< unsigned int Dim , typename Real , typename TotalPointSampleData >
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struct ConstraintDual
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{
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Real target , vWeight , gWeight;
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ConstraintDual( Real t , Real v , Real g ) : target(t) , vWeight(v) , gWeight(g) { }
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CumulativeDerivativeValues< Real , Dim , 1 > operator()( const Point< Real , Dim >& p , const TotalPointSampleData& data ) const
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{
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Point< Real , Dim > n = std::get<0>( data.data ).data;
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CumulativeDerivativeValues< Real , Dim , 1 > cdv;
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cdv[0] = target*vWeight;
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for( int d=0 ; d<Dim ; d++ ) cdv[1+d] = -n[d]*gWeight;
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return cdv;
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}
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};
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template< unsigned int Dim , typename Real , typename TotalPointSampleData >
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struct SystemDual
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{
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CumulativeDerivativeValues< Real , Dim , 1 > weight;
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SystemDual( Real v , Real g ) : weight( v , g , g , g ) { }
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CumulativeDerivativeValues< Real , Dim , 1 > operator()( Point< Real , Dim > p , const TotalPointSampleData& data , const CumulativeDerivativeValues< Real , Dim , 1 >& dValues ) const
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{
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return dValues * weight;
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}
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CumulativeDerivativeValues< double , Dim , 1 > operator()( Point< Real , Dim > p , const TotalPointSampleData& data , const CumulativeDerivativeValues< double , Dim , 1 >& dValues ) const
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{
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return dValues * weight;
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};
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};
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template< unsigned int Dim , class TotalPointSampleData >
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struct SystemDual< Dim , double , TotalPointSampleData >
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{
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typedef double Real;
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CumulativeDerivativeValues< Real , Dim , 1 > weight;
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SystemDual( Real v , Real g ) : weight( v , g , g , g ) { }
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CumulativeDerivativeValues< Real , Dim , 1 > operator()( Point< Real , Dim > p , const TotalPointSampleData& data , const CumulativeDerivativeValues< Real , Dim , 1 >& dValues ) const
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{
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return dValues * weight;
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}
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};
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template< typename Vertex , typename Real , unsigned int ... FEMSigs , typename ... SampleData >
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void ExtractMesh( UIntPack< FEMSigs ... > , std::tuple< SampleData ... > , FEMTree< sizeof ... ( FEMSigs ) , Real >& tree , const DenseNodeData< Real , UIntPack< FEMSigs ... > >& solution , Real isoValue , const std::vector< typename FEMTree< sizeof ... ( FEMSigs ) , Real >::PointSample >* samples , std::vector< MultiPointStreamData< Real , PointStreamNormal< Real , DIMENSION > , MultiPointStreamData< Real , SampleData ... > > >* sampleData , const typename FEMTree< sizeof ... ( FEMSigs ) , Real >::template DensityEstimator< WEIGHT_DEGREE >* density , std::function< void ( Vertex& , Point< Real , DIMENSION > , Real , MultiPointStreamData< Real , PointStreamNormal< Real , DIMENSION > , MultiPointStreamData< Real , SampleData ... > > ) > SetVertex , std::vector< std::string > &comments , XForm< Real , sizeof...(FEMSigs)+1 > iXForm )
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{
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static const int Dim = sizeof ... ( FEMSigs );
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typedef UIntPack< FEMSigs ... > Sigs;
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typedef PointStreamNormal< Real , Dim > NormalPointSampleData;
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typedef MultiPointStreamData< Real , SampleData ... > AdditionalPointSampleData;
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typedef MultiPointStreamData< Real , NormalPointSampleData , AdditionalPointSampleData > TotalPointSampleData;
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static const unsigned int DataSig = FEMDegreeAndBType< DATA_DEGREE , BOUNDARY_FREE >::Signature;
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typedef typename FEMTree< Dim , Real >::template DensityEstimator< WEIGHT_DEGREE > DensityEstimator;
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FEMTreeProfiler< Dim , Real > profiler( tree );
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char tempHeader[1024];
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{
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char tempPath[1024];
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tempPath[0] = 0;
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if( TempDir.set ) strcpy( tempPath , TempDir.value );
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else SetTempDirectory( tempPath , sizeof(tempPath) );
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if( strlen(tempPath)==0 ) sprintf( tempPath , ".%c" , FileSeparator );
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if( tempPath[ strlen( tempPath )-1 ]==FileSeparator ) sprintf( tempHeader , "%sPR_" , tempPath );
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else sprintf( tempHeader , "%s%cPR_" , tempPath , FileSeparator );
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}
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CoredFileMeshData< Vertex > mesh( tempHeader );
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profiler.start();
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typename IsoSurfaceExtractor< Dim , Real , Vertex >::IsoStats isoStats;
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if( sampleData )
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{
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SparseNodeData< ProjectiveData< TotalPointSampleData , Real > , IsotropicUIntPack< Dim , DataSig > > _sampleData = tree.template setDataField< DataSig , false >( *samples , *sampleData , (DensityEstimator*)NULL );
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for( const RegularTreeNode< Dim , FEMTreeNodeData >* n = tree.tree().nextNode() ; n ; n=tree.tree().nextNode( n ) )
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{
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ProjectiveData< TotalPointSampleData , Real >* clr = _sampleData( n );
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if( clr ) (*clr) *= (Real)pow( DataX.value , tree.depth( n ) );
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}
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isoStats = IsoSurfaceExtractor< Dim , Real , Vertex >::template Extract< TotalPointSampleData >( Sigs() , UIntPack< WEIGHT_DEGREE >() , UIntPack< DataSig >() , tree , density , &_sampleData , solution , isoValue , mesh , SetVertex , NonLinearFit.set , !NonManifold.set , PolygonMesh.set , false );
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}
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#if defined( __GNUC__ ) && __GNUC__ < 5
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#warning "you've got me gcc version<5"
|
|
else isoStats = IsoSurfaceExtractor< Dim , Real , Vertex >::template Extract< TotalPointSampleData >( Sigs() , UIntPack< WEIGHT_DEGREE >() , UIntPack< DataSig >() , tree , density , (SparseNodeData< ProjectiveData< TotalPointSampleData , Real > , IsotropicUIntPack< Dim , DataSig > > *)NULL , solution , isoValue , mesh , SetVertex , NonLinearFit.set , !NonManifold.set , PolygonMesh.set , false );
|
|
#else // !__GNUC__ || __GNUC__ >=5
|
|
else isoStats = IsoSurfaceExtractor< Dim , Real , Vertex >::template Extract< TotalPointSampleData >( Sigs() , UIntPack< WEIGHT_DEGREE >() , UIntPack< DataSig >() , tree , density , NULL , solution , isoValue , mesh , SetVertex , NonLinearFit.set , !NonManifold.set , PolygonMesh.set , false );
|
|
#endif // __GNUC__ || __GNUC__ < 4
|
|
messageWriter( "Vertices / Polygons: %d / %d\n" , mesh.outOfCorePointCount()+mesh.inCorePoints.size() , mesh.polygonCount() );
|
|
messageWriter( "Corners / Vertices / Edges / Surface / Set Table / Copy Finer: %.1f / %.1f / %.1f / %.1f / %.1f / %.1f (s)\n" , isoStats.cornersTime , isoStats.verticesTime , isoStats.edgesTime , isoStats.surfaceTime , isoStats.setTableTime , isoStats.copyFinerTime );
|
|
if( PolygonMesh.set ) profiler.dumpOutput2( comments , "# Got polygons:" );
|
|
else profiler.dumpOutput2( comments , "# Got triangles:" );
|
|
|
|
std::vector< std::string > noComments;
|
|
if( !PlyWritePolygons< Vertex , Real , Dim >( Out.value , &mesh , ASCII.set ? PLY_ASCII : PLY_BINARY_NATIVE , NoComments.set ? noComments : comments , iXForm ) )
|
|
fprintf( stderr , "[ERROR] Could not write mesh to: %s\n" , Out.value ) , exit( 0 );
|
|
}
|
|
|
|
template< class Real , typename ... SampleData , unsigned int ... FEMSigs >
|
|
int Execute( int argc , char* argv[] , UIntPack< FEMSigs ... > )
|
|
{
|
|
static const int Dim = sizeof ... ( FEMSigs );
|
|
typedef UIntPack< FEMSigs ... > Sigs;
|
|
typedef UIntPack< FEMSignature< FEMSigs >::Degree ... > Degrees;
|
|
typedef UIntPack< FEMDegreeAndBType< NORMAL_DEGREE , DerivativeBoundary< FEMSignature< FEMSigs >::BType , 1 >::BType >::Signature ... > NormalSigs;
|
|
static const unsigned int DataSig = FEMDegreeAndBType< DATA_DEGREE , BOUNDARY_FREE >::Signature;
|
|
typedef typename FEMTree< Dim , Real >::template DensityEstimator< WEIGHT_DEGREE > DensityEstimator;
|
|
typedef typename FEMTree< Dim , Real >::template InterpolationInfo< Real , 1 > InterpolationInfo;
|
|
typedef PointStreamNormal< Real , Dim > NormalPointSampleData;
|
|
typedef MultiPointStreamData< Real , SampleData ... > AdditionalPointSampleData;
|
|
typedef MultiPointStreamData< Real , NormalPointSampleData , AdditionalPointSampleData > TotalPointSampleData;
|
|
typedef InputPointStreamWithData< Real , Dim , TotalPointSampleData > InputPointStream;
|
|
typedef TransformedInputPointStreamWithData< Real , Dim , TotalPointSampleData > XInputPointStream;
|
|
std::vector< std::string > comments;
|
|
messageWriter( comments , "************************************************\n" );
|
|
messageWriter( comments , "************************************************\n" );
|
|
messageWriter( comments , "** Running SSD Reconstruction (Version %s) **\n" , VERSION );
|
|
messageWriter( comments , "************************************************\n" );
|
|
messageWriter( comments , "************************************************\n" );
|
|
|
|
XForm< Real , Dim+1 > xForm , iXForm;
|
|
if( Transform.set )
|
|
{
|
|
FILE* fp = fopen( Transform.value , "r" );
|
|
if( !fp )
|
|
{
|
|
fprintf( stderr , "[WARNING] Could not read x-form from: %s\n" , Transform.value );
|
|
xForm = XForm< Real , Dim+1 >::Identity();
|
|
}
|
|
else
|
|
{
|
|
for( int i=0 ; i<Dim+1 ; i++ ) for( int j=0 ; j<Dim+1 ; j++ )
|
|
{
|
|
float f;
|
|
if( fscanf( fp , " %f " , &f )!=1 ) fprintf( stderr , "[ERROR] Execute: Failed to read xform\n" ) , exit( 0 );
|
|
xForm(i,j) = (Real)f;
|
|
}
|
|
fclose( fp );
|
|
}
|
|
}
|
|
else xForm = XForm< Real , Dim+1 >::Identity();
|
|
|
|
char str[1024];
|
|
for( int i=0 ; params[i] ; i++ )
|
|
if( params[i]->set )
|
|
{
|
|
params[i]->writeValue( str );
|
|
if( strlen( str ) ) messageWriter( comments , "\t--%s %s\n" , params[i]->name , str );
|
|
else messageWriter( comments , "\t--%s\n" , params[i]->name );
|
|
}
|
|
|
|
double startTime = Time();
|
|
Real isoValue = 0;
|
|
|
|
FEMTree< Dim , Real > tree( MEMORY_ALLOCATOR_BLOCK_SIZE );
|
|
FEMTreeProfiler< Dim , Real > profiler( tree );
|
|
|
|
if( Depth.set && Width.value>0 )
|
|
{
|
|
fprintf( stderr , "[WARNING] Both --%s and --%s set, ignoring --%s\n" , Depth.name , Width.name , Width.name );
|
|
Width.value = 0;
|
|
}
|
|
|
|
int pointCount;
|
|
|
|
Real pointWeightSum;
|
|
std::vector< typename FEMTree< Dim , Real >::PointSample >* samples = new std::vector< typename FEMTree< Dim , Real >::PointSample >();
|
|
std::vector< TotalPointSampleData >* sampleData = NULL;
|
|
DensityEstimator* density = NULL;
|
|
SparseNodeData< Point< Real , Dim > , NormalSigs >* normalInfo = NULL;
|
|
Real targetValue = (Real)0.;
|
|
|
|
// Read in the samples (and color data)
|
|
{
|
|
profiler.start();
|
|
InputPointStream* pointStream;
|
|
char* ext = GetFileExtension( In.value );
|
|
sampleData = new std::vector< TotalPointSampleData >();
|
|
if ( !strcasecmp( ext , "bnpts" ) ) pointStream = new BinaryInputPointStreamWithData< Real , Dim , TotalPointSampleData >( In.value , TotalPointSampleData::ReadBinary );
|
|
else if( !strcasecmp( ext , "ply" ) ) pointStream = new PLYInputPointStreamWithData< Real , Dim , TotalPointSampleData >( In.value , TotalPointSampleData::PlyReadProperties() , TotalPointSampleData::PlyReadNum , TotalPointSampleData::ValidPlyReadProperties );
|
|
else pointStream = new ASCIIInputPointStreamWithData< Real , Dim , TotalPointSampleData >( In.value , TotalPointSampleData::ReadASCII );
|
|
delete[] ext;
|
|
typename TotalPointSampleData::Transform _xForm( xForm );
|
|
XInputPointStream _pointStream( [&]( Point< Real , Dim >& p , TotalPointSampleData& d ){ p = xForm*p , d = _xForm(d); } , *pointStream );
|
|
if( Width.value>0 ) xForm = GetPointXForm< Real , Dim >( _pointStream , Width.value , (Real)( Scale.value>0 ? Scale.value : 1. ) , Depth.value ) * xForm;
|
|
else xForm = Scale.value>0 ? GetPointXForm< Real , Dim >( _pointStream , (Real)Scale.value ) * xForm : xForm;
|
|
{
|
|
typename TotalPointSampleData::Transform _xForm( xForm );
|
|
XInputPointStream _pointStream( [&]( Point< Real , Dim >& p , TotalPointSampleData& d ){ p = xForm*p , d = _xForm(d); } , *pointStream );
|
|
auto ProcessDataWithConfidence = [&]( const Point< Real , Dim >& p , TotalPointSampleData& d )
|
|
{
|
|
Real l = (Real)Length( std::get< 0 >( d.data ).data );
|
|
if( !l || l!=l ) return (Real)-1.;
|
|
return (Real)pow( l , Confidence.value );
|
|
};
|
|
auto ProcessData = []( const Point< Real , Dim >& p , TotalPointSampleData& d )
|
|
{
|
|
Real l = (Real)Length( std::get< 0 >( d.data ).data );
|
|
if( !l || l!=l ) return (Real)-1.;
|
|
std::get< 0 >( d.data ).data /= l;
|
|
return (Real)1.;
|
|
};
|
|
if( Confidence.value>0 ) pointCount = FEMTreeInitializer< Dim , Real >::template Initialize< TotalPointSampleData >( tree.spaceRoot() , _pointStream , Depth.value , *samples , *sampleData , true , tree.nodeAllocator , tree.initializer() , ProcessDataWithConfidence );
|
|
else pointCount = FEMTreeInitializer< Dim , Real >::template Initialize< TotalPointSampleData >( tree.spaceRoot() , _pointStream , Depth.value , *samples , *sampleData , true , tree.nodeAllocator , tree.initializer() , ProcessData );
|
|
}
|
|
iXForm = xForm.inverse();
|
|
delete pointStream;
|
|
|
|
messageWriter( "Input Points / Samples: %d / %d\n" , pointCount , samples->size() );
|
|
profiler.dumpOutput2( comments , "# Read input into tree:" );
|
|
}
|
|
int kernelDepth = KernelDepth.set ? KernelDepth.value : Depth.value-2;
|
|
if( kernelDepth>Depth.value )
|
|
{
|
|
fprintf( stderr,"[WARNING] %s can't be greater than %s: %d <= %d\n" , KernelDepth.name , Depth.name , KernelDepth.value , Depth.value );
|
|
kernelDepth = Depth.value;
|
|
}
|
|
|
|
DenseNodeData< Real , Sigs > solution;
|
|
{
|
|
DenseNodeData< Real , Sigs > constraints;
|
|
InterpolationInfo* iInfo = NULL;
|
|
int solveDepth = Depth.value;
|
|
|
|
tree.resetNodeIndices();
|
|
|
|
// Get the kernel density estimator
|
|
{
|
|
profiler.start();
|
|
density = tree.template setDensityEstimator< WEIGHT_DEGREE >( *samples , kernelDepth , SamplesPerNode.value , 1 );
|
|
profiler.dumpOutput2( comments , "# Got kernel density:" );
|
|
}
|
|
|
|
// Transform the Hermite samples into a vector field
|
|
{
|
|
profiler.start();
|
|
normalInfo = new SparseNodeData< Point< Real , Dim > , NormalSigs >();
|
|
if( ConfidenceBias.value>0 ) *normalInfo = tree.setNormalField( NormalSigs() , *samples , *sampleData , density , pointWeightSum , [&]( Real conf ){ return (Real)( log( conf ) * ConfidenceBias.value / log( 1<<(Dim-1) ) ); } );
|
|
else *normalInfo = tree.setNormalField( NormalSigs() , *samples , *sampleData , density , pointWeightSum );
|
|
profiler.dumpOutput2( comments , "# Got normal field:" );
|
|
messageWriter( "Point weight / Estimated Area: %g / %g\n" , pointWeightSum , pointCount*pointWeightSum );
|
|
}
|
|
|
|
if( !Density.set ) delete density , density = NULL;
|
|
|
|
// Trim the tree and prepare for multigrid
|
|
{
|
|
profiler.start();
|
|
constexpr int MAX_DEGREE = NORMAL_DEGREE > Degrees::Max() ? NORMAL_DEGREE : Degrees::Max();
|
|
tree.template finalizeForMultigrid< MAX_DEGREE >( FullDepth.value , typename FEMTree< Dim , Real >::template HasNormalDataFunctor< NormalSigs >( *normalInfo ) , normalInfo , density );
|
|
profiler.dumpOutput2( comments , "# Finalized tree:" );
|
|
}
|
|
|
|
// Free up the normal info [If we don't need it for subsequent iterations.]
|
|
if( normalInfo ) delete normalInfo , normalInfo = NULL;
|
|
|
|
// Add the interpolation constraints
|
|
if( ValueWeight.value>0 || GradientWeight.value>0 )
|
|
{
|
|
profiler.start();
|
|
if( ExactInterpolation.set ) iInfo = FEMTree< Dim , Real >::template InitializeExactPointAndDataInterpolationInfo< Real , TotalPointSampleData , 1 >( tree , *samples , GetPointer( *sampleData ) , ConstraintDual< Dim , Real , TotalPointSampleData >( targetValue , (Real)ValueWeight.value * pointWeightSum , (Real)GradientWeight.value * pointWeightSum ) , SystemDual< Dim , Real , TotalPointSampleData >( (Real)ValueWeight.value * pointWeightSum , (Real)GradientWeight.value * pointWeightSum ) , true , false );
|
|
else iInfo = FEMTree< Dim , Real >::template InitializeApproximatePointAndDataInterpolationInfo< Real , TotalPointSampleData , 1 >( tree , *samples , GetPointer( *sampleData ) , ConstraintDual< Dim , Real , TotalPointSampleData >( targetValue , (Real)ValueWeight.value * pointWeightSum , (Real)GradientWeight.value * pointWeightSum ) , SystemDual< Dim , Real , TotalPointSampleData >( (Real)ValueWeight.value * pointWeightSum , (Real)GradientWeight.value * pointWeightSum ) , true , 1 );
|
|
constraints = tree.initDenseNodeData( Sigs() );
|
|
tree.addInterpolationConstraints( constraints , solveDepth , *iInfo );
|
|
profiler.dumpOutput2( comments , "#Set point constraints:" );
|
|
if( DataX.value<=0 || ( !Colors.set && !Normals.set ) ) delete sampleData , sampleData = NULL;
|
|
}
|
|
|
|
messageWriter( "Leaf Nodes / Active Nodes / Ghost Nodes: %d / %d / %d\n" , (int)tree.leaves() , (int)tree.nodes() , (int)tree.ghostNodes() );
|
|
messageWriter( "Memory Usage: %.3f MB\n" , float( MemoryInfo::Usage())/(1<<20) );
|
|
|
|
// Solve the linear system
|
|
{
|
|
profiler.start();
|
|
typename FEMTree< Dim , Real >::SolverInfo sInfo;
|
|
sInfo.cgDepth = 0 , sInfo.cascadic = true , sInfo.vCycles = 1 , sInfo.iters = Iters.value , sInfo.cgAccuracy = CGSolverAccuracy.value , sInfo.verbose = Verbose.set , sInfo.showResidual = ShowResidual.set , sInfo.showGlobalResidual = SHOW_GLOBAL_RESIDUAL_NONE , sInfo.sliceBlockSize = 1;
|
|
sInfo.baseDepth = BaseDepth.value , sInfo.baseVCycles = BaseVCycles.value;
|
|
typename FEMIntegrator::template System< Sigs , IsotropicUIntPack< Dim , 2 > > F( { 0. , 0. , (double)BiLapWeight.value } );
|
|
solution = tree.solveSystem( Sigs() , F , constraints , solveDepth , sInfo , iInfo );
|
|
profiler.dumpOutput2( comments , "# Linear system solved:" );
|
|
if( iInfo ) delete iInfo , iInfo = NULL;
|
|
}
|
|
}
|
|
|
|
{
|
|
profiler.start();
|
|
double valueSum = 0 , weightSum = 0;
|
|
typename FEMTree< Dim , Real >::template MultiThreadedEvaluator< Sigs , 0 > evaluator( &tree , solution );
|
|
#pragma omp parallel for reduction( + : valueSum , weightSum )
|
|
for( int j=0 ; j<samples->size() ; j++ )
|
|
{
|
|
ProjectiveData< Point< Real , Dim > , Real >& sample = (*samples)[j].sample;
|
|
Real w = sample.weight;
|
|
if( w>0 ) weightSum += w , valueSum += evaluator.values( sample.data / sample.weight , omp_get_thread_num() , (*samples)[j].node )[0] * w;
|
|
}
|
|
isoValue = (Real)( valueSum / weightSum );
|
|
if( DataX.value<=0 || ( !Colors.set && !Normals.set ) ) delete samples , samples = NULL;
|
|
profiler.dumpOutput( "Got average:" );
|
|
messageWriter( "Iso-Value: %e = %g / %g\n" , isoValue , valueSum , weightSum );
|
|
}
|
|
if( Tree.set )
|
|
{
|
|
FILE* fp = fopen( Tree.value , "wb" );
|
|
if( !fp ) fprintf( stderr , "[ERROR] Failed to open file for writing: %s\n" , Tree.value ) , exit( 0 );
|
|
FEMTree< Dim , Real >::WriteParameter( fp );
|
|
DenseNodeData< Real , Sigs >::WriteSignatures( fp );
|
|
tree.write( fp );
|
|
solution.write( fp );
|
|
fclose( fp );
|
|
}
|
|
|
|
if( VoxelGrid.set )
|
|
{
|
|
FILE* fp = fopen( VoxelGrid.value , "wb" );
|
|
if( !fp ) fprintf( stderr , "Failed to open voxel file for writing: %s\n" , VoxelGrid.value );
|
|
else
|
|
{
|
|
int res = 0;
|
|
profiler.start();
|
|
Pointer( Real ) values = tree.template regularGridEvaluate< true >( solution , res , -1 , PrimalVoxel.set );
|
|
#pragma omp parallel for
|
|
for( int i=0 ; i<res*res*res ; i++ ) values[i] -= isoValue;
|
|
profiler.dumpOutput( "Got voxel grid:" );
|
|
fwrite( &res , sizeof(int) , 1 , fp );
|
|
if( typeid(Real)==typeid(float) ) fwrite( values , sizeof(float) , res*res*res , fp );
|
|
else
|
|
{
|
|
float *fValues = new float[res*res*res];
|
|
for( int i=0 ; i<res*res*res ; i++ ) fValues[i] = float( values[i] );
|
|
fwrite( fValues , sizeof(float) , res*res*res , fp );
|
|
delete[] fValues;
|
|
}
|
|
fclose( fp );
|
|
DeletePointer( values );
|
|
}
|
|
}
|
|
|
|
if( Out.set )
|
|
{
|
|
if( Normals.set )
|
|
{
|
|
if( Density.set )
|
|
{
|
|
typedef PlyVertexWithData< Real , Dim , MultiPointStreamData< Real , PointStreamNormal< Real , Dim > , PointStreamValue< Real > , AdditionalPointSampleData > > Vertex;
|
|
std::function< void ( Vertex& , Point< Real , Dim > , Real , TotalPointSampleData ) > SetVertex = []( Vertex& v , Point< Real , Dim > p , Real w , TotalPointSampleData d ){ v.point = p , std::get< 0 >( v.data.data ) = std::get< 0 >( d.data ) , std::get< 1 >( v.data.data ).data = w , std::get< 2 >( v.data.data ) = std::get< 1 >( d.data ); };
|
|
ExtractMesh< Vertex >( UIntPack< FEMSigs ... >() , std::tuple< SampleData ... >() , tree , solution , isoValue , samples , sampleData , density , SetVertex , comments , iXForm );
|
|
}
|
|
else
|
|
{
|
|
typedef PlyVertexWithData< Real , Dim , MultiPointStreamData< Real , PointStreamNormal< Real , Dim > , AdditionalPointSampleData > > Vertex;
|
|
std::function< void ( Vertex& , Point< Real , Dim > , Real , TotalPointSampleData ) > SetVertex = []( Vertex& v , Point< Real , Dim > p , Real w , TotalPointSampleData d ){ v.point = p , std::get< 0 >( v.data.data ) = std::get< 0 >( d.data ) , std::get< 1 >( v.data.data ) = std::get< 1 >( d.data ); };
|
|
ExtractMesh< Vertex >( UIntPack< FEMSigs ... >() , std::tuple< SampleData ... >() , tree , solution , isoValue , samples , sampleData , density , SetVertex , comments , iXForm );
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if( Density.set )
|
|
{
|
|
typedef PlyVertexWithData< Real , Dim , MultiPointStreamData< Real , PointStreamValue< Real > , AdditionalPointSampleData > > Vertex;
|
|
std::function< void ( Vertex& , Point< Real , Dim > , Real , TotalPointSampleData ) > SetVertex = []( Vertex& v , Point< Real , Dim > p , Real w , TotalPointSampleData d ){ v.point = p , std::get< 0 >( v.data.data ).data = w , std::get< 1 >( v.data.data ) = std::get< 1 >( d.data ); };
|
|
ExtractMesh< Vertex >( UIntPack< FEMSigs ... >() , std::tuple< SampleData ... >() , tree , solution , isoValue , samples , sampleData , density , SetVertex , comments , iXForm );
|
|
}
|
|
else
|
|
{
|
|
typedef PlyVertexWithData< Real , Dim , MultiPointStreamData< Real , AdditionalPointSampleData > > Vertex;
|
|
std::function< void ( Vertex& , Point< Real , Dim > , Real , TotalPointSampleData ) > SetVertex = []( Vertex& v , Point< Real , Dim > p , Real w , TotalPointSampleData d ){ v.point = p , std::get< 0 >( v.data.data ) = std::get< 1 >( d.data ); };
|
|
ExtractMesh< Vertex >( UIntPack< FEMSigs ... >() , std::tuple< SampleData ... >() , tree , solution , isoValue , samples , sampleData , density , SetVertex , comments , iXForm );
|
|
}
|
|
}
|
|
if( sampleData ){ delete sampleData ; sampleData = NULL; }
|
|
}
|
|
if( density ) delete density , density = NULL;
|
|
messageWriter( comments , "# Total Solve: %9.1f (s), %9.1f (MB)\n" , Time()-startTime , FEMTree< Dim , Real >::MaxMemoryUsage() );
|
|
|
|
return 1;
|
|
}
|
|
|
|
#ifndef FAST_COMPILE
|
|
template< unsigned int Dim , class Real , typename ... SampleData >
|
|
int Execute( int argc , char* argv[] )
|
|
{
|
|
switch( BType.value )
|
|
{
|
|
case BOUNDARY_FREE+1:
|
|
{
|
|
switch( Degree.value )
|
|
{
|
|
case 2: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 2 , BOUNDARY_FREE >::Signature >() );
|
|
case 3: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 3 , BOUNDARY_FREE >::Signature >() );
|
|
// case 4: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 4 , BOUNDARY_FREE >::Signature >() );
|
|
default: fprintf( stderr , "[ERROR] Only B-Splines of degree 2 - 3 are supported" ) ; return EXIT_FAILURE;
|
|
}
|
|
}
|
|
case BOUNDARY_NEUMANN+1:
|
|
{
|
|
switch( Degree.value )
|
|
{
|
|
case 2: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 2 , BOUNDARY_NEUMANN >::Signature >() );
|
|
case 3: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 3 , BOUNDARY_NEUMANN >::Signature >() );
|
|
// case 4: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 4 , BOUNDARY_NEUMANN >::Signature >() );
|
|
default: fprintf( stderr , "[ERROR] Only B-Splines of degree 2 - 3 are supported" ) ; return EXIT_FAILURE;
|
|
}
|
|
}
|
|
case BOUNDARY_DIRICHLET+1:
|
|
{
|
|
switch( Degree.value )
|
|
{
|
|
case 2: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 2 , BOUNDARY_DIRICHLET >::Signature >() );
|
|
case 3: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 3 , BOUNDARY_DIRICHLET >::Signature >() );
|
|
// case 4: return Execute< Real , SampleData ... >( argc , argv , IsotropicUIntPack< Dim , FEMDegreeAndBType< 4 , BOUNDARY_DIRICHLET >::Signature >() );
|
|
default: fprintf( stderr , "[ERROR] Only B-Splines of degree 2- 3 are supported" ) ; return EXIT_FAILURE;
|
|
}
|
|
}
|
|
default: fprintf( stderr , "[ERROR] Not a valid boundary type: %d\n" , BType.value ) ; return EXIT_FAILURE;
|
|
}
|
|
}
|
|
#endif // !FAST_COMPILE
|
|
|
|
int main( int argc , char* argv[] )
|
|
{
|
|
Timer timer;
|
|
#ifdef ARRAY_DEBUG
|
|
fprintf( stderr , "[WARNING] Array debugging enabled\n" );
|
|
#endif // ARRAY_DEBUG
|
|
|
|
cmdLineParse( argc-1 , &argv[1] , params );
|
|
if( MaxMemoryGB.value>0 ) SetPeakMemoryMB( MaxMemoryGB.value<<10 );
|
|
omp_set_num_threads( Threads.value > 1 ? Threads.value : 1 );
|
|
messageWriter.echoSTDOUT = Verbose.set;
|
|
|
|
if( !In.set )
|
|
{
|
|
ShowUsage( argv[0] );
|
|
return 0;
|
|
}
|
|
if( GradientWeight.value<=0 ) fprintf( stderr , "[ERROR] Gradient weight must be positive: %g>0\n" , GradientWeight.value ) , exit( 0 );
|
|
if( BiLapWeight.value<=0 ) fprintf( stderr , "[ERROR] Bi-Laplacian weight must be positive: %g>0\n" , BiLapWeight.value ) , exit( 0 );
|
|
if( DataX.value<=0 ) Normals.set = Colors.set = false;
|
|
if( BaseDepth.value>FullDepth.value )
|
|
{
|
|
if( BaseDepth.set ) fprintf( stderr , "[WARNING] Base depth must be smaller than full depth: %d <= %d\n" , BaseDepth.value , FullDepth.value );
|
|
BaseDepth.value = FullDepth.value;
|
|
}
|
|
ValueWeight.value *= (float)BaseSSDWeights[0];
|
|
GradientWeight.value *= (float)BaseSSDWeights[1];
|
|
BiLapWeight.value *= (float)BaseSSDWeights[2];
|
|
|
|
#ifdef USE_DOUBLE
|
|
typedef double Real;
|
|
#else // !USE_DOUBLE
|
|
typedef float Real;
|
|
#endif // USE_DOUBLE
|
|
|
|
#ifdef FAST_COMPILE
|
|
static const int Degree = DEFAULT_FEM_DEGREE;
|
|
static const BoundaryType BType = DEFAULT_FEM_BOUNDARY;
|
|
typedef IsotropicUIntPack< DIMENSION , FEMDegreeAndBType< Degree , BType >::Signature > FEMSigs;
|
|
fprintf( stderr , "[WARNING] Compiled for degree-%d, boundary-%s, %s-precision _only_\n" , Degree , BoundaryNames[ BType ] , sizeof(Real)==4 ? "single" : "double" );
|
|
if( Colors.set ) Execute< Real , PointStreamColor< DefaultFloatType > >( argc , argv , FEMSigs() );
|
|
else Execute< Real >( argc , argv , FEMSigs() );
|
|
#else // !FAST_COMPILE
|
|
if( Colors.set ) Execute< DIMENSION , Real , PointStreamColor< float > >( argc , argv );
|
|
else Execute< DIMENSION , Real >( argc , argv );
|
|
#endif // FAST_COMPILE
|
|
if( Performance.set )
|
|
{
|
|
printf( "Time (Wall/CPU): %.2f / %.2f\n" , timer.wallTime() , timer.cpuTime() );
|
|
printf( "Peak Memory (MB): %d\n" , MemoryInfo::PeakMemoryUsageMB() );
|
|
}
|
|
return EXIT_SUCCESS;
|
|
}
|