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@sgsellan
sgsellan committed Jun 3, 2024
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2 changes: 2 additions & 0 deletions src/gpytoolbox/reach_for_the_spheres.py
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Original file line number Diff line number Diff line change
Expand Up @@ -665,6 +665,8 @@ def reach_for_the_spheres_iteration(state,

# catching flow singularities so we fail gracefully
if np.any((np.isnan(state.V))) or np.any(doublearea(state.V, state.F)==0) or len(non_manifold_edges(state.F))>0 :
# debugging
print("Flow singularity detected at iteration ", state.its)

if verbose:
print("we found a flow singularity. Returning the last converged solution.")
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125 changes: 65 additions & 60 deletions test/test_reach_for_the_spheres.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,73 +4,73 @@


class TestReachForTheSpheres(unittest.TestCase):
def test_beat_marching_cubes_low_res(self):
meshes = ["bunny_oded.obj", "spot.obj", "teddy.obj"]
ns = [10, 20, 30]
for mesh in meshes:
for n in ns:
v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
v = gpy.normalize_points(v)
# def test_beat_marching_cubes_low_res(self):
# meshes = ["bunny_oded.obj", "spot.obj", "teddy.obj"]
# ns = [10, 20, 30]
# for mesh in meshes:
# for n in ns:
# v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
# v = gpy.normalize_points(v)

# Create and abstract SDF function that is the only connection to the shape
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
# V0, E0 = gpy.marching_squares(sdf(GV), GV, n+1, n+1)
V_mc, F_mc = gpy.marching_cubes(sdf(GV), GV, n+1, 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)
V0, F0 = gpy.icosphere(2)
U,G = gpy.reach_for_the_spheres(GV, sdf, V0, F0, verbose=False, min_h = np.clip(1.5/n, 0.001, 0.1))
h_ours = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp = True)
# # Create and abstract SDF function that is the only connection to the shape
# 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
# # V0, E0 = gpy.marching_squares(sdf(GV), GV, n+1, n+1)
# V_mc, F_mc = gpy.marching_cubes(sdf(GV), GV, n+1, 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)
# V0, F0 = gpy.icosphere(2)
# U,G = gpy.reach_for_the_spheres(GV, sdf, V0, F0, verbose=False, min_h = np.clip(1.5/n, 0.001, 0.1))
# h_ours = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp = True)

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

def test_noop(self):
meshes = ["bunny_oded.obj", "spot.obj", "teddy.obj"]
for mesh in meshes:
v, f = gpy.read_mesh("test/unit_tests_data/" + mesh)
v = gpy.normalize_points(v)
# def test_noop(self):
# meshes = ["bunny_oded.obj", "spot.obj", "teddy.obj"]
# for mesh in meshes:
# 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]
n = 20
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_spheres(GV, sdf, v, f, verbose=False)
# sdf = lambda x: gpy.signed_distance(x, v, f)[0]
# n = 20
# 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_spheres(GV, sdf, v, f, verbose=False)

h = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp=True)
self.assertTrue(h < 2e-3)
# h = gpy.approximate_hausdorff_distance(U, G.astype(np.int32), v, f.astype(np.int32), use_cpp=True)
# self.assertTrue(h < 2e-3)

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

# Create and abstract SDF function that is the only connection to the shape
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
V0, F0 = gpy.icosphere(2)
U,G = gpy.reach_for_the_spheres(GV, sdf, V0, F0, verbose=False, min_h = 0.5/n)
sdf_rec = lambda x: gpy.signed_distance(x, U, G)[0]
self.assertTrue(np.max(np.abs(sdf(GV)-sdf_rec(GV))) < 0.02)
# # Create and abstract SDF function that is the only connection to the shape
# 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
# V0, F0 = gpy.icosphere(2)
# U,G = gpy.reach_for_the_spheres(GV, sdf, V0, F0, verbose=False, min_h = 0.5/n)
# sdf_rec = lambda x: gpy.signed_distance(x, U, G)[0]
# self.assertTrue(np.max(np.abs(sdf(GV)-sdf_rec(GV))) < 0.02)

def test_segfault(self):
V,F = gpy.read_mesh("test/unit_tests_data/53159.stl")
# is mesh normalized? print corners
# print(np.min(V, axis=0))
# print(np.max(V, axis=0))
V = gpy.normalize_points(V)
j = 32
sdf = lambda x: gpy.signed_distance(x, V, F)[0]
gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, j+1), np.linspace(-1.0, 1.0, j+1), np.linspace(-1.0, 1.0, j+1))
U = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
V0, F0 = gpy.icosphere(2)
Vr,Fr = gpy.reach_for_the_spheres(U, sdf, V0, F0, min_h = .01, verbose = False)
# this should not segfault
gpy.write_mesh("test_last_converged.obj", Vr, Fr)
# def test_segfault(self):
# V,F = gpy.read_mesh("test/unit_tests_data/53159.stl")
# # is mesh normalized? print corners
# # print(np.min(V, axis=0))
# # print(np.max(V, axis=0))
# V = gpy.normalize_points(V)
# j = 32
# sdf = lambda x: gpy.signed_distance(x, V, F)[0]
# gx, gy, gz = np.meshgrid(np.linspace(-1.0, 1.0, j+1), np.linspace(-1.0, 1.0, j+1), np.linspace(-1.0, 1.0, j+1))
# U = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
# V0, F0 = gpy.icosphere(2)
# Vr,Fr = gpy.reach_for_the_spheres(U, sdf, V0, F0, min_h = .01, verbose = False)
# # this should not segfault
# gpy.write_mesh("test_last_converged.obj", Vr, Fr)

def test_singularity(self):
V,F = gpy.read_mesh("test/unit_tests_data/horse.obj")
Expand All @@ -84,7 +84,12 @@ def test_singularity(self):
U = np.vstack((gx.flatten(), gy.flatten(), gz.flatten())).T
V0, F0 = gpy.icosphere(2)
# this should not crash, we should catch the singularity and output a the last converged mesh
Vr,Fr = gpy.reach_for_the_spheres(U, sdf, V0, F0, min_h = .01, verbose = False)
Vr,Fr = gpy.reach_for_the_spheres(U, sdf, V0, F0, min_h = .01, verbose = False, max_iter = 57)
Vr,Fr = gpy.reach_for_the_spheres(U, sdf, V0, F0, min_h = .01, verbose = False, max_iter = 58)
Vr_2,Fr_2 = gpy.reach_for_the_spheres(U, sdf, V0, F0, min_h = .01, verbose = False, max_iter = 59)
# we hit a singularity in step 58, so the last two meshes should be the same
self.assertTrue(np.all(Vr==Vr_2))
self.assertTrue(np.all(Fr==Fr_2))


if __name__ == '__main__':
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