OpenVDB: openvdb/tools/PointPartitioner.h Source File

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PointPartitioner.h
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1// Copyright Contributors to the OpenVDB Project
2// SPDX-License-Identifier: Apache-2.0
3
4/// @file PointPartitioner.h
5///
6/// @brief Spatially partitions points using a parallel radix-based
7/// sorting algorithm.
8///
9/// @details Performs a stable deterministic sort; partitioning the same
10/// point sequence will produce the same result each time.
11/// @details The algorithm is unbounded meaning that points may be
12/// distributed anywhere in index space.
13/// @details The actual points are never stored in the tool, only
14/// offsets into an external array.
15///
16/// @author Mihai Alden
17
18#ifndef OPENVDB_TOOLS_POINT_PARTITIONER_HAS_BEEN_INCLUDED
19#define OPENVDB_TOOLS_POINT_PARTITIONER_HAS_BEEN_INCLUDED
20
21#include <openvdb/Types.h>
22#include <openvdb/math/Transform.h>
23#include <openvdb/util/Assert.h>
24
25#include <tbb/blocked_range.h>
26#include <tbb/parallel_for.h>
27#include <tbb/task_arena.h>
28
29#include <algorithm>
30#include <cmath> // for std::isfinite()
31#include <deque>
32#include <map>
33#include <set>
34#include <utility> // std::pair
35#include <vector>
36
37
38namespace openvdb {
39 OPENVDB_USE_VERSION_NAMESPACE
40namespace OPENVDB_VERSION_NAME {
41namespace tools {
42
43
44////////////////////////////////////////
45
46
47/// @brief Partitions points into @c BucketLog2Dim aligned buckets
48/// using a parallel radix-based sorting algorithm.
49///
50/// @interface PointArray
51/// Expected interface for the PointArray container:
52/// @code
53/// template<typename VectorType>
54/// struct PointArray
55/// {
56/// // The type used to represent world-space point positions
57/// using PosType = VectorType;
58///
59/// // Return the number of points in the array
60/// size_t size() const;
61///
62/// // Return the world-space position of the nth point in the array.
63/// void getPos(size_t n, PosType& xyz) const;
64/// };
65/// @endcode
66///
67/// @details Performs a stable deterministic sort; partitioning the same
68/// point sequence will produce the same result each time.
69/// @details The algorithm is unbounded meaning that points may be
70/// distributed anywhere in index space.
71/// @details The actual points are never stored in the tool, only
72/// offsets into an external array.
73/// @details @c BucketLog2Dim defines the bucket coordinate dimensions,
74/// i.e. BucketLog2Dim = 3 corresponds to a bucket that spans
75/// a (2^3)^3 = 8^3 voxel region.
76template<typename PointIndexType = uint32_t, Index BucketLog2Dim = 3>
77 class PointPartitioner
78{
79public:
80 enum { LOG2DIM = BucketLog2Dim };
81
82 using Ptr = SharedPtr<PointPartitioner>;
83 using ConstPtr = SharedPtr<const PointPartitioner>;
84
85 using IndexType = PointIndexType;
86
87 static constexpr Index bits = 1 + (3 * BucketLog2Dim);
88 // signed, so if bits is exactly 16, int32 is required
89 using VoxelOffsetType = typename std::conditional<(bits < 16),
90 int16_t, typename std::conditional<(bits < 32), int32_t, int64_t>::type>::type;
91
92 using VoxelOffsetArray = std::unique_ptr<VoxelOffsetType[]>;
93
94 class IndexIterator;
95
96 //////////
97
98 PointPartitioner();
99
100 /// @brief Partitions point indices into @c BucketLog2Dim aligned buckets.
101 ///
102 /// @param points list of world space points.
103 /// @param xform world to index space transform.
104 /// @param voxelOrder sort point indices by local voxel offsets.
105 /// @param recordVoxelOffsets construct local voxel offsets
106 /// @param cellCenteredTransform toggle the cell-centered interpretation that imagines world
107 /// space as divided into discrete cells (e.g., cubes) centered
108 /// on the image of the index-space lattice points.
109 template<typename PointArray>
110 void construct(const PointArray& points, const math::Transform& xform,
111 bool voxelOrder = false, bool recordVoxelOffsets = false,
112 bool cellCenteredTransform = true);
113
114
115 /// @brief Partitions point indices into @c BucketLog2Dim aligned buckets.
116 ///
117 /// @param points list of world space points.
118 /// @param xform world to index space transform.
119 /// @param voxelOrder sort point indices by local voxel offsets.
120 /// @param recordVoxelOffsets construct local voxel offsets
121 /// @param cellCenteredTransform toggle the cell-centered interpretation that imagines world
122 /// space as divided into discrete cells (e.g., cubes) centered
123 /// on the image of the index-space lattice points.
124 template<typename PointArray>
125 static Ptr create(const PointArray& points, const math::Transform& xform,
126 bool voxelOrder = false, bool recordVoxelOffsets = false,
127 bool cellCenteredTransform = true);
128
129
130 /// @brief Returns the number of buckets.
131 size_t size() const { return mPageCount; }
132
133 /// @brief true if the container size is 0, false otherwise.
134 bool empty() const { return mPageCount == 0; }
135
136 /// @brief Removes all data and frees up memory.
137 void clear();
138
139 /// @brief Exchanges the content of the container by another.
140 void swap(PointPartitioner&);
141
142 /// @brief Returns the point indices for bucket @a n
143 IndexIterator indices(size_t n) const;
144
145 /// @brief Returns the coordinate-aligned bounding box for bucket @a n
146 CoordBBox getBBox(size_t n) const {
147 return CoordBBox::createCube(mPageCoordinates[n], (1u << BucketLog2Dim));
148 }
149
150 /// @brief Returns the origin coordinate for bucket @a n
151 const Coord& origin(size_t n) const { return mPageCoordinates[n]; }
152
153 /// @brief Returns a list of @c LeafNode voxel offsets for the points.
154 /// @note The list is optionally constructed.
155 const VoxelOffsetArray& voxelOffsets() const { return mVoxelOffsets; }
156
157 /// @brief Returns @c true if this point partitioning was constructed
158 /// using a cell-centered transform.
159 /// @note Cell-centered interpretation is the default behavior.
160 bool usingCellCenteredTransform() const { return mUsingCellCenteredTransform; }
161
162private:
163 // Disallow copying
164 PointPartitioner(const PointPartitioner&);
165 PointPartitioner& operator=(const PointPartitioner&);
166
167 std::unique_ptr<IndexType[]> mPointIndices;
168 VoxelOffsetArray mVoxelOffsets;
169
170 std::unique_ptr<IndexType[]> mPageOffsets;
171 std::unique_ptr<Coord[]> mPageCoordinates;
172 IndexType mPageCount;
173 bool mUsingCellCenteredTransform;
174}; // class PointPartitioner
175
176
177 using UInt32PointPartitioner = PointPartitioner<uint32_t, 3>;
178
179
180template<typename PointIndexType, Index BucketLog2Dim>
181 class PointPartitioner<PointIndexType, BucketLog2Dim>::IndexIterator
182{
183public:
184 using IndexType = PointIndexType;
185
186 IndexIterator(IndexType* begin = nullptr, IndexType* end = nullptr)
187 : mBegin(begin), mEnd(end), mItem(begin) {}
188
189 /// @brief Rewind to first item.
190 void reset() { mItem = mBegin; }
191
192 /// @brief Number of point indices in the iterator range.
193 size_t size() const { return mEnd - mBegin; }
194
195 /// @brief Returns the item to which this iterator is currently pointing.
196 IndexType& operator*() { OPENVDB_ASSERT(mItem != nullptr); return *mItem; }
197 const IndexType& operator*() const { OPENVDB_ASSERT(mItem != nullptr); return *mItem; }
198
199 /// @brief Return @c true if this iterator is not yet exhausted.
200 operator bool() const { return mItem < mEnd; }
201 bool test() const { return mItem < mEnd; }
202
203 /// @brief Advance to the next item.
204 IndexIterator& operator++() { OPENVDB_ASSERT(this->test()); ++mItem; return *this; }
205
206 /// @brief Advance to the next item.
207 bool next() { this->operator++(); return this->test(); }
208 bool increment() { this->next(); return this->test(); }
209
210 /// @brief Equality operators
211 bool operator==(const IndexIterator& other) const { return mItem == other.mItem; }
212 bool operator!=(const IndexIterator& other) const { return !this->operator==(other); }
213
214private:
215 IndexType * const mBegin, * const mEnd;
216 IndexType * mItem;
217}; // class PointPartitioner::IndexIterator
218
219
220////////////////////////////////////////
221////////////////////////////////////////
222
223// Implementation details
224
225/// @cond OPENVDB_DOCS_INTERNAL
226
227namespace point_partitioner_internal {
228
229
230template<typename PointIndexType>
231struct ComputePointOrderOp
232{
233 ComputePointOrderOp(PointIndexType* pointOrder,
234 const PointIndexType* bucketCounters, const PointIndexType* bucketOffsets)
235 : mPointOrder(pointOrder)
236 , mBucketCounters(bucketCounters)
237 , mBucketOffsets(bucketOffsets)
238 {
239 }
240
241 void operator()(const tbb::blocked_range<size_t>& range) const {
242 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
243 mPointOrder[n] += mBucketCounters[mBucketOffsets[n]];
244 }
245 }
246
247 PointIndexType * const mPointOrder;
248 PointIndexType const * const mBucketCounters;
249 PointIndexType const * const mBucketOffsets;
250}; // struct ComputePointOrderOp
251
252
253template<typename PointIndexType>
254struct CreateOrderedPointIndexArrayOp
255{
256 CreateOrderedPointIndexArrayOp(PointIndexType* orderedIndexArray,
257 const PointIndexType* pointOrder, const PointIndexType* indices)
258 : mOrderedIndexArray(orderedIndexArray)
259 , mPointOrder(pointOrder)
260 , mIndices(indices)
261 {
262 }
263
264 void operator()(const tbb::blocked_range<size_t>& range) const {
265 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
266 mOrderedIndexArray[mPointOrder[n]] = mIndices[n];
267 }
268 }
269
270 PointIndexType * const mOrderedIndexArray;
271 PointIndexType const * const mPointOrder;
272 PointIndexType const * const mIndices;
273}; // struct CreateOrderedPointIndexArrayOp
274
275
276template<typename PointIndexType, Index BucketLog2Dim>
277struct VoxelOrderOp
278{
279 static constexpr Index bits = 1 + (3 * BucketLog2Dim);
280 // signed, so if bits is exactly 16, int32 is required
281 using VoxelOffsetType = typename std::conditional<(bits < 16),
282 int16_t, typename std::conditional<(bits < 32), int32_t, int64_t>::type>::type;
283
284 using VoxelOffsetArray = std::unique_ptr<VoxelOffsetType[]>;
285 using IndexArray = std::unique_ptr<PointIndexType[]>;
286
287 VoxelOrderOp(IndexArray& indices, const IndexArray& pages,const VoxelOffsetArray& offsets)
288 : mIndices(indices.get())
289 , mPages(pages.get())
290 , mVoxelOffsets(offsets.get())
291 {
292 }
293
294 void operator()(const tbb::blocked_range<size_t>& range) const {
295
296 PointIndexType pointCount = 0;
297 for (size_t n(range.begin()), N(range.end()); n != N; ++n) {
298 pointCount = std::max(pointCount, (mPages[n + 1] - mPages[n]));
299 }
300
301 const PointIndexType voxelCount = 1 << (3 * BucketLog2Dim);
302
303 // allocate histogram buffers
304 std::unique_ptr<VoxelOffsetType[]> offsets(new VoxelOffsetType[pointCount]);
305 std::unique_ptr<PointIndexType[]> sortedIndices(new PointIndexType[pointCount]);
306 std::unique_ptr<PointIndexType[]> histogram(new PointIndexType[voxelCount]);
307
308 for (size_t n(range.begin()), N(range.end()); n != N; ++n) {
309
310 PointIndexType * const indices = mIndices + mPages[n];
311 pointCount = mPages[n + 1] - mPages[n];
312
313 // local copy of voxel offsets.
314 for (PointIndexType i = 0; i < pointCount; ++i) {
315 offsets[i] = mVoxelOffsets[ indices[i] ];
316 }
317
318 // reset histogram
319 memset(&histogram[0], 0, voxelCount * sizeof(PointIndexType));
320
321 // compute histogram
322 for (PointIndexType i = 0; i < pointCount; ++i) {
323 ++histogram[ offsets[i] ];
324 }
325
326 PointIndexType count = 0, startOffset;
327 for (int i = 0; i < int(voxelCount); ++i) {
328 if (histogram[i] > 0) {
329 startOffset = count;
330 count += histogram[i];
331 histogram[i] = startOffset;
332 }
333 }
334
335 // sort indices based on voxel offset
336 for (PointIndexType i = 0; i < pointCount; ++i) {
337 sortedIndices[ histogram[ offsets[i] ]++ ] = indices[i];
338 }
339
340 memcpy(&indices[0], &sortedIndices[0], sizeof(PointIndexType) * pointCount);
341 }
342 }
343
344 PointIndexType * const mIndices;
345 PointIndexType const * const mPages;
346 VoxelOffsetType const * const mVoxelOffsets;
347}; // struct VoxelOrderOp
348
349
350////////////////////////////////////////
351
352
353template<typename T>
354struct Array
355{
356 using Ptr = std::unique_ptr<Array>;
357
358 Array(size_t size) : mSize(size), mData(new T[size]) { }
359
360 size_t size() const { return mSize; }
361
362 T* data() { return mData.get(); }
363 const T* data() const { return mData.get(); }
364
365 void clear() { mSize = 0; mData.reset(); }
366
367private:
368 size_t mSize;
369 std::unique_ptr<T[]> mData;
370}; // struct Array
371
372
373template<typename PointIndexType>
374struct MoveSegmentDataOp
375{
376 using SegmentPtr = typename Array<PointIndexType>::Ptr;
377
378 MoveSegmentDataOp(std::vector<PointIndexType*>& indexLists, SegmentPtr* segments)
379 : mIndexLists(&indexLists[0]), mSegments(segments)
380 {
381 }
382
383 void operator()(const tbb::blocked_range<size_t>& range) const {
384 for (size_t n(range.begin()), N(range.end()); n != N; ++n) {
385 PointIndexType* indices = mIndexLists[n];
386 SegmentPtr& segment = mSegments[n];
387
388 tbb::parallel_for(tbb::blocked_range<size_t>(0, segment->size()),
389 CopyData(indices, segment->data()));
390
391 segment.reset(); // clear data
392 }
393 }
394
395private:
396
397 struct CopyData
398 {
399 CopyData(PointIndexType* lhs, const PointIndexType* rhs) : mLhs(lhs), mRhs(rhs) { }
400
401 void operator()(const tbb::blocked_range<size_t>& range) const {
402 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
403 mLhs[n] = mRhs[n];
404 }
405 }
406
407 PointIndexType * const mLhs;
408 PointIndexType const * const mRhs;
409 };
410
411 PointIndexType * const * const mIndexLists;
412 SegmentPtr * const mSegments;
413}; // struct MoveSegmentDataOp
414
415
416template<typename PointIndexType>
417struct MergeBinsOp
418{
419 using Segment = Array<PointIndexType>;
420 using SegmentPtr = typename Segment::Ptr;
421
422 using IndexPair = std::pair<PointIndexType, PointIndexType>;
423 using IndexPairList = std::deque<IndexPair>;
424 using IndexPairListPtr = std::shared_ptr<IndexPairList>;
425 using IndexPairListMap = std::map<Coord, IndexPairListPtr>;
426 using IndexPairListMapPtr = std::shared_ptr<IndexPairListMap>;
427
428 MergeBinsOp(IndexPairListMapPtr* bins,
429 SegmentPtr* indexSegments,
430 SegmentPtr* offsetSegments,
431 Coord* coords,
432 size_t numSegments)
433 : mBins(bins)
434 , mIndexSegments(indexSegments)
435 , mOffsetSegments(offsetSegments)
436 , mCoords(coords)
437 , mNumSegments(numSegments)
438 {
439 }
440
441 void operator()(const tbb::blocked_range<size_t>& range) const {
442
443 std::vector<IndexPairListPtr*> data;
444 std::vector<PointIndexType> arrayOffsets;
445
446 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
447
448 const Coord& ijk = mCoords[n];
449 size_t numIndices = 0;
450
451 data.clear();
452
453 for (size_t i = 0, I = mNumSegments; i < I; ++i) {
454
455 IndexPairListMap& idxMap = *mBins[i];
456 typename IndexPairListMap::iterator iter = idxMap.find(ijk);
457
458 if (iter != idxMap.end() && iter->second) {
459 IndexPairListPtr& idxListPtr = iter->second;
460
461 data.push_back(&idxListPtr);
462 numIndices += idxListPtr->size();
463 }
464 }
465
466 if (data.empty() || numIndices == 0) continue;
467
468 SegmentPtr& indexSegment = mIndexSegments[n];
469 SegmentPtr& offsetSegment = mOffsetSegments[n];
470
471 indexSegment.reset(new Segment(numIndices));
472 offsetSegment.reset(new Segment(numIndices));
473
474 arrayOffsets.clear();
475 arrayOffsets.reserve(data.size());
476
477 for (size_t i = 0, count = 0, I = data.size(); i < I; ++i) {
478 arrayOffsets.push_back(PointIndexType(count));
479 count += (*data[i])->size();
480 }
481
482 tbb::parallel_for(tbb::blocked_range<size_t>(0, data.size()),
483 CopyData(&data[0], &arrayOffsets[0], indexSegment->data(), offsetSegment->data()));
484 }
485 }
486
487private:
488
489 struct CopyData
490 {
491 CopyData(IndexPairListPtr** indexLists,
492 const PointIndexType* arrayOffsets,
493 PointIndexType* indices,
494 PointIndexType* offsets)
495 : mIndexLists(indexLists)
496 , mArrayOffsets(arrayOffsets)
497 , mIndices(indices)
498 , mOffsets(offsets)
499 {
500 }
501
502 void operator()(const tbb::blocked_range<size_t>& range) const {
503
504 using CIter = typename IndexPairList::const_iterator;
505
506 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
507
508 const PointIndexType arrayOffset = mArrayOffsets[n];
509 PointIndexType* indexPtr = &mIndices[arrayOffset];
510 PointIndexType* offsetPtr = &mOffsets[arrayOffset];
511
512 IndexPairListPtr& list = *mIndexLists[n];
513
514 for (CIter it = list->begin(), end = list->end(); it != end; ++it) {
515 const IndexPair& data = *it;
516 *indexPtr++ = data.first;
517 *offsetPtr++ = data.second;
518 }
519
520 list.reset(); // clear data
521 }
522 }
523
524 IndexPairListPtr * const * const mIndexLists;
525 PointIndexType const * const mArrayOffsets;
526 PointIndexType * const mIndices;
527 PointIndexType * const mOffsets;
528 }; // struct CopyData
529
530 IndexPairListMapPtr * const mBins;
531 SegmentPtr * const mIndexSegments;
532 SegmentPtr * const mOffsetSegments;
533 Coord const * const mCoords;
534 size_t const mNumSegments;
535}; // struct MergeBinsOp
536
537
538template<typename PointArray, typename PointIndexType, typename VoxelOffsetType>
539struct BinPointIndicesOp
540{
541 using PosType = typename PointArray::PosType;
542 using IndexPair = std::pair<PointIndexType, PointIndexType>;
543 using IndexPairList = std::deque<IndexPair>;
544 using IndexPairListPtr = std::shared_ptr<IndexPairList>;
545 using IndexPairListMap = std::map<Coord, IndexPairListPtr>;
546 using IndexPairListMapPtr = std::shared_ptr<IndexPairListMap>;
547
548 BinPointIndicesOp(IndexPairListMapPtr* data,
549 const PointArray& points,
550 VoxelOffsetType* voxelOffsets,
551 const math::Transform& m,
552 Index binLog2Dim,
553 Index bucketLog2Dim,
554 size_t numSegments,
555 bool cellCenteredTransform)
556 : mData(data)
557 , mPoints(&points)
558 , mVoxelOffsets(voxelOffsets)
559 , mXForm(m)
560 , mBinLog2Dim(binLog2Dim)
561 , mBucketLog2Dim(bucketLog2Dim)
562 , mNumSegments(numSegments)
563 , mCellCenteredTransform(cellCenteredTransform)
564 {
565 }
566
567 void operator()(const tbb::blocked_range<size_t>& range) const {
568
569 const Index log2dim = mBucketLog2Dim;
570 const Index log2dim2 = 2 * log2dim;
571 const Index bucketMask = (1u << log2dim) - 1u;
572
573 const Index binLog2dim = mBinLog2Dim;
574 const Index binLog2dim2 = 2 * binLog2dim;
575
576 const Index binMask = (1u << (log2dim + binLog2dim)) - 1u;
577 const Index invBinMask = ~binMask;
578
579 IndexPairList * idxList = nullptr;
580 Coord ijk(0, 0, 0), loc(0, 0, 0), binCoord(0, 0, 0), lastBinCoord(1, 2, 3);
581 PosType pos;
582
583 PointIndexType bucketOffset = 0;
584 VoxelOffsetType voxelOffset = 0;
585
586 const bool cellCentered = mCellCenteredTransform;
587
588 const size_t numPoints = mPoints->size();
589 const size_t segmentSize = numPoints / mNumSegments;
590
591 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
592
593 IndexPairListMapPtr& dataPtr = mData[n];
594 if (!dataPtr) dataPtr.reset(new IndexPairListMap());
595 IndexPairListMap& idxMap = *dataPtr;
596
597 const bool isLastSegment = (n + 1) >= mNumSegments;
598
599 const size_t start = n * segmentSize;
600 const size_t end = isLastSegment ? numPoints : (start + segmentSize);
601
602 for (size_t i = start; i != end; ++i) {
603
604 mPoints->getPos(i, pos);
605
606 if (std::isfinite(pos[0]) && std::isfinite(pos[1]) && std::isfinite(pos[2])) {
607 ijk = cellCentered ? mXForm.worldToIndexCellCentered(pos) :
608 mXForm.worldToIndexNodeCentered(pos);
609
610 if (mVoxelOffsets) {
611 loc[0] = ijk[0] & bucketMask;
612 loc[1] = ijk[1] & bucketMask;
613 loc[2] = ijk[2] & bucketMask;
614 voxelOffset = VoxelOffsetType(
615 (loc[0] << log2dim2) + (loc[1] << log2dim) + loc[2]);
616 }
617
618 binCoord[0] = ijk[0] & invBinMask;
619 binCoord[1] = ijk[1] & invBinMask;
620 binCoord[2] = ijk[2] & invBinMask;
621
622 ijk[0] &= binMask;
623 ijk[1] &= binMask;
624 ijk[2] &= binMask;
625
626 ijk[0] >>= log2dim;
627 ijk[1] >>= log2dim;
628 ijk[2] >>= log2dim;
629
630 bucketOffset = PointIndexType(
631 (ijk[0] << binLog2dim2) + (ijk[1] << binLog2dim) + ijk[2]);
632
633 if (lastBinCoord != binCoord) {
634 lastBinCoord = binCoord;
635 IndexPairListPtr& idxListPtr = idxMap[lastBinCoord];
636 if (!idxListPtr) idxListPtr.reset(new IndexPairList());
637 idxList = idxListPtr.get();
638 }
639
640 idxList->push_back(IndexPair(PointIndexType(i), bucketOffset));
641 if (mVoxelOffsets) mVoxelOffsets[i] = voxelOffset;
642 }
643 }
644 }
645 }
646
647 IndexPairListMapPtr * const mData;
648 PointArray const * const mPoints;
649 VoxelOffsetType * const mVoxelOffsets;
650 math::Transform const mXForm;
651 Index const mBinLog2Dim;
652 Index const mBucketLog2Dim;
653 size_t const mNumSegments;
654 bool const mCellCenteredTransform;
655}; // struct BinPointIndicesOp
656
657
658template<typename PointIndexType>
659struct OrderSegmentsOp
660{
661 using IndexArray = std::unique_ptr<PointIndexType[]>;
662 using SegmentPtr = typename Array<PointIndexType>::Ptr;
663
664 OrderSegmentsOp(SegmentPtr* indexSegments, SegmentPtr* offsetSegments,
665 IndexArray* pageOffsetArrays, IndexArray* pageIndexArrays, Index binVolume)
666 : mIndexSegments(indexSegments)
667 , mOffsetSegments(offsetSegments)
668 , mPageOffsetArrays(pageOffsetArrays)
669 , mPageIndexArrays(pageIndexArrays)
670 , mBinVolume(binVolume)
671 {
672 }
673
674 void operator()(const tbb::blocked_range<size_t>& range) const {
675
676 const size_t bucketCountersSize = size_t(mBinVolume);
677 IndexArray bucketCounters(new PointIndexType[bucketCountersSize]);
678
679 size_t maxSegmentSize = 0;
680 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
681 maxSegmentSize = std::max(maxSegmentSize, mIndexSegments[n]->size());
682 }
683
684 IndexArray bucketIndices(new PointIndexType[maxSegmentSize]);
685
686 for (size_t n = range.begin(), N = range.end(); n != N; ++n) {
687
688 memset(bucketCounters.get(), 0, sizeof(PointIndexType) * bucketCountersSize);
689
690 const size_t segmentSize = mOffsetSegments[n]->size();
691 PointIndexType* offsets = mOffsetSegments[n]->data();
692
693 // Count the number of points per bucket and assign a local bucket index
694 // to each point.
695 for (size_t i = 0; i < segmentSize; ++i) {
696 bucketIndices[i] = bucketCounters[offsets[i]]++;
697 }
698
699 PointIndexType nonemptyBucketCount = 0;
700 for (size_t i = 0; i < bucketCountersSize; ++i) {
701 nonemptyBucketCount += static_cast<PointIndexType>(bucketCounters[i] != 0);
702 }
703
704
705 IndexArray& pageOffsets = mPageOffsetArrays[n];
706 pageOffsets.reset(new PointIndexType[nonemptyBucketCount + 1]);
707 pageOffsets[0] = nonemptyBucketCount + 1; // stores array size in first element
708
709 IndexArray& pageIndices = mPageIndexArrays[n];
710 pageIndices.reset(new PointIndexType[nonemptyBucketCount]);
711
712 // Compute bucket counter prefix sum
713 PointIndexType count = 0, idx = 0;
714 for (size_t i = 0; i < bucketCountersSize; ++i) {
715 if (bucketCounters[i] != 0) {
716 pageIndices[idx] = static_cast<PointIndexType>(i);
717 pageOffsets[idx+1] = bucketCounters[i];
718 bucketCounters[i] = count;
719 count += pageOffsets[idx+1];
720 ++idx;
721 }
722 }
723
724 PointIndexType* indices = mIndexSegments[n]->data();
725 const tbb::blocked_range<size_t> segmentRange(0, segmentSize);
726
727 // Compute final point order by incrementing the local bucket point index
728 // with the prefix sum offset.
729 tbb::parallel_for(segmentRange, ComputePointOrderOp<PointIndexType>(
730 bucketIndices.get(), bucketCounters.get(), offsets));
731
732 tbb::parallel_for(segmentRange, CreateOrderedPointIndexArrayOp<PointIndexType>(
733 offsets, bucketIndices.get(), indices));
734
735 mIndexSegments[n]->clear(); // clear data
736 }
737 }
738
739 SegmentPtr * const mIndexSegments;
740 SegmentPtr * const mOffsetSegments;
741 IndexArray * const mPageOffsetArrays;
742 IndexArray * const mPageIndexArrays;
743 Index const mBinVolume;
744}; // struct OrderSegmentsOp
745
746
747////////////////////////////////////////
748
749
750/// @brief Segment points using one level of least significant digit radix bins.
751template<typename PointIndexType, typename VoxelOffsetType, typename PointArray>
752inline void binAndSegment(
753 const PointArray& points,
754 const math::Transform& xform,
755 std::unique_ptr<typename Array<PointIndexType>::Ptr[]>& indexSegments,
756 std::unique_ptr<typename Array<PointIndexType>::Ptr[]>& offsetSegments,
757 std::vector<Coord>& coords,
758 const Index binLog2Dim,
759 const Index bucketLog2Dim,
760 VoxelOffsetType* voxelOffsets = nullptr,
761 bool cellCenteredTransform = true)
762{
763 using IndexPair = std::pair<PointIndexType, PointIndexType>;
764 using IndexPairList = std::deque<IndexPair>;
765 using IndexPairListPtr = std::shared_ptr<IndexPairList>;
766 using IndexPairListMap = std::map<Coord, IndexPairListPtr>;
767 using IndexPairListMapPtr = std::shared_ptr<IndexPairListMap>;
768
769 size_t numTasks = 1, numThreads = size_t(tbb::this_task_arena::max_concurrency());
770 if (points.size() > (numThreads * 2)) numTasks = numThreads * 2;
771 else if (points.size() > numThreads) numTasks = numThreads;
772
773 std::unique_ptr<IndexPairListMapPtr[]> bins(new IndexPairListMapPtr[numTasks]);
774
775 using BinOp = BinPointIndicesOp<PointArray, PointIndexType, VoxelOffsetType>;
776
777 tbb::parallel_for(tbb::blocked_range<size_t>(0, numTasks),
778 BinOp(bins.get(), points, voxelOffsets, xform, binLog2Dim, bucketLog2Dim,
779 numTasks, cellCenteredTransform));
780
781 std::set<Coord> uniqueCoords;
782
783 for (size_t i = 0; i < numTasks; ++i) {
784 IndexPairListMap& idxMap = *bins[i];
785 for (typename IndexPairListMap::iterator it = idxMap.begin(); it != idxMap.end(); ++it) {
786 uniqueCoords.insert(it->first);
787 }
788 }
789
790 coords.assign(uniqueCoords.begin(), uniqueCoords.end());
791 uniqueCoords.clear();
792
793 size_t segmentCount = coords.size();
794
795 using SegmentPtr = typename Array<PointIndexType>::Ptr;
796
797 indexSegments.reset(new SegmentPtr[segmentCount]);
798 offsetSegments.reset(new SegmentPtr[segmentCount]);
799
800 using MergeOp = MergeBinsOp<PointIndexType>;
801
802 tbb::parallel_for(tbb::blocked_range<size_t>(0, segmentCount),
803 MergeOp(bins.get(), indexSegments.get(), offsetSegments.get(), &coords[0], numTasks));
804}
805
806
807template<typename PointIndexType, typename VoxelOffsetType, typename PointArray>
808inline void partition(
809 const PointArray& points,
810 const math::Transform& xform,
811 const Index bucketLog2Dim,
812 std::unique_ptr<PointIndexType[]>& pointIndices,
813 std::unique_ptr<PointIndexType[]>& pageOffsets,
814 std::unique_ptr<Coord[]>& pageCoordinates,
815 PointIndexType& pageCount,
816 std::unique_ptr<VoxelOffsetType[]>& voxelOffsets,
817 bool recordVoxelOffsets,
818 bool cellCenteredTransform)
819{
820 using SegmentPtr = typename Array<PointIndexType>::Ptr;
821
822 if (recordVoxelOffsets) voxelOffsets.reset(new VoxelOffsetType[points.size()]);
823 else voxelOffsets.reset();
824
825 const Index binLog2Dim = 5u;
826 // note: Bins span a (2^(binLog2Dim + bucketLog2Dim))^3 voxel region,
827 // i.e. bucketLog2Dim = 3 and binLog2Dim = 5 corresponds to a
828 // (2^8)^3 = 256^3 voxel region.
829
830
831 std::vector<Coord> segmentCoords;
832
833 std::unique_ptr<SegmentPtr[]> indexSegments;
834 std::unique_ptr<SegmentPtr[]> offsetSegments;
835
836 binAndSegment<PointIndexType, VoxelOffsetType, PointArray>(points, xform,
837 indexSegments, offsetSegments, segmentCoords, binLog2Dim, bucketLog2Dim,
838 voxelOffsets.get(), cellCenteredTransform);
839
840 size_t numSegments = segmentCoords.size();
841
842 const tbb::blocked_range<size_t> segmentRange(0, numSegments);
843
844 using IndexArray = std::unique_ptr<PointIndexType[]>;
845 std::unique_ptr<IndexArray[]> pageOffsetArrays(new IndexArray[numSegments]);
846 std::unique_ptr<IndexArray[]> pageIndexArrays(new IndexArray[numSegments]);
847
848 const Index binVolume = 1u << (3u * binLog2Dim);
849
850 tbb::parallel_for(segmentRange, OrderSegmentsOp<PointIndexType>
851 (indexSegments.get(), offsetSegments.get(),
852 pageOffsetArrays.get(), pageIndexArrays.get(), binVolume));
853
854 indexSegments.reset();
855
856 std::vector<Index> segmentOffsets;
857 segmentOffsets.reserve(numSegments);
858
859 pageCount = 0;
860 for (size_t n = 0; n < numSegments; ++n) {
861 segmentOffsets.push_back(pageCount);
862 pageCount += pageOffsetArrays[n][0] - 1;
863 }
864
865 pageOffsets.reset(new PointIndexType[pageCount + 1]);
866
867 PointIndexType count = 0;
868 for (size_t n = 0, idx = 0; n < numSegments; ++n) {
869
870 PointIndexType* offsets = pageOffsetArrays[n].get();
871 size_t size = size_t(offsets[0]);
872
873 for (size_t i = 1; i < size; ++i) {
874 pageOffsets[idx++] = count;
875 count += offsets[i];
876 }
877 }
878
879 pageOffsets[pageCount] = count;
880
881 pointIndices.reset(new PointIndexType[points.size()]);
882
883 std::vector<PointIndexType*> indexArray;
884 indexArray.reserve(numSegments);
885
886 PointIndexType* index = pointIndices.get();
887 for (size_t n = 0; n < numSegments; ++n) {
888 indexArray.push_back(index);
889 index += offsetSegments[n]->size();
890 }
891
892 // compute leaf node origin for each page
893
894 pageCoordinates.reset(new Coord[pageCount]);
895
896 tbb::parallel_for(segmentRange,
897 [&](tbb::blocked_range<size_t>& range)
898 {
899 for (size_t n = range.begin(); n < range.end(); n++)
900 {
901 Index segmentOffset = segmentOffsets[n];
902 PointIndexType* indices = pageIndexArrays[n].get();
903
904 const Coord& segmentCoord = segmentCoords[n];
905
906 // segment size stored in the first value of the offset array
907 const size_t segmentSize = pageOffsetArrays[n][0] - 1;
908 tbb::blocked_range<size_t> copyRange(0, segmentSize);
909 tbb::parallel_for(copyRange,
910 [&](tbb::blocked_range<size_t>& r)
911 {
912 for (size_t i = r.begin(); i < r.end(); i++)
913 {
914 Index pageIndex = indices[i];
915 Coord& ijk = pageCoordinates[segmentOffset+i];
916
917 ijk[0] = pageIndex >> (2 * binLog2Dim);
918 Index pageIndexModulo = pageIndex - (ijk[0] << (2 * binLog2Dim));
919 ijk[1] = pageIndexModulo >> binLog2Dim;
920 ijk[2] = pageIndexModulo - (ijk[1] << binLog2Dim);
921
922 ijk = (ijk << bucketLog2Dim) + segmentCoord;
923 }
924 }
925 );
926 }
927 }
928 );
929
930 // move segment data
931
932 tbb::parallel_for(segmentRange,
933 MoveSegmentDataOp<PointIndexType>(indexArray, offsetSegments.get()));
934}
935
936
937} // namespace point_partitioner_internal
938
939/// @endcond
940
941////////////////////////////////////////
942
943
944template<typename PointIndexType, Index BucketLog2Dim>
945 inline PointPartitioner<PointIndexType, BucketLog2Dim>::PointPartitioner()
946 : mPointIndices(nullptr)
947 , mVoxelOffsets(nullptr)
948 , mPageOffsets(nullptr)
949 , mPageCoordinates(nullptr)
950 , mPageCount(0)
951 , mUsingCellCenteredTransform(true)
952{
953}
954
955
956template<typename PointIndexType, Index BucketLog2Dim>
957inline void
958PointPartitioner<PointIndexType, BucketLog2Dim>::clear()
959{
960 mPageCount = 0;
961 mUsingCellCenteredTransform = true;
962 mPointIndices.reset();
963 mVoxelOffsets.reset();
964 mPageOffsets.reset();
965 mPageCoordinates.reset();
966}
967
968
969template<typename PointIndexType, Index BucketLog2Dim>
970inline void
971PointPartitioner<PointIndexType, BucketLog2Dim>::swap(PointPartitioner& rhs)
972{
973 const IndexType tmpLhsPageCount = mPageCount;
974 mPageCount = rhs.mPageCount;
975 rhs.mPageCount = tmpLhsPageCount;
976
977 mPointIndices.swap(rhs.mPointIndices);
978 mVoxelOffsets.swap(rhs.mVoxelOffsets);
979 mPageOffsets.swap(rhs.mPageOffsets);
980 mPageCoordinates.swap(rhs.mPageCoordinates);
981
982 bool lhsCellCenteredTransform = mUsingCellCenteredTransform;
983 mUsingCellCenteredTransform = rhs.mUsingCellCenteredTransform;
984 rhs.mUsingCellCenteredTransform = lhsCellCenteredTransform;
985}
986
987
988template<typename PointIndexType, Index BucketLog2Dim>
989inline typename PointPartitioner<PointIndexType, BucketLog2Dim>::IndexIterator
990PointPartitioner<PointIndexType, BucketLog2Dim>::indices(size_t n) const
991{
992 OPENVDB_ASSERT(bool(mPointIndices) && bool(mPageCount));
993 return IndexIterator(
994 mPointIndices.get() + mPageOffsets[n],
995 mPointIndices.get() + mPageOffsets[n + 1]);
996}
997
998
999template<typename PointIndexType, Index BucketLog2Dim>
1000template<typename PointArray>
1001inline void
1002PointPartitioner<PointIndexType, BucketLog2Dim>::construct(
1003 const PointArray& points,
1004 const math::Transform& xform,
1005 bool voxelOrder,
1006 bool recordVoxelOffsets,
1007 bool cellCenteredTransform)
1008{
1009 mUsingCellCenteredTransform = cellCenteredTransform;
1010
1011 point_partitioner_internal::partition(points, xform, BucketLog2Dim,
1012 mPointIndices, mPageOffsets, mPageCoordinates, mPageCount, mVoxelOffsets,
1013 (voxelOrder || recordVoxelOffsets), cellCenteredTransform);
1014
1015 const tbb::blocked_range<size_t> pageRange(0, mPageCount);
1016
1017 if (mVoxelOffsets && voxelOrder) {
1018 tbb::parallel_for(pageRange, point_partitioner_internal::VoxelOrderOp<
1019 IndexType, BucketLog2Dim>(mPointIndices, mPageOffsets, mVoxelOffsets));
1020 }
1021
1022 if (mVoxelOffsets && !recordVoxelOffsets) {
1023 mVoxelOffsets.reset();
1024 }
1025}
1026
1027
1028template<typename PointIndexType, Index BucketLog2Dim>
1029template<typename PointArray>
1030inline typename PointPartitioner<PointIndexType, BucketLog2Dim>::Ptr
1031PointPartitioner<PointIndexType, BucketLog2Dim>::create(
1032 const PointArray& points,
1033 const math::Transform& xform,
1034 bool voxelOrder,
1035 bool recordVoxelOffsets,
1036 bool cellCenteredTransform)
1037{
1038 Ptr ret(new PointPartitioner());
1039 ret->construct(points, xform, voxelOrder, recordVoxelOffsets, cellCenteredTransform);
1040 return ret;
1041}
1042
1043
1044////////////////////////////////////////
1045
1046
1047} // namespace tools
1048} // namespace OPENVDB_VERSION_NAME
1049} // namespace openvdb
1050
1051
1052#endif // OPENVDB_TOOLS_POINT_PARTITIONER_HAS_BEEN_INCLUDED
Assert.h
OPENVDB_ASSERT
#define OPENVDB_ASSERT(X)
Definition Assert.h:41
Transform.h
openvdb::v13_0::CoordBBox::createCube
static CoordBBox createCube(const Coord &min, ValueType dim)
Definition Coord.h:316
openvdb::v13_0::math::CoordBBox
Axis-aligned bounding box of signed integer coordinates.
Definition Coord.h:252
openvdb::v13_0::math::Coord
Signed (x, y, z) 32-bit integer coordinates.
Definition Coord.h:26
openvdb::v13_0::math::Transform
Definition Transform.h:40
openvdb::v13_0::tools::PointPartitioner::IndexIterator
Definition PointPartitioner.h:182
openvdb::v13_0::tools::PointPartitioner::IndexIterator::IndexType
PointIndexType IndexType
Definition PointPartitioner.h:184
openvdb::v13_0::tools::PointPartitioner::IndexIterator::increment
bool increment()
Definition PointPartitioner.h:208
openvdb::v13_0::tools::PointPartitioner::IndexIterator::IndexIterator
IndexIterator(IndexType *begin=nullptr, IndexType *end=nullptr)
Definition PointPartitioner.h:186
openvdb::v13_0::tools::PointPartitioner::IndexIterator::operator*
const IndexType & operator*() const
Definition PointPartitioner.h:197
openvdb::v13_0::tools::PointPartitioner::IndexIterator::size
size_t size() const
Number of point indices in the iterator range.
Definition PointPartitioner.h:193
openvdb::v13_0::tools::PointPartitioner::IndexIterator::test
bool test() const
Definition PointPartitioner.h:201
openvdb::v13_0::tools::PointPartitioner::IndexIterator::operator!=
bool operator!=(const IndexIterator &other) const
Definition PointPartitioner.h:212
openvdb::v13_0::tools::PointPartitioner::IndexIterator::next
bool next()
Advance to the next item.
Definition PointPartitioner.h:207
openvdb::v13_0::tools::PointPartitioner::IndexIterator::operator==
bool operator==(const IndexIterator &other) const
Equality operators.
Definition PointPartitioner.h:211
openvdb::v13_0::tools::PointPartitioner::IndexIterator::operator++
IndexIterator & operator++()
Advance to the next item.
Definition PointPartitioner.h:204
openvdb::v13_0::tools::PointPartitioner::IndexIterator::operator*
IndexType & operator*()
Returns the item to which this iterator is currently pointing.
Definition PointPartitioner.h:196
openvdb::v13_0::tools::PointPartitioner::IndexIterator::reset
void reset()
Rewind to first item.
Definition PointPartitioner.h:190
openvdb::v13_0::tools::PointPartitioner
Definition PointPartitioner.h:78
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::VoxelOffsetType
typename std::conditional<(bits< 16), int16_t, typename std::conditional<(bits< 32), int32_t, int64_t >::type >::type VoxelOffsetType
Definition PointPartitioner.h:89
openvdb::v13_0::tools::PointPartitioner::indices
IndexIterator indices(size_t n) const
Returns the point indices for bucket n.
Definition PointPartitioner.h:990
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::IndexType
Index32 IndexType
Definition PointPartitioner.h:85
openvdb::v13_0::tools::PointPartitioner::voxelOffsets
const VoxelOffsetArray & voxelOffsets() const
Returns a list of LeafNode voxel offsets for the points.
Definition PointPartitioner.h:155
openvdb::v13_0::tools::PointPartitioner::getBBox
CoordBBox getBBox(size_t n) const
Returns the coordinate-aligned bounding box for bucket n.
Definition PointPartitioner.h:146
openvdb::v13_0::tools::PointPartitioner::size
size_t size() const
Returns the number of buckets.
Definition PointPartitioner.h:131
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::LOG2DIM
@ LOG2DIM
Definition PointPartitioner.h:80
openvdb::v13_0::tools::PointPartitioner::empty
bool empty() const
true if the container size is 0, false otherwise.
Definition PointPartitioner.h:134
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::bits
static constexpr Index bits
Definition PointPartitioner.h:87
openvdb::v13_0::tools::PointPartitioner::origin
const Coord & origin(size_t n) const
Returns the origin coordinate for bucket n.
Definition PointPartitioner.h:151
openvdb::v13_0::tools::PointPartitioner::usingCellCenteredTransform
bool usingCellCenteredTransform() const
Returns true if this point partitioning was constructed using a cell-centered transform.
Definition PointPartitioner.h:160
openvdb::v13_0::tools::PointPartitioner::PointPartitioner
PointPartitioner()
Definition PointPartitioner.h:945
openvdb::v13_0::tools::PointPartitioner::create
static Ptr create(const PointArray &points, const math::Transform &xform, bool voxelOrder=false, bool recordVoxelOffsets=false, bool cellCenteredTransform=true)
Partitions point indices into BucketLog2Dim aligned buckets.
Definition PointPartitioner.h:1031
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::VoxelOffsetArray
std::unique_ptr< VoxelOffsetType[]> VoxelOffsetArray
Definition PointPartitioner.h:92
openvdb::v13_0::tools::PointPartitioner::clear
void clear()
Removes all data and frees up memory.
Definition PointPartitioner.h:958
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::ConstPtr
SharedPtr< const PointPartitioner > ConstPtr
Definition PointPartitioner.h:83
openvdb::v13_0::tools::PointPartitioner::construct
void construct(const PointArray &points, const math::Transform &xform, bool voxelOrder=false, bool recordVoxelOffsets=false, bool cellCenteredTransform=true)
Partitions point indices into BucketLog2Dim aligned buckets.
Definition PointPartitioner.h:1002
openvdb::v13_0::tools::PointPartitioner::swap
void swap(PointPartitioner &)
Exchanges the content of the container by another.
Definition PointPartitioner.h:971
openvdb::v13_0::tools::PointPartitioner< Index32, LeafNodeT::LOG2DIM >::Ptr
SharedPtr< PointPartitioner > Ptr
Definition PointPartitioner.h:82
PointArray
Partitions points into BucketLog2Dim aligned buckets using a parallel radix-based sorting algorithm.
openvdb::v13_0::points::point_move_internal::IndexArray
std::vector< Index > IndexArray
Definition PointMoveImpl.h:88
openvdb::v13_0::points::point_move_internal::IndexPair
std::pair< Index, Index > IndexPair
Definition PointMoveImpl.h:95
openvdb::v13_0::points
Definition AttributeArray.h:42
openvdb::v13_0::points::pointCount
Index64 pointCount(const PointDataTreeT &tree, const FilterT &filter=NullFilter(), const bool inCoreOnly=false, const bool threaded=true)
Count the total number of points in a PointDataTree.
Definition PointCountImpl.h:18
openvdb::v13_0::tools::bool
OutGridT const XformOp bool bool
Definition ValueTransformer.h:610
openvdb::v13_0::tools::UInt32PointPartitioner
PointPartitioner< uint32_t, 3 > UInt32PointPartitioner
Definition PointPartitioner.h:177
openvdb::v13_0::tools::histogram
math::Histogram histogram(const IterT &iter, double minVal, double maxVal, size_t numBins=10, bool threaded=true)
Iterate over a scalar grid and compute a histogram of the values of the voxels that are visited,...
Definition Statistics.h:343
openvdb::v13_0::Index
Index32 Index
Definition Types.h:34
openvdb::v13_0::SharedPtr
std::shared_ptr< T > SharedPtr
Definition Types.h:95
openvdb
Definition Exceptions.h:13
Types.h
OPENVDB_VERSION_NAME
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition version.h.in:121
OPENVDB_USE_VERSION_NAMESPACE
#define OPENVDB_USE_VERSION_NAMESPACE
Definition version.h.in:218