fix: voxel size != 1.0 error
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parent
150210fa26
commit
1d8f97b2fd
54
src/fvi.py
54
src/fvi.py
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@ -1,7 +1,7 @@
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import numpy as np
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import numpy as np
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def fast_voxel_intersect(start, end, origin, step, shape) -> tuple[list, list, list]:
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def fast_voxel_intersect(start_, end_, origin_, step_, shape_) -> tuple[list, list, list]:
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"""Compute the voxels intersected by a line segment.
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"""Compute the voxels intersected by a line segment.
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Args:
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Args:
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@ -17,14 +17,14 @@ def fast_voxel_intersect(start, end, origin, step, shape) -> tuple[list, list, l
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"""
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"""
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# Convert to numpy arrays
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# Convert to numpy arrays
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start = np.asarray(start)
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start_ = np.asarray(start_)
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end = np.asarray(end)
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end_ = np.asarray(end_)
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origin = np.asarray(origin)
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origin_ = np.asarray(origin_)
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step = np.asarray(step)
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step_ = np.asarray(step_)
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# Translate line segment to voxel grid
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# Translate line segment to voxel grid
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start = start - origin
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start = (start_ - origin_) / step_
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end = end - origin
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end = (end_ - origin_) / step_
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# Initialize list of intersected voxels
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# Initialize list of intersected voxels
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intersections = []
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intersections = []
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@ -45,16 +45,18 @@ def fast_voxel_intersect(start, end, origin, step, shape) -> tuple[list, list, l
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# Initialize current position to start
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# Initialize current position to start
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position = start.copy()
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position = start.copy()
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# print("position: ", position)
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# Initialize early exit
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is_in = False
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# Main loop
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# Main loop
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while True:
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while True:
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# Compute the distance to the next boundaries
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# Compute the distance to the next boundaries
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next_boundaries = np.divide(position + step * direction_signs, step)
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next_boundaries = position + direction_signs
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errored = np.abs(np.round(next_boundaries) - next_boundaries) < 1e-12
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errored = np.abs(np.round(next_boundaries) - next_boundaries) < 1e-12
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next_boundaries[errored] = np.round(next_boundaries[errored])
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next_boundaries[errored] = np.round(next_boundaries[errored])
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distances = ((1 - is_negative) * np.floor(next_boundaries) +
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distances = ((1 - is_negative) * np.floor(next_boundaries) +
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is_negative * np.ceil(next_boundaries)) * step - position
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is_negative * np.ceil(next_boundaries)) - position
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# Determine the nearest boundary to be reached
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# Determine the nearest boundary to be reached
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boundary_distances = np.abs(distances / direction)
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boundary_distances = np.abs(distances / direction)
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@ -68,28 +70,24 @@ def fast_voxel_intersect(start, end, origin, step, shape) -> tuple[list, list, l
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# Update position
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# Update position
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position = position + clothest_boundary_distance * direction
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position = position + clothest_boundary_distance * direction
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# print("position_update: ", position)
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# Correct position to be on boundary
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# Correct position to be on boundary
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position[clothest_boundary] = round(
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position[clothest_boundary] = round(position[clothest_boundary])
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position[clothest_boundary] / step[clothest_boundary]) * step[clothest_boundary]
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# Get corresponding voxel
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# Get corresponding voxel
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on_boundary = np.mod(position, step) == 0
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on_boundary = np.mod(position, np.ones_like(position)) == 0
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voxel = np.floor_divide(position, step) * step - is_negative * on_boundary * step
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voxel = np.floor(position) - is_negative * on_boundary
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# Add voxel to list
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# Add voxel to list
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idx = np.floor_divide(voxel, step).astype(int)
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idx = np.floor(voxel).astype(int)
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if np.any(idx < 0) or np.any(idx >= shape):
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if np.any(idx < 0) or np.any(idx >= shape_):
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if is_in:
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break
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continue
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continue
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# print(f"voxel: {voxel}, step: {step}, idx: {idx}")
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intersections.append(position * step_ + origin_)
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intersections.append(position + origin)
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voxels.append(voxel * step_ + origin_)
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voxels.append(voxel + origin)
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voxels_idx.append(idx)
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voxels_idx.append(idx)
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is_in = True
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# print(f"intersections: {intersections}")
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# print(f"voxels: {voxels}")
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# print(f"voxels_idx: {voxels_idx}")
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return intersections, voxels, voxels_idx
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return intersections, voxels, voxels_idx
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@ -119,13 +117,15 @@ if __name__ == '__main__':
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# Plot line segment
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# Plot line segment
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plt.plot([start[0], end[0]], [start[1], end[1]], 'k-')
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plt.plot([start[0], end[0]], [start[1], end[1]], 'k-')
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plt.plot(start[0], start[1], 'go')
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plt.plot(end[0], end[1], 'ro')
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# Plot intersection points
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# Plot intersection points
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for pos in positions:
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for pos in positions:
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plt.plot(pos[0], pos[1], 'bo')
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plt.plot(pos[0], pos[1], 'bo')
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# Plot start and end points
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plt.plot(start[0], start[1], 'go')
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plt.plot(end[0], end[1], 'ro')
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# Plot voxel grid
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# Plot voxel grid
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plt.axis('equal')
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plt.axis('equal')
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plt.xlim((-10, 10))
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plt.xlim((-10, 10))
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@ -144,7 +144,7 @@ if __name__ == '__main__':
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# Define voxel grid
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# Define voxel grid
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origin = np.array([-5., -5.])
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origin = np.array([-5., -5.])
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step = np.array([0.7, 0.7])
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step = np.array([1.4, 1.4])
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shape = (10, 10)
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shape = (10, 10)
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# Define segment
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# Define segment
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