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making rfta test run faster and fixing bug in rfta
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@odedstein
odedstein committed Jun 3, 2024
1 parent 3235115 commit 6b230d2
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Showing 2 changed files with 82 additions and 47 deletions.
16 changes: 10 additions & 6 deletions src/gpytoolbox/reach_for_the_arcs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
def reach_for_the_arcs(U, S,
rng_seed=3452,
return_point_cloud=False,
fine_tune_iters=10,
fine_tune_iters=3,
batch_size=10000,
num_rasterization_spheres=0,
screening_weight=10.,
Expand All @@ -22,6 +22,7 @@ def reach_for_the_arcs(U, S,
local_search_t=0.01,
tol=1e-4,
clamp_value=np.Inf,
force_cpu=False,
parallel=False,
verbose=False):
"""Creates a mesh from a signed distance function (SDF) using the
Expand Down Expand Up @@ -69,6 +70,8 @@ def reach_for_the_arcs(U, S,
tolerance for determining whether a point is inside a sphere
clamp_value : float, optional (default np.Inf)
value to which the SDF is clamped for clamped SDF reconstruction
force_cpu : bool, optional (default False)
whether to force rasterization onto the CPU
parallel : bool, optional (default False)
whether to parallelize the algorithm or not
verbose : bool, optional (default False)
Expand Down Expand Up @@ -137,6 +140,7 @@ def reach_for_the_arcs(U, S,
local_search_iters=local_search_iters,
batch_size=batch_size,
num_rasterization_spheres=num_rasterization_spheres,
force_cpu=force_cpu,
tol=tol, clamp_value=clamp_value,
parallel=parallel, verbose=verbose)
else:
Expand All @@ -151,6 +155,7 @@ def reach_for_the_arcs(U, S,
local_search_iters=local_search_iters,
batch_size=batch_size,
num_rasterization_spheres=num_rasterization_spheres,
force_cpu=force_cpu,
tol=tol, clamp_value=clamp_value,
parallel=parallel, verbose=verbose)
else:
Expand All @@ -171,6 +176,7 @@ def reach_for_the_arcs(U, S,
n_local_searches=n_local_searches,
local_search_iters=local_search_iters,
batch_size=batch_size,
force_cpu=force_cpu,
tol=tol, clamp_value=clamp_value,
parallel=parallel, verbose=verbose)

Expand Down Expand Up @@ -254,6 +260,7 @@ def _sdf_to_point_cloud(U, S,
num_rasterization_spheres=0,
tol=1e-4,
clamp_value=np.Inf,
force_cpu=False,
parallel=False,
verbose=False):
"""Converts an SDF to a point cloud where all points are valid with respect
Expand Down Expand Up @@ -327,7 +334,7 @@ def _sdf_to_point_cloud(U, S,
P = _outside_points_from_rasterization(U, S,
rng_seed=seed(),
res=rasterization_resolution, num_spheres=num_rasterization_spheres,
tol=tol, parallel=parallel, verbose=verbose)
tol=tol, force_cpu=force_cpu, parallel=parallel, verbose=verbose)

if verbose:
print(f" Rasterization took {time.time()-t0_rasterization}s")
Expand Down Expand Up @@ -664,10 +671,7 @@ def _fine_tune_point_cloud(U, S, P, N, f,
tol, clamp_value, parallel, verbose)

if verbose:
if debug_Vgt is not None and debug_Fgt is not None:
print(f" After fine tuning iter {it}, we have {f.size} points. (Current chamfer error = {chamfer(V, F, debug_Vgt, debug_Fgt)})")
else:
print(f" After fine tuning iter {it}, we have {f.size} points.")
print(f" After fine tuning iter {it}, we have {f.size} points.")
return P, N, f


Expand Down
113 changes: 72 additions & 41 deletions test/test_reach_for_the_arcs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,35 +6,36 @@
class TestReachForTheArcs(unittest.TestCase):
def test_beat_marching_cubes_low_res(self):
meshes = ["R.npy", "bunny_oded.obj", "armadillo.obj"]
ns = [10, 20, 30]
for mesh in meshes:
for n in ns:
if mesh[-3:]=="obj":
v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
elif mesh[-3:]=="npy":
data = np.load("test/unit_tests_data/" + mesh,
allow_pickle=True)
v = data[()]['V']
f = data[()]['F']
v = gpy.normalize_points(v)

sdf = lambda x: gpy.signed_distance(x, v, f)[0]

if mesh[-3:]=="obj":
gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
V_mc, F_mc = gpy.marching_cubes(sdf(GV), GV, n+1, n+1, n+1)
elif mesh[-3:]=="npy":
gx, gy = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten())).T
V_mc, F_mc = gpy.marching_squares(sdf(GV), GV, n+1, n+1)

h_mc = gpy.approximate_hausdorff_distance(V_mc, F_mc.astype(np.int32), v, f.astype(np.int32), use_cpp = True)
U,G = gpy.reach_for_the_arcs(GV, sdf(GV), parallel=False)
h_ours = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp = True)

# print(f"reach_for_the_arcs h: {h_ours}, MC h: {h_mc} for {mesh} with n={n}")
self.assertTrue(h_ours < h_mc)
if mesh[-3:]=="obj":
v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
elif mesh[-3:]=="npy":
data = np.load("test/unit_tests_data/" + mesh,
allow_pickle=True)
v = data[()]['V']
f = data[()]['F']
v = gpy.normalize_points(v)

sdf = lambda x: gpy.signed_distance(x, v, f)[0]
n = 10

if mesh[-3:]=="obj":
gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
V_mc, F_mc = gpy.marching_cubes(sdf(GV), GV, n+1, n+1, n+1)
elif mesh[-3:]=="npy":
gx, gy = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten())).T
V_mc, F_mc = gpy.marching_squares(sdf(GV), GV, n+1, n+1)

h_mc = gpy.approximate_hausdorff_distance(V_mc, F_mc.astype(np.int32), v, f.astype(np.int32), use_cpp = True)
U,G = gpy.reach_for_the_arcs(GV, sdf(GV), fine_tune_iters=3,
local_search_iters=3,
parallel=True, verbose=False)
h_ours = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp = True)

#print(f"reach_for_the_arcs h: {h_ours}, MC h: {h_mc} for {mesh} with n={n}")
self.assertTrue(h_ours < h_mc)


def test_noop(self):
Expand All @@ -50,7 +51,7 @@ def test_noop(self):
v = gpy.normalize_points(v)

sdf = lambda x: gpy.signed_distance(x, v, f)[0]
n = 20
n = 10

if mesh[-3:]=="obj":
gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
Expand All @@ -59,35 +60,65 @@ def test_noop(self):
gx, gy = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten())).T

U,G = gpy.reach_for_the_arcs(GV, sdf(GV), parallel=False)

U,G = gpy.reach_for_the_arcs(GV, sdf(GV), fine_tune_iters=3,
local_search_iters=3,
parallel=True, verbose=False)

h = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp=True)
self.assertTrue(h < 0.1)

Up,Gp = gpy.reach_for_the_arcs(GV, sdf(GV), parallel=True)

def test_parallel_is_the_same(self):
meshes = ["R.npy", "bunny_oded.obj", "armadillo.obj"]
for mesh in meshes:
if mesh[-3:]=="obj":
v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
elif mesh[-3:]=="npy":
data = np.load("test/unit_tests_data/" + mesh,
allow_pickle=True)
v = data[()]['V']
f = data[()]['F']
v = gpy.normalize_points(v)

sdf = lambda x: gpy.signed_distance(x, v, f)[0]
n = 10

if mesh[-3:]=="obj":
gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
elif mesh[-3:]=="npy":
gx, gy = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten())).T

U,G = gpy.reach_for_the_arcs(GV, sdf(GV), fine_tune_iters=3,
local_search_iters=3,
parallel=False, verbose=False)

Up,Gp = gpy.reach_for_the_arcs(GV, sdf(GV), fine_tune_iters=3,
local_search_iters=3,
parallel=True, verbose=False)
h_parallel = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), Up, Gp.astype(np.int32), use_cpp = True)
# print(f"parallel Hausdorff distance h: {h_parallel}")
self.assertTrue(h_parallel < 1e-6)


def test_simple_is_sdf_violated(self):
meshes = ["cube.obj", "hemisphere.obj", "cone.obj"]
meshes = ["cube.obj", "hemisphere.obj"]
for mesh in meshes:
n = 30
n = 10
v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
v = gpy.normalize_points(v)

sdf = lambda x: gpy.signed_distance(x, v, f)[0]
gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1), np.linspace(-1.0, 1.0, n+1))
GV = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
U,G = gpy.reach_for_the_arcs(GV, sdf(GV), parallel=False)
U,G = gpy.reach_for_the_arcs(GV, sdf(GV), fine_tune_iters=3,
local_search_iters=3,
parallel=True, verbose=False)

sdf_rec = lambda x: gpy.signed_distance(x, U, G)[0]
self.assertTrue(np.max(np.abs(sdf(GV)-sdf_rec(GV))) < 0.02)

Up,Gp = gpy.reach_for_the_arcs(GV, sdf(GV), parallel=True)
h_parallel = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), Up, Gp.astype(np.int32), use_cpp = True)
# print(f"parallel Hausdorff distance h: {h_parallel}")
self.assertTrue(h_parallel < 1e-6)
print(np.max(np.abs(sdf(GV)-sdf_rec(GV))))
self.assertTrue(np.max(np.abs(sdf(GV)-sdf_rec(GV))) < 0.03)


if __name__ == '__main__':
Expand Down

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