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Windows Support #5

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Windows Support #5

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33 changes: 17 additions & 16 deletions lib/mise.pyx
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ cimport cython
from cython.operator cimport dereference as dref
from libcpp.vector cimport vector
from libcpp.map cimport map
from libc.stdint cimport int64_t, uint64_t
from libc.math cimport isnan, NAN
import numpy as np

Expand All @@ -15,7 +16,7 @@ cdef struct Voxel:
Vector3D loc
unsigned int level
bint is_leaf
unsigned long children[2][2][2]
uint64_t children[2][2][2]


cdef struct GridPoint:
Expand All @@ -24,16 +25,16 @@ cdef struct GridPoint:
bint known


cdef inline unsigned long vec_to_idx(Vector3D coord, long resolution):
cdef unsigned long idx
cdef inline uint64_t vec_to_idx(Vector3D coord, int64_t resolution):
cdef uint64_t idx
idx = resolution * resolution * coord.x + resolution * coord.y + coord.z
return idx


cdef class MISE:
cdef vector[Voxel] voxels
cdef vector[GridPoint] grid_points
cdef map[long, long] grid_point_hash
cdef map[int64_t, int64_t] grid_point_hash
cdef readonly int resolution_0
cdef readonly int depth
cdef readonly double threshold
Expand Down Expand Up @@ -84,12 +85,12 @@ cdef class MISE:
assert(self.grid_points.size() == vec_to_idx(Vector3D(i, j, k), resolution_0 + 1))
self.add_grid_point(loc)

def update(self, long[:, :] points, double[:] values):
def update(self, int64_t[:, :] points, double[:] values):
"""Update points and set their values. Also determine all active voxels and subdivide them."""
assert(points.shape[0] == values.shape[0])
assert(points.shape[1] == 3)
cdef Vector3D loc
cdef long idx
cdef int64_t idx
cdef int i

# Find all indices of point and set value
Expand Down Expand Up @@ -119,7 +120,7 @@ cdef class MISE:

# Convert to numpy
points_np = np.zeros((points.size(), 3), dtype=np.int64)
cdef long[:, :] points_view = points_np
cdef int64_t[:, :] points_view = points_np
for i in range(points.size()):
points_view[i, 0] = points[i].x
points_view[i, 1] = points[i].y
Expand Down Expand Up @@ -167,7 +168,7 @@ cdef class MISE:
points_np = np.zeros((self.grid_points.size(), 3), dtype=np.int64)
values_np = np.zeros((self.grid_points.size()), dtype=np.float64)

cdef long[:, :] points_view = points_np
cdef int64_t[:, :] points_view = points_np
cdef double[:] values_view = values_np
cdef Vector3D loc
cdef int i
Expand All @@ -185,7 +186,7 @@ cdef class MISE:
cdef vector[bint] next_to_positive
cdef vector[bint] next_to_negative
cdef int i, j, k
cdef long idx
cdef int64_t idx
cdef Vector3D loc, adj_loc

# Initialize vectors
Expand Down Expand Up @@ -234,7 +235,7 @@ cdef class MISE:
if next_to_positive[idx] and next_to_negative[idx]:
self.subdivide_voxel(idx)

cdef void subdivide_voxel(self, long idx):
cdef void subdivide_voxel(self, int64_t idx):
cdef Voxel voxel
cdef GridPoint point
cdef Vector3D loc0 = self.voxels[idx].loc
Expand Down Expand Up @@ -281,13 +282,13 @@ cdef class MISE:


@cython.cdivision(True)
cdef long get_voxel_idx(self, Vector3D loc) except +:
cdef int64_t get_voxel_idx(self, Vector3D loc) except +:
"""Utility function for getting voxel index corresponding to 3D coordinates."""
# Shorthands
cdef long resolution = self.resolution
cdef long resolution_0 = self.resolution_0
cdef long depth = self.depth
cdef long voxel_size_0 = self.voxel_size_0
cdef int64_t resolution = self.resolution
cdef int64_t resolution_0 = self.resolution_0
cdef int64_t depth = self.depth
cdef int64_t voxel_size_0 = self.voxel_size_0

# Return -1 if point lies outside bounds
if not (0 <= loc.x < resolution and 0<= loc.y < resolution and 0 <= loc.z < resolution):
Expand Down Expand Up @@ -315,7 +316,7 @@ cdef class MISE:
)

cdef Vector3D loc_offset
cdef long voxel_size = voxel_size_0
cdef int64_t voxel_size = voxel_size_0

while not voxel.is_leaf:
voxel_size = voxel_size >> 1
Expand Down