| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // Copyright Contributors to the OpenVDB Project | ||
| 2 | // SPDX-License-Identifier: MPL-2.0 | ||
| 3 | |||
| 4 | #include <openvdb/openvdb.h> | ||
| 5 | #include <openvdb/tools/Merge.h> | ||
| 6 | |||
| 7 | #include <gtest/gtest.h> | ||
| 8 | |||
| 9 | |||
| 10 | using namespace openvdb; | ||
| 11 | |||
| 12 | 5 | class TestMerge: public ::testing::Test | |
| 13 | { | ||
| 14 | }; | ||
| 15 | |||
| 16 | namespace | ||
| 17 | { | ||
| 18 | |||
| 19 | 120 | auto getTileCount = [](const auto& node) -> Index | |
| 20 | { | ||
| 21 | Index sum = 0; | ||
| 22 |
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344 | for (auto iter = node.cbeginValueAll(); iter; ++iter) sum++; |
| 23 | 120 | return sum; | |
| 24 | }; | ||
| 25 | |||
| 26 | 46 | auto getActiveTileCount = [](const auto& node) -> Index | |
| 27 | { | ||
| 28 | Index sum = 0; | ||
| 29 |
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116 | for (auto iter = node.cbeginValueOn(); iter; ++iter) sum++; |
| 30 | 46 | return sum; | |
| 31 | }; | ||
| 32 | |||
| 33 | 22 | auto getInactiveTileCount = [](const auto& node) -> Index | |
| 34 | { | ||
| 35 | Index sum = 0; | ||
| 36 |
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62 | for (auto iter = node.cbeginValueOff(); iter; ++iter) sum++; |
| 37 | 22 | return sum; | |
| 38 | }; | ||
| 39 | |||
| 40 | 30 | auto getInsideTileCount = [](const auto& node) -> Index | |
| 41 | { | ||
| 42 | using ValueT = typename std::remove_reference<decltype(node)>::type::ValueType; | ||
| 43 | Index sum = 0; | ||
| 44 |
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327738 | for (auto iter = node.cbeginValueAll(); iter; ++iter) { |
| 45 |
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327688 | if (iter.getValue() < zeroVal<ValueT>()) sum++; |
| 46 | } | ||
| 47 | 30 | return sum; | |
| 48 | }; | ||
| 49 | |||
| 50 | 24 | auto getOutsideTileCount = [](const auto& node) -> Index | |
| 51 | { | ||
| 52 | using ValueT = typename std::remove_reference<decltype(node)>::type::ValueType; | ||
| 53 | Index sum = 0; | ||
| 54 |
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131130 | for (auto iter = node.cbeginValueAll(); iter; ++iter) { |
| 55 |
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131086 | if (iter.getValue() > zeroVal<ValueT>()) sum++; |
| 56 | } | ||
| 57 | 24 | return sum; | |
| 58 | }; | ||
| 59 | |||
| 60 | auto getChildCount = [](const auto& node) -> Index | ||
| 61 | { | ||
| 62 | 29 | return node.childCount(); | |
| 63 | }; | ||
| 64 | |||
| 65 | 8 | auto hasOnlyInactiveNegativeBackgroundTiles = [](const auto& node) -> bool | |
| 66 | { | ||
| 67 |
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8 | if (getActiveTileCount(node) > Index(0)) return false; |
| 68 |
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24 | for (auto iter = node.cbeginValueAll(); iter; ++iter) { |
| 69 |
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8 | if (iter.getValue() != -node.background()) return false; |
| 70 | } | ||
| 71 | 8 | return true; | |
| 72 | }; | ||
| 73 | |||
| 74 | } // namespace | ||
| 75 | |||
| 76 | |||
| 77 |
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1 | TEST_F(TestMerge, testTreeToMerge) |
| 78 | { | ||
| 79 | using RootChildNode = FloatTree::RootNodeType::ChildNodeType; | ||
| 80 | using LeafNode = FloatTree::LeafNodeType; | ||
| 81 | |||
| 82 | { // non-const tree | ||
| 83 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 84 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 85 |
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1 | EXPECT_EQ(Index(1), grid->tree().leafCount()); |
| 86 | |||
| 87 | 1 | tools::TreeToMerge<FloatTree> treeToMerge{grid->tree(), Steal()}; | |
| 88 |
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1 | EXPECT_EQ(&grid->constTree().root(), treeToMerge.rootPtr()); |
| 89 | |||
| 90 | // probe root child | ||
| 91 | |||
| 92 |
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1 | const RootChildNode* nodePtr = treeToMerge.probeConstNode<RootChildNode>(Coord(8)); |
| 93 |
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1 | EXPECT_TRUE(nodePtr); |
| 94 |
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1 | EXPECT_EQ(grid->constTree().probeConstNode<RootChildNode>(Coord(8)), nodePtr); |
| 95 | |||
| 96 | // probe leaf node | ||
| 97 | |||
| 98 |
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1 | const LeafNode* leafNode = treeToMerge.probeConstNode<LeafNode>(Coord(8)); |
| 99 |
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1 | EXPECT_TRUE(leafNode); |
| 100 |
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1 | EXPECT_EQ(grid->constTree().probeConstLeaf(Coord(8)), leafNode); |
| 101 |
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1 | EXPECT_EQ(Index(1), grid->tree().leafCount()); |
| 102 |
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1 | EXPECT_EQ(Index(1), grid->tree().root().childCount()); |
| 103 | |||
| 104 | // steal leaf node | ||
| 105 | |||
| 106 |
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2 | std::unique_ptr<LeafNode> leafNodePtr = treeToMerge.stealOrDeepCopyNode<LeafNode>(Coord(8)); |
| 107 |
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1 | EXPECT_TRUE(leafNodePtr); |
| 108 |
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1 | EXPECT_EQ(Index(0), grid->tree().leafCount()); |
| 109 |
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1 | EXPECT_EQ(leafNodePtr->origin(), Coord(8)); |
| 110 |
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1 | EXPECT_EQ(Index(1), grid->tree().root().childCount()); |
| 111 | |||
| 112 | // steal root child | ||
| 113 | |||
| 114 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 115 |
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2 | std::unique_ptr<RootChildNode> node2Ptr = treeToMerge.stealOrDeepCopyNode<RootChildNode>(Coord(8)); |
| 116 |
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1 | EXPECT_TRUE(node2Ptr); |
| 117 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().childCount()); |
| 118 | |||
| 119 | // attempt to add leaf node tile (set value) | ||
| 120 | |||
| 121 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 122 |
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1 | EXPECT_EQ(Index64(0), grid->tree().activeTileCount()); |
| 123 | 1 | treeToMerge.addTile<LeafNode>(Coord(8), 1.6f, true); | |
| 124 | // value has not been set | ||
| 125 |
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1 | EXPECT_EQ(3.0f, grid->tree().probeConstLeaf(Coord(8))->getFirstValue()); |
| 126 | |||
| 127 | // add root child tile | ||
| 128 | |||
| 129 |
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1 | treeToMerge.addTile<RootChildNode>(Coord(8), 1.7f, true); |
| 130 |
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1 | EXPECT_EQ(Index64(1), grid->tree().activeTileCount()); |
| 131 | |||
| 132 | // tile in node that does not exist | ||
| 133 | |||
| 134 |
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1 | grid->tree().clear(); |
| 135 |
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1 | treeToMerge.addTile<RootChildNode>(Coord(0), 1.8f, true); |
| 136 |
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1 | EXPECT_EQ(Index64(0), grid->tree().activeTileCount()); |
| 137 | } | ||
| 138 | |||
| 139 | { // const tree | ||
| 140 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 141 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 142 |
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1 | EXPECT_EQ(Index(1), grid->tree().leafCount()); |
| 143 | |||
| 144 |
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2 | tools::TreeToMerge<FloatTree> treeToMerge{grid->constTree(), DeepCopy(), /*initialize=*/false}; |
| 145 |
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1 | EXPECT_TRUE(!treeToMerge.hasMask()); |
| 146 |
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1 | treeToMerge.initializeMask(); |
| 147 |
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1 | EXPECT_TRUE(treeToMerge.hasMask()); |
| 148 |
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1 | EXPECT_EQ(&grid->constTree().root(), treeToMerge.rootPtr()); |
| 149 | |||
| 150 | // probe root child | ||
| 151 | |||
| 152 |
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1 | const RootChildNode* nodePtr = treeToMerge.probeConstNode<RootChildNode>(Coord(8)); |
| 153 |
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1 | EXPECT_TRUE(nodePtr); |
| 154 |
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1 | EXPECT_EQ(grid->constTree().probeConstNode<RootChildNode>(Coord(8)), nodePtr); |
| 155 | |||
| 156 | // probe leaf node | ||
| 157 | |||
| 158 |
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1 | const LeafNode* leafNode = treeToMerge.probeConstNode<LeafNode>(Coord(8)); |
| 159 |
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1 | EXPECT_TRUE(leafNode); |
| 160 |
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1 | EXPECT_EQ(grid->constTree().probeConstLeaf(Coord(8)), leafNode); |
| 161 |
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1 | EXPECT_EQ(Index(1), grid->tree().leafCount()); |
| 162 |
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1 | EXPECT_EQ(Index(1), grid->tree().root().childCount()); |
| 163 | |||
| 164 | { // deep copy leaf node | ||
| 165 |
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2 | tools::TreeToMerge<FloatTree> treeToMerge2{grid->constTree(), DeepCopy()}; |
| 166 |
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2 | std::unique_ptr<LeafNode> leafNodePtr = treeToMerge2.stealOrDeepCopyNode<LeafNode>(Coord(8)); |
| 167 |
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1 | EXPECT_TRUE(leafNodePtr); |
| 168 |
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1 | EXPECT_EQ(Index(1), grid->tree().leafCount()); // leaf has not been stolen |
| 169 |
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1 | EXPECT_EQ(leafNodePtr->origin(), Coord(8)); |
| 170 |
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1 | EXPECT_EQ(Index(1), grid->tree().root().childCount()); |
| 171 | } | ||
| 172 | |||
| 173 | { // deep copy root child | ||
| 174 |
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2 | tools::TreeToMerge<FloatTree> treeToMerge2{grid->constTree(), DeepCopy()}; |
| 175 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 176 |
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2 | std::unique_ptr<RootChildNode> node2Ptr = treeToMerge2.stealOrDeepCopyNode<RootChildNode>(Coord(8)); |
| 177 |
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1 | EXPECT_TRUE(node2Ptr); |
| 178 |
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1 | EXPECT_EQ(Index(1), grid->tree().root().childCount()); |
| 179 | } | ||
| 180 | |||
| 181 | { // add root child tile | ||
| 182 |
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2 | tools::TreeToMerge<FloatTree> treeToMerge2{grid->constTree(), DeepCopy()}; |
| 183 |
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1 | EXPECT_TRUE(treeToMerge2.probeConstNode<RootChildNode>(Coord(8))); |
| 184 |
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1 | treeToMerge2.addTile<RootChildNode>(Coord(8), 1.7f, true); |
| 185 |
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1 | EXPECT_TRUE(!treeToMerge2.probeConstNode<RootChildNode>(Coord(8))); // tile has been added to mask |
| 186 |
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1 | EXPECT_EQ(Index64(0), grid->tree().activeTileCount()); |
| 187 | } | ||
| 188 | |||
| 189 | // tile in node that does not exist | ||
| 190 | |||
| 191 |
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1 | grid->tree().clear(); |
| 192 |
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1 | treeToMerge.addTile<RootChildNode>(Coord(0), 1.8f, true); |
| 193 |
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1 | EXPECT_EQ(Index64(0), grid->tree().activeTileCount()); |
| 194 | } | ||
| 195 | |||
| 196 | { // non-const tree shared pointer | ||
| 197 | { // shared pointer constructor | ||
| 198 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 199 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 200 |
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2 | tools::TreeToMerge<FloatTree> treeToMerge(grid->treePtr(), Steal()); |
| 201 | |||
| 202 | // verify tree shared ownership | ||
| 203 | |||
| 204 |
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1 | EXPECT_TRUE(treeToMerge.treeToSteal()); |
| 205 |
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1 | EXPECT_TRUE(!treeToMerge.treeToDeepCopy()); |
| 206 |
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1 | EXPECT_TRUE(treeToMerge.rootPtr()); |
| 207 |
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1 | EXPECT_TRUE(treeToMerge.probeConstNode<FloatTree::LeafNodeType>(Coord(8))); |
| 208 | } | ||
| 209 | |||
| 210 | // empty tree | ||
| 211 | 2 | FloatTree tree; | |
| 212 | 1 | tools::TreeToMerge<FloatTree> treeToMerge(tree, DeepCopy()); | |
| 213 |
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1 | EXPECT_TRUE(!treeToMerge.treeToSteal()); |
| 214 |
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1 | EXPECT_TRUE(treeToMerge.treeToDeepCopy()); |
| 215 |
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1 | EXPECT_TRUE(treeToMerge.rootPtr()); |
| 216 |
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1 | EXPECT_TRUE(!treeToMerge.probeConstNode<FloatTree::LeafNodeType>(Coord(8))); |
| 217 | |||
| 218 | { | ||
| 219 |
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1 | FloatTree::Ptr emptyPtr; |
| 220 |
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3 | EXPECT_THROW(treeToMerge.reset(emptyPtr, Steal()), RuntimeError); |
| 221 | |||
| 222 |
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1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); |
| 223 |
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1 | grid->tree().touchLeaf(Coord(8)); |
| 224 |
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1 | EXPECT_EQ(Index(1), grid->tree().leafCount()); |
| 225 | |||
| 226 |
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2 | treeToMerge.reset(grid->treePtr(), Steal()); |
| 227 | } | ||
| 228 | |||
| 229 | // verify tree shared ownership | ||
| 230 | |||
| 231 |
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1 | EXPECT_TRUE(treeToMerge.treeToSteal()); |
| 232 |
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1 | EXPECT_TRUE(!treeToMerge.treeToDeepCopy()); |
| 233 |
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1 | EXPECT_TRUE(treeToMerge.rootPtr()); |
| 234 |
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1 | EXPECT_TRUE(treeToMerge.probeConstNode<FloatTree::LeafNodeType>(Coord(8))); |
| 235 | |||
| 236 | // verify tree pointers are updated on reset() | ||
| 237 | |||
| 238 | 2 | const FloatTree tree2; | |
| 239 |
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2 | tools::TreeToMerge<FloatTree> treeToMerge2(tree2, DeepCopy()); |
| 240 |
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1 | treeToMerge2.initializeMask(); // no-op |
| 241 | |||
| 242 |
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1 | EXPECT_TRUE(!treeToMerge2.treeToSteal()); |
| 243 |
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1 | EXPECT_TRUE(treeToMerge2.treeToDeepCopy()); |
| 244 |
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1 | EXPECT_EQ(Index(0), treeToMerge2.treeToDeepCopy()->leafCount()); |
| 245 | |||
| 246 |
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1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); |
| 247 | 1 | grid->tree().touchLeaf(Coord(8)); | |
| 248 |
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2 | treeToMerge2.reset(grid->treePtr(), Steal()); |
| 249 | |||
| 250 |
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1 | EXPECT_TRUE(treeToMerge2.treeToSteal()); |
| 251 |
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1 | EXPECT_TRUE(!treeToMerge2.treeToDeepCopy()); |
| 252 |
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1 | EXPECT_EQ(Index(1), treeToMerge2.treeToSteal()->leafCount()); |
| 253 | } | ||
| 254 | 1 | } | |
| 255 | |||
| 256 |
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1 | TEST_F(TestMerge, testCsgUnion) |
| 257 | { | ||
| 258 | using RootChildType = FloatTree::RootNodeType::ChildNodeType; | ||
| 259 | using LeafParentType = RootChildType::ChildNodeType; | ||
| 260 | using LeafT = FloatTree::LeafNodeType; | ||
| 261 | |||
| 262 | { // construction | ||
| 263 | 2 | FloatTree tree1; | |
| 264 | 2 | FloatTree tree2; | |
| 265 | 2 | const FloatTree tree3; | |
| 266 | |||
| 267 | { // one non-const tree (steal) | ||
| 268 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(tree1, Steal()); |
| 269 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 270 | } | ||
| 271 | { // one non-const tree (deep-copy) | ||
| 272 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(tree1, DeepCopy()); |
| 273 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 274 | } | ||
| 275 | { // one const tree (deep-copy) | ||
| 276 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(tree2, DeepCopy()); |
| 277 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 278 | } | ||
| 279 | { // vector of tree pointers | ||
| 280 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 281 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 282 |
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1 | EXPECT_EQ(size_t(2), mergeOp.size()); |
| 283 | } | ||
| 284 | { // deque of tree pointers | ||
| 285 |
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1 | std::deque<FloatTree*> trees{&tree1, &tree2}; |
| 286 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, DeepCopy()); |
| 287 |
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1 | EXPECT_EQ(size_t(2), mergeOp.size()); |
| 288 | } | ||
| 289 | { // vector of TreesToMerge (to mix const and non-const trees) | ||
| 290 | 1 | std::vector<tools::TreeToMerge<FloatTree>> trees; | |
| 291 |
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1 | trees.emplace_back(tree1, Steal()); |
| 292 |
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1 | trees.emplace_back(tree3, DeepCopy()); // const tree |
| 293 |
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1 | trees.emplace_back(tree2, Steal()); |
| 294 | tools::CsgUnionOp<FloatTree> mergeOp(trees); | ||
| 295 |
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1 | EXPECT_EQ(size_t(3), mergeOp.size()); |
| 296 | } | ||
| 297 | { // implicit copy constructor | ||
| 298 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 299 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 300 | tools::CsgUnionOp<FloatTree> mergeOp2(mergeOp); | ||
| 301 |
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1 | EXPECT_EQ(size_t(2), mergeOp2.size()); |
| 302 | } | ||
| 303 | { // implicit assignment operator | ||
| 304 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 305 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 306 | tools::CsgUnionOp<FloatTree> mergeOp2 = mergeOp; | ||
| 307 |
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1 | EXPECT_EQ(size_t(2), mergeOp2.size()); |
| 308 | } | ||
| 309 | } | ||
| 310 | |||
| 311 | ///////////////////////////////////////////////////////////////////////// | ||
| 312 | |||
| 313 | { // empty merge trees | ||
| 314 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 315 | auto& root = grid->tree().root(); | ||
| 316 | std::vector<FloatTree*> trees; | ||
| 317 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 318 | |||
| 319 |
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1 | EXPECT_EQ(size_t(0), mergeOp.size()); |
| 320 | |||
| 321 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 322 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 323 | |||
| 324 |
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1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 325 | } | ||
| 326 | |||
| 327 | ///////////////////////////////////////////////////////////////////////// | ||
| 328 | |||
| 329 | { // test one tile or one child | ||
| 330 | |||
| 331 | { // test one background tile | ||
| 332 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 333 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 334 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 335 | |||
| 336 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 337 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 338 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 339 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 340 | |||
| 341 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 342 | } | ||
| 343 | |||
| 344 | { // test one background tile | ||
| 345 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 346 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 347 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 348 | |||
| 349 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 350 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 351 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 352 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 353 | |||
| 354 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 355 | } | ||
| 356 | |||
| 357 | { // test one background tile | ||
| 358 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 359 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 360 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 361 | |||
| 362 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 363 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 364 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 365 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 366 | |||
| 367 | const auto& root = grid->tree().root(); | ||
| 368 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 369 |
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1 | EXPECT_EQ(-grid->background(), grid->cbeginValueAll().getValue()); |
| 370 | } | ||
| 371 | |||
| 372 | { // test one background tile | ||
| 373 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 374 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 375 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 376 | |||
| 377 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 378 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 379 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 380 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 381 | |||
| 382 | const auto& root = grid->tree().root(); | ||
| 383 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 384 |
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1 | EXPECT_EQ(-grid->background(), grid->cbeginValueAll().getValue()); |
| 385 | } | ||
| 386 | |||
| 387 | { // test one child node | ||
| 388 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 389 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), false)); |
| 390 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 391 | |||
| 392 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 393 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 394 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 395 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 396 | |||
| 397 | const auto& root = grid->tree().root(); | ||
| 398 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 399 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 400 | } | ||
| 401 | |||
| 402 | { // test one child node | ||
| 403 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 404 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid->background(), false)); |
| 405 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 406 | |||
| 407 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 408 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 409 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 410 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 411 | |||
| 412 | const auto& root = grid->tree().root(); | ||
| 413 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 414 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 415 | } | ||
| 416 | |||
| 417 | { // test one child node | ||
| 418 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 419 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), 1.0, false)); |
| 420 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 421 | |||
| 422 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 423 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 424 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 425 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 426 | |||
| 427 | const auto& root = grid->tree().root(); | ||
| 428 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 429 |
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1 | EXPECT_EQ(1.0, root.cbeginChildOn()->getFirstValue()); |
| 430 | } | ||
| 431 | |||
| 432 | { // test one child node | ||
| 433 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 434 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), 1.0, true)); |
| 435 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 436 | |||
| 437 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 438 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 439 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 440 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 441 | |||
| 442 | const auto& root = grid->tree().root(); | ||
| 443 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 444 |
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1 | EXPECT_EQ(1.0, root.cbeginChildOn()->getFirstValue()); |
| 445 | } | ||
| 446 | |||
| 447 | { // test one child node | ||
| 448 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 449 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 450 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 451 | |||
| 452 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 453 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 454 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 455 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 456 | |||
| 457 | const auto& root = grid->tree().root(); | ||
| 458 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 459 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 460 | } | ||
| 461 | |||
| 462 | { // test one child node | ||
| 463 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 464 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 465 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 466 | |||
| 467 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 468 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 469 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 470 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 471 | |||
| 472 | const auto& root = grid->tree().root(); | ||
| 473 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 474 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 475 | } | ||
| 476 | |||
| 477 | { // test one child node | ||
| 478 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 479 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 480 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), 1.0, false)); |
| 481 | |||
| 482 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 483 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 484 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 485 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 486 | |||
| 487 | const auto& root = grid->tree().root(); | ||
| 488 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 489 |
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1 | EXPECT_EQ(1.0, root.cbeginChildOn()->getFirstValue()); |
| 490 | } | ||
| 491 | } | ||
| 492 | |||
| 493 | ///////////////////////////////////////////////////////////////////////// | ||
| 494 | |||
| 495 | { // test two tiles | ||
| 496 | |||
| 497 | { // test outside background tiles | ||
| 498 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 499 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 500 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 501 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 502 | |||
| 503 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 504 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 505 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 506 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 507 | |||
| 508 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 509 | } | ||
| 510 | |||
| 511 | { // test inside vs outside background tiles | ||
| 512 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 513 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 514 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 515 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 516 | |||
| 517 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 518 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 519 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 520 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 521 | |||
| 522 | const auto& root = grid->tree().root(); | ||
| 523 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 524 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 525 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 526 | } | ||
| 527 | |||
| 528 | { // test inside vs outside background tiles | ||
| 529 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 530 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 531 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 532 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 533 | |||
| 534 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 535 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 536 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 537 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 538 | |||
| 539 | const auto& root = grid->tree().root(); | ||
| 540 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 541 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 542 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 543 | } | ||
| 544 | |||
| 545 | { // test inside background tiles | ||
| 546 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 547 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 548 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 549 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 550 | |||
| 551 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 552 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 553 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 554 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 555 | |||
| 556 | const auto& root = grid->tree().root(); | ||
| 557 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 558 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 559 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 560 | } | ||
| 561 | |||
| 562 | { // test outside background tiles (different background values) | ||
| 563 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 564 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 565 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 566 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 567 | |||
| 568 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 569 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 570 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 571 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 572 | |||
| 573 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 574 | } | ||
| 575 | |||
| 576 | { // test inside vs outside background tiles (different background values) | ||
| 577 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 578 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 579 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 580 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 581 | |||
| 582 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 583 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 584 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 585 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 586 | |||
| 587 | const auto& root = grid->tree().root(); | ||
| 588 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 589 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 590 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 591 | } | ||
| 592 | |||
| 593 | { // test inside vs outside background tiles (different background values) | ||
| 594 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 595 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 596 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 597 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 598 | |||
| 599 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 600 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 601 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 602 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 603 | |||
| 604 | const auto& root = grid->tree().root(); | ||
| 605 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 606 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 607 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 608 | } | ||
| 609 | |||
| 610 | { // test inside background tiles (different background values) | ||
| 611 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 612 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 613 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 614 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 615 | |||
| 616 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 617 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 618 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 619 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 620 | |||
| 621 | const auto& root = grid->tree().root(); | ||
| 622 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 623 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 624 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 625 | } | ||
| 626 | } | ||
| 627 | |||
| 628 | ///////////////////////////////////////////////////////////////////////// | ||
| 629 | |||
| 630 | { // test one tile, one child | ||
| 631 | |||
| 632 | { // test background tiles vs child nodes | ||
| 633 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 634 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 635 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 636 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 637 | |||
| 638 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 639 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 640 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 641 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 642 | |||
| 643 | const auto& root = grid->tree().root(); | ||
| 644 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 645 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 646 | } | ||
| 647 | |||
| 648 | { // test background tiles vs child nodes | ||
| 649 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 650 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 651 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 652 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 653 | |||
| 654 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 655 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 656 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 657 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 658 | |||
| 659 | const auto& root = grid->tree().root(); | ||
| 660 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 661 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 662 |
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|
2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 663 | } | ||
| 664 | |||
| 665 | { // test background tiles vs child nodes | ||
| 666 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 667 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 668 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 669 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 670 | |||
| 671 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 672 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 673 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 674 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 675 | |||
| 676 | const auto& root = grid->tree().root(); | ||
| 677 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 678 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 679 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 680 | } | ||
| 681 | |||
| 682 | { // test background tiles vs child nodes | ||
| 683 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 684 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), false)); |
| 685 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 686 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 687 | |||
| 688 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 689 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 690 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 691 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 692 | |||
| 693 | const auto& root = grid->tree().root(); | ||
| 694 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 695 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 696 | } | ||
| 697 | } | ||
| 698 | |||
| 699 | ///////////////////////////////////////////////////////////////////////// | ||
| 700 | |||
| 701 | { // test two children | ||
| 702 | |||
| 703 | { // test two child nodes | ||
| 704 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 705 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), false)); |
| 706 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 707 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), true)); |
| 708 | |||
| 709 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 710 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 711 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 712 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 713 | |||
| 714 | const auto& root = grid->tree().root(); | ||
| 715 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 716 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 717 |
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2 | EXPECT_EQ(false, root.cbeginChildOn()->isValueOn(0)); |
| 718 | } | ||
| 719 | |||
| 720 | { // test two child nodes | ||
| 721 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 722 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), true)); |
| 723 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 724 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 725 | |||
| 726 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 727 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 728 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 729 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 730 | |||
| 731 | const auto& root = grid->tree().root(); | ||
| 732 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 733 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 734 |
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2 | EXPECT_EQ(true, root.cbeginChildOn()->isValueOn(0)); |
| 735 | } | ||
| 736 | |||
| 737 | { // test two child nodes | ||
| 738 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 739 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid->background(), false)); |
| 740 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 741 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), true)); |
| 742 | |||
| 743 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 744 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 745 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 746 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 747 | |||
| 748 | const auto& root = grid->tree().root(); | ||
| 749 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 750 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 751 |
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2 | EXPECT_EQ(false, root.cbeginChildOn()->isValueOn(0)); |
| 752 | } | ||
| 753 | |||
| 754 | { // test two child nodes | ||
| 755 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 756 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), true)); |
| 757 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 758 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 759 | |||
| 760 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 761 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 762 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 763 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 764 | |||
| 765 | const auto& root = grid->tree().root(); | ||
| 766 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 767 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 768 |
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2 | EXPECT_EQ(false, root.cbeginChildOn()->isValueOn(0)); |
| 769 | } | ||
| 770 | } | ||
| 771 | |||
| 772 | ///////////////////////////////////////////////////////////////////////// | ||
| 773 | |||
| 774 | { // test multiple root node elements | ||
| 775 | |||
| 776 | { // merge a child node into a grid with an existing child node | ||
| 777 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 778 | auto& root = grid->tree().root(); | ||
| 779 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 780 |
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1 | root.addTile(Coord(8192, 0, 0), grid->background(), false); |
| 781 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 782 | auto& root2 = grid2->tree().root(); | ||
| 783 |
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1 | root2.addTile(Coord(0, 0, 0), grid2->background(), false); |
| 784 |
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1 | root2.addChild(new RootChildType(Coord(8192, 0, 0), 2.0f, false)); |
| 785 | |||
| 786 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 787 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 788 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 789 | |||
| 790 |
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1 | EXPECT_EQ(Index(2), getChildCount(root)); |
| 791 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->cbeginValueAll()); |
| 792 |
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1 | EXPECT_EQ(1.0f, root.cbeginChildOn()->getFirstValue()); |
| 793 |
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2 | EXPECT_EQ(2.0f, (++root.cbeginChildOn())->getFirstValue()); |
| 794 | } | ||
| 795 | |||
| 796 | { // merge a child node into a grid with an existing child node | ||
| 797 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 798 | auto& root = grid->tree().root(); | ||
| 799 |
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1 | root.addTile(Coord(0, 0, 0), grid->background(), false); |
| 800 |
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1 | root.addChild(new RootChildType(Coord(8192, 0, 0), 2.0f, false)); |
| 801 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 802 | auto& root2 = grid2->tree().root(); | ||
| 803 |
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1 | root2.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 804 |
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1 | root2.addTile(Coord(8192, 0, 0), grid2->background(), false); |
| 805 | |||
| 806 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 807 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 808 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 809 | |||
| 810 |
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1 | EXPECT_EQ(Index(2), getChildCount(root)); |
| 811 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->cbeginValueAll()); |
| 812 |
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1 | EXPECT_EQ(1.0f, root.cbeginChildOn()->getFirstValue()); |
| 813 |
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2 | EXPECT_EQ(2.0f, (++root.cbeginChildOn())->getFirstValue()); |
| 814 | } | ||
| 815 | |||
| 816 | { // merge background tiles and child nodes | ||
| 817 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 818 | auto& root = grid->tree().root(); | ||
| 819 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 820 |
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1 | root.addTile(Coord(8192, 0, 0), -grid->background(), false); |
| 821 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 822 | auto& root2 = grid2->tree().root(); | ||
| 823 |
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1 | root2.addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 824 |
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1 | root2.addChild(new RootChildType(Coord(8192, 0, 0), 2.0f, false)); |
| 825 | |||
| 826 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 827 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 828 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 829 | |||
| 830 |
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1 | EXPECT_EQ(Index(2), getTileCount(root)); |
| 831 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 832 |
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2 | EXPECT_EQ(-grid->background(), *(++root.cbeginValueOff())); |
| 833 | } | ||
| 834 | } | ||
| 835 | |||
| 836 | ///////////////////////////////////////////////////////////////////////// | ||
| 837 | |||
| 838 | { // test merging internal node children | ||
| 839 | |||
| 840 | { // merge two internal nodes into a grid with an inside tile and an outside tile | ||
| 841 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 842 | auto& root = grid->tree().root(); | ||
| 843 |
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3 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), -123.0f, false); |
| 844 | 1 | rootChild->addTile(0, grid->background(), false); | |
| 845 |
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1 | root.addChild(rootChild.release()); |
| 846 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 847 | auto& root2 = grid2->tree().root(); | ||
| 848 |
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3 | auto rootChild2 = std::make_unique<RootChildType>(Coord(0, 0, 0), 55.0f, false); |
| 849 | |||
| 850 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 0), 29.0f, false)); |
| 851 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 128), 31.0f, false)); |
| 852 |
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1 | rootChild2->addTile(2, -grid->background(), false); |
| 853 |
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1 | root2.addChild(rootChild2.release()); |
| 854 | |||
| 855 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 856 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 857 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 858 | |||
| 859 |
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1 | EXPECT_EQ(Index(1), getChildCount(*root.cbeginChildOn())); |
| 860 |
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1 | EXPECT_EQ(Index(0), getOutsideTileCount(*root.cbeginChildOn())); |
| 861 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(0)); |
| 862 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(1)); |
| 863 |
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2 | EXPECT_EQ(29.0f, root.cbeginChildOn()->cbeginChildOn()->getFirstValue()); |
| 864 |
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|
2 | EXPECT_EQ(-123.0f, root.cbeginChildOn()->cbeginValueAll().getValue()); |
| 865 | } | ||
| 866 | |||
| 867 | { // merge two internal nodes into a grid with an inside tile and an outside tile | ||
| 868 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 869 | auto& root = grid->tree().root(); | ||
| 870 |
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3 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), 123.0f, false); |
| 871 |
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1 | root.addChild(rootChild.release()); |
| 872 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 873 | auto& root2 = grid2->tree().root(); | ||
| 874 |
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3 | auto rootChild2 = std::make_unique<RootChildType>(Coord(0, 0, 0), -55.0f, false); |
| 875 | |||
| 876 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 0), 29.0f, false)); |
| 877 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 128), 31.0f, false)); |
| 878 | 1 | rootChild2->addTile(2, -140.0f, false); | |
| 879 | 1 | rootChild2->addTile(3, grid2->background(), false); | |
| 880 |
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1 | root2.addChild(rootChild2.release()); |
| 881 | |||
| 882 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 883 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 884 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 885 | |||
| 886 |
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1 | EXPECT_EQ(Index(2), getChildCount(*root.cbeginChildOn())); |
| 887 |
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1 | EXPECT_EQ(Index(1), getOutsideTileCount(*root.cbeginChildOn())); |
| 888 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(0)); |
| 889 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(1)); |
| 890 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(2)); |
| 891 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(3)); |
| 892 |
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2 | EXPECT_EQ(29.0f, root.cbeginChildOn()->cbeginChildOn()->getFirstValue()); |
| 893 |
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2 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->cbeginValueAll().getItem(2)); |
| 894 |
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2 | EXPECT_EQ(123.0f, root.cbeginChildOn()->cbeginValueAll().getItem(3)); |
| 895 | } | ||
| 896 | } | ||
| 897 | |||
| 898 | ///////////////////////////////////////////////////////////////////////// | ||
| 899 | |||
| 900 | { // test merging leaf nodes | ||
| 901 | |||
| 902 | { // merge a leaf node into an empty grid | ||
| 903 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 904 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 905 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 906 | |||
| 907 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 908 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 909 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 910 | |||
| 911 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 912 | } | ||
| 913 | |||
| 914 | { // merge a leaf node into a grid with an outside tile | ||
| 915 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 916 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -10.0f, false); |
| 917 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 918 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 919 | |||
| 920 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 921 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 922 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 923 | |||
| 924 | const auto& root = grid->tree().root(); | ||
| 925 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 926 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 927 | } | ||
| 928 | |||
| 929 | { // merge a leaf node into a grid with an outside tile | ||
| 930 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 931 | ✗ | grid->tree().touchLeaf(Coord(0, 0, 0)); | |
| 932 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 933 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -10.0f, false); |
| 934 | |||
| 935 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 936 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 937 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 938 | |||
| 939 | const auto& root = grid->tree().root(); | ||
| 940 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 941 |
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1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 942 | } | ||
| 943 | |||
| 944 | { // merge a leaf node into a grid with an internal node inside tile | ||
| 945 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 946 |
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2 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), grid->background(), false); |
| 947 |
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1 | grid->tree().root().addChild(rootChild.release()); |
| 948 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 949 |
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1 | auto* leaf = grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 950 | |||
| 951 | leaf->setValueOnly(11, grid2->background()); | ||
| 952 |
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2 | leaf->setValueOnly(12, -grid2->background()); |
| 953 | |||
| 954 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 955 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 956 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 957 | |||
| 958 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 959 |
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1 | EXPECT_EQ(Index32(0), grid2->tree().leafCount()); |
| 960 | |||
| 961 | // test background values are remapped | ||
| 962 | |||
| 963 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 964 |
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1 | EXPECT_EQ(grid->background(), testLeaf->getValue(11)); |
| 965 |
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1 | EXPECT_EQ(-grid->background(), testLeaf->getValue(12)); |
| 966 | } | ||
| 967 | |||
| 968 | { // merge a leaf node into a grid with a partially constructed leaf node | ||
| 969 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 970 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 971 | |||
| 972 |
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1 | grid->tree().addLeaf(new LeafT(PartialCreate(), Coord(0, 0, 0))); |
| 973 | 1 | auto* leaf = grid2->tree().touchLeaf(Coord(0, 0, 0)); | |
| 974 |
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2 | leaf->setValueOnly(10, -2.3f); |
| 975 | |||
| 976 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 977 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 978 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 979 | |||
| 980 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 981 |
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1 | EXPECT_EQ(-2.3f, testLeaf->getValue(10)); |
| 982 | } | ||
| 983 | |||
| 984 | { // merge three leaf nodes from different grids | ||
| 985 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 986 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 987 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 988 | |||
| 989 |
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1 | auto* leaf = grid->tree().touchLeaf(Coord(0, 0, 0)); |
| 990 |
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1 | auto* leaf2 = grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 991 | 1 | auto* leaf3 = grid3->tree().touchLeaf(Coord(0, 0, 0)); | |
| 992 | |||
| 993 | // active state from the voxel with the minimum value preserved | ||
| 994 | |||
| 995 |
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1 | leaf->setValueOnly(5, 4.0f); |
| 996 |
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2 | leaf2->setValueOnly(5, 2.0f); |
| 997 | leaf2->setValueOn(5); | ||
| 998 |
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1 | leaf3->setValueOnly(5, 3.0f); |
| 999 | |||
| 1000 |
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2 | leaf->setValueOnly(7, 2.0f); |
| 1001 | leaf->setValueOn(7); | ||
| 1002 |
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1 | leaf2->setValueOnly(7, 3.0f); |
| 1003 |
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1 | leaf3->setValueOnly(7, 4.0f); |
| 1004 | |||
| 1005 |
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2 | leaf->setValueOnly(9, 4.0f); |
| 1006 | leaf->setValueOn(9); | ||
| 1007 |
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1 | leaf2->setValueOnly(9, 3.0f); |
| 1008 |
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2 | leaf3->setValueOnly(9, 2.0f); |
| 1009 | |||
| 1010 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1011 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 1012 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1013 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1014 | |||
| 1015 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 1016 |
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1 | EXPECT_EQ(2.0f, testLeaf->getValue(5)); |
| 1017 |
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1 | EXPECT_TRUE(testLeaf->isValueOn(5)); |
| 1018 |
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1 | EXPECT_EQ(2.0f, testLeaf->getValue(7)); |
| 1019 |
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1 | EXPECT_TRUE(testLeaf->isValueOn(7)); |
| 1020 |
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1 | EXPECT_EQ(2.0f, testLeaf->getValue(9)); |
| 1021 |
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1 | EXPECT_TRUE(!testLeaf->isValueOn(9)); |
| 1022 | } | ||
| 1023 | |||
| 1024 | { // merge a leaf node into an empty grid from a const grid | ||
| 1025 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1026 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), 1.0f, false); |
| 1027 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1028 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1029 | |||
| 1030 |
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1 | EXPECT_EQ(Index32(0), grid->tree().leafCount()); |
| 1031 |
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1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 1032 | |||
| 1033 | // merge from a const tree | ||
| 1034 | |||
| 1035 | 1 | std::vector<tools::TreeToMerge<FloatTree>> treesToMerge; | |
| 1036 |
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1 | treesToMerge.emplace_back(grid2->constTree(), DeepCopy()); |
| 1037 | tools::CsgUnionOp<FloatTree> mergeOp(treesToMerge); | ||
| 1038 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1039 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1040 | |||
| 1041 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 1042 | // leaf has been deep copied not stolen | ||
| 1043 |
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|
1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 1044 | } | ||
| 1045 | } | ||
| 1046 | |||
| 1047 | ///////////////////////////////////////////////////////////////////////// | ||
| 1048 | |||
| 1049 | { // merge multiple grids | ||
| 1050 | |||
| 1051 | { // merge two background root tiles from two different grids | ||
| 1052 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1053 | auto& root = grid->tree().root(); | ||
| 1054 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1055 | auto& root2 = grid2->tree().root(); | ||
| 1056 |
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1 | root2.addTile(Coord(0, 0, 0), /*background=*/grid2->background(), false); |
| 1057 |
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1 | root2.addTile(Coord(8192, 0, 0), /*background=*/-grid2->background(), false); |
| 1058 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 1059 | auto& root3 = grid3->tree().root(); | ||
| 1060 |
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1 | root3.addTile(Coord(0, 0, 0), /*background=*/-grid3->background(), false); |
| 1061 |
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1 | root3.addTile(Coord(8192, 0, 0), /*background=*/grid3->background(), false); |
| 1062 | |||
| 1063 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1064 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 1065 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1066 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1067 | |||
| 1068 |
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1 | EXPECT_EQ(Index(2), getTileCount(root)); |
| 1069 | |||
| 1070 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginValueAll().getValue()); |
| 1071 |
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2 | EXPECT_EQ(-grid->background(), (++root.cbeginValueAll()).getValue()); |
| 1072 | } | ||
| 1073 | |||
| 1074 | { // merge two outside root tiles from two different grids | ||
| 1075 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1076 | auto& root = grid->tree().root(); | ||
| 1077 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1078 | auto& root2 = grid2->tree().root(); | ||
| 1079 |
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1 | root2.addTile(Coord(0, 0, 0), /*background=*/-10.0f, false); |
| 1080 |
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1 | root2.addTile(Coord(8192, 0, 0), /*background=*/grid2->background(), false); |
| 1081 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 1082 | auto& root3 = grid3->tree().root(); | ||
| 1083 |
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1 | root3.addTile(Coord(0, 0, 0), /*background=*/grid3->background(), false); |
| 1084 |
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1 | root3.addTile(Coord(8192, 0, 0), /*background=*/-11.0f, false); |
| 1085 | |||
| 1086 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1087 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 1088 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1089 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1090 | |||
| 1091 |
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1 | EXPECT_EQ(Index(2), getTileCount(root)); |
| 1092 | |||
| 1093 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginValueAll().getValue()); |
| 1094 |
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|
2 | EXPECT_EQ(-grid->background(), (++root.cbeginValueAll()).getValue()); |
| 1095 | } | ||
| 1096 | |||
| 1097 | { // merge two active, outside root tiles from two different grids | ||
| 1098 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1099 | auto& root = grid->tree().root(); | ||
| 1100 |
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1 | root.addTile(Coord(0, 0, 0), /*background=*/grid->background(), false); |
| 1101 |
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1 | root.addTile(Coord(8192, 0, 0), /*background=*/grid->background(), false); |
| 1102 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1103 | auto& root2 = grid2->tree().root(); | ||
| 1104 |
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1 | root2.addTile(Coord(0, 0, 0), /*background=*/-10.0f, true); |
| 1105 |
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1 | root2.addTile(Coord(8192, 0, 0), /*background=*/grid2->background(), false); |
| 1106 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 1107 | auto& root3 = grid3->tree().root(); | ||
| 1108 |
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1 | root3.addTile(Coord(0, 0, 0), /*background=*/grid3->background(), false); |
| 1109 |
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1 | root3.addTile(Coord(8192, 0, 0), /*background=*/-11.0f, true); |
| 1110 | |||
| 1111 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1112 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 1113 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1114 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1115 | |||
| 1116 |
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1 | EXPECT_EQ(Index(2), getTileCount(root)); |
| 1117 | |||
| 1118 |
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1 | EXPECT_EQ(-grid->background(), root.cbeginValueAll().getValue()); |
| 1119 |
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2 | EXPECT_EQ(-grid->background(), (++root.cbeginValueAll()).getValue()); |
| 1120 | } | ||
| 1121 | |||
| 1122 | { // merge three root tiles, one of which is a background tile | ||
| 1123 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1124 | auto& root = grid->tree().root(); | ||
| 1125 |
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1 | root.addTile(Coord(0, 0, 0), grid->background(), true); |
| 1126 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1127 | auto& root2 = grid2->tree().root(); | ||
| 1128 |
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1 | root2.addTile(Coord(0, 0, 0), -grid2->background(), true); |
| 1129 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(); |
| 1130 | auto& root3 = grid3->tree().root(); | ||
| 1131 |
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1 | root3.addTile(Coord(0, 0, 0), -grid3->background(), false); |
| 1132 | |||
| 1133 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1134 |
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1 | tools::CsgUnionOp<FloatTree> mergeOp(trees, Steal()); |
| 1135 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1136 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1137 | |||
| 1138 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 1139 |
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|
1 | EXPECT_EQ(-grid->background(), root.cbeginValueOn().getValue()); |
| 1140 | } | ||
| 1141 | } | ||
| 1142 | 1 | } | |
| 1143 | |||
| 1144 |
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1 | TEST_F(TestMerge, testCsgIntersection) |
| 1145 | { | ||
| 1146 | using RootChildType = FloatTree::RootNodeType::ChildNodeType; | ||
| 1147 | using LeafParentType = RootChildType::ChildNodeType; | ||
| 1148 | using LeafT = FloatTree::LeafNodeType; | ||
| 1149 | |||
| 1150 | { // construction | ||
| 1151 | 2 | FloatTree tree1; | |
| 1152 | 2 | FloatTree tree2; | |
| 1153 | 2 | const FloatTree tree3; | |
| 1154 | |||
| 1155 | { // one non-const tree (steal) | ||
| 1156 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(tree1, Steal()); |
| 1157 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 1158 | } | ||
| 1159 | { // one non-const tree (deep-copy) | ||
| 1160 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(tree1, DeepCopy()); |
| 1161 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 1162 | } | ||
| 1163 | { // one const tree (deep-copy) | ||
| 1164 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(tree2, DeepCopy()); |
| 1165 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 1166 | } | ||
| 1167 | { // vector of tree pointers | ||
| 1168 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 1169 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1170 |
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1 | EXPECT_EQ(size_t(2), mergeOp.size()); |
| 1171 | } | ||
| 1172 | { // deque of tree pointers | ||
| 1173 |
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1 | std::deque<FloatTree*> trees{&tree1, &tree2}; |
| 1174 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1175 |
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1 | EXPECT_EQ(size_t(2), mergeOp.size()); |
| 1176 | } | ||
| 1177 | { // vector of TreesToMerge (to mix const and non-const trees) | ||
| 1178 | 1 | std::vector<tools::TreeToMerge<FloatTree>> trees; | |
| 1179 |
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1 | trees.emplace_back(tree1, Steal()); |
| 1180 |
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1 | trees.emplace_back(tree3, DeepCopy()); // const tree |
| 1181 |
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1 | trees.emplace_back(tree2, Steal()); |
| 1182 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees); | ||
| 1183 |
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1 | EXPECT_EQ(size_t(3), mergeOp.size()); |
| 1184 | } | ||
| 1185 | { // implicit copy constructor | ||
| 1186 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 1187 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1188 | tools::CsgIntersectionOp<FloatTree> mergeOp2(mergeOp); | ||
| 1189 |
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1 | EXPECT_EQ(size_t(2), mergeOp2.size()); |
| 1190 | } | ||
| 1191 | { // implicit assignment operator | ||
| 1192 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 1193 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1194 | tools::CsgIntersectionOp<FloatTree> mergeOp2 = mergeOp; | ||
| 1195 |
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1 | EXPECT_EQ(size_t(2), mergeOp2.size()); |
| 1196 | } | ||
| 1197 | } | ||
| 1198 | |||
| 1199 | ///////////////////////////////////////////////////////////////////////// | ||
| 1200 | |||
| 1201 | { // empty merge trees | ||
| 1202 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1203 | auto& root = grid->tree().root(); | ||
| 1204 | std::vector<FloatTree*> trees; | ||
| 1205 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1206 | |||
| 1207 |
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1 | EXPECT_EQ(size_t(0), mergeOp.size()); |
| 1208 | |||
| 1209 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1210 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1211 | |||
| 1212 |
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1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 1213 | } | ||
| 1214 | |||
| 1215 | ///////////////////////////////////////////////////////////////////////// | ||
| 1216 | |||
| 1217 | { // test one tile or one child | ||
| 1218 | |||
| 1219 | { // test one background tile | ||
| 1220 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1221 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1222 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1223 | |||
| 1224 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1225 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1226 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1227 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1228 | |||
| 1229 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1230 | } | ||
| 1231 | |||
| 1232 | { // test one background tile | ||
| 1233 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1234 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1235 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1236 | |||
| 1237 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1238 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1239 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1240 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1241 | |||
| 1242 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1243 | } | ||
| 1244 | |||
| 1245 | { // test one background tile | ||
| 1246 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1247 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1248 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1249 | |||
| 1250 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1251 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1252 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1253 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1254 | |||
| 1255 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1256 | } | ||
| 1257 | |||
| 1258 | { // test one background tile | ||
| 1259 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1260 |
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|
1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1261 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 1262 | |||
| 1263 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1264 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1265 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1266 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1267 | |||
| 1268 |
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|
1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1269 | } | ||
| 1270 | |||
| 1271 | { // test one child node | ||
| 1272 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1273 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), false)); |
| 1274 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1275 | |||
| 1276 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1277 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1278 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1279 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1280 | |||
| 1281 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1282 | } | ||
| 1283 | |||
| 1284 | { // test one child node | ||
| 1285 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1286 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid->background(), false)); |
| 1287 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1288 | |||
| 1289 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1290 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1291 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1292 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1293 | |||
| 1294 |
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|
1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1295 | } | ||
| 1296 | |||
| 1297 | { // test one child node | ||
| 1298 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1299 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), 1.0, false)); |
| 1300 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1301 | |||
| 1302 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1303 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1304 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1305 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1306 | |||
| 1307 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1308 | } | ||
| 1309 | |||
| 1310 | { // test one child node | ||
| 1311 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1312 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), 1.0, true)); |
| 1313 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1314 | |||
| 1315 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1316 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1317 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1318 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1319 | |||
| 1320 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1321 | } | ||
| 1322 | |||
| 1323 | { // test one child node | ||
| 1324 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1325 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1326 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 1327 | |||
| 1328 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1329 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1330 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1331 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1332 | |||
| 1333 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1334 | } | ||
| 1335 | |||
| 1336 | { // test one child node | ||
| 1337 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1338 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1339 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 1340 | |||
| 1341 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1342 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1343 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1344 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1345 | |||
| 1346 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1347 | } | ||
| 1348 | |||
| 1349 | { // test one child node | ||
| 1350 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1351 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1352 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), 1.0, false)); |
| 1353 | |||
| 1354 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1355 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1356 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1357 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1358 | |||
| 1359 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1360 | } | ||
| 1361 | } | ||
| 1362 | |||
| 1363 | ///////////////////////////////////////////////////////////////////////// | ||
| 1364 | |||
| 1365 | { // test two tiles | ||
| 1366 | |||
| 1367 | { // test outside background tiles | ||
| 1368 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1369 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1370 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1371 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1372 | |||
| 1373 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1374 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1375 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1376 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1377 | |||
| 1378 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1379 | } | ||
| 1380 | |||
| 1381 | { // test inside vs outside background tiles | ||
| 1382 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1383 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1384 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1385 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1386 | |||
| 1387 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1388 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1389 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1390 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1391 | |||
| 1392 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1393 | } | ||
| 1394 | |||
| 1395 | { // test inside vs outside background tiles | ||
| 1396 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1397 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1398 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1399 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 1400 | |||
| 1401 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1402 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1403 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1404 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1405 | |||
| 1406 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1407 | } | ||
| 1408 | |||
| 1409 | { // test inside background tiles | ||
| 1410 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1411 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1412 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1413 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 1414 | |||
| 1415 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1416 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1417 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1418 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1419 | |||
| 1420 | const auto& root = grid->tree().root(); | ||
| 1421 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 1422 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 1423 |
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|
1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 1424 | } | ||
| 1425 | |||
| 1426 | { // test outside background tiles (different background values) | ||
| 1427 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1428 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1429 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1430 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1431 | |||
| 1432 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1433 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1434 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1435 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1436 | |||
| 1437 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1438 | } | ||
| 1439 | |||
| 1440 | { // test inside vs outside background tiles (different background values) | ||
| 1441 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1442 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1443 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1444 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1445 | |||
| 1446 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1447 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1448 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1449 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1450 | |||
| 1451 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1452 | } | ||
| 1453 | |||
| 1454 | { // test inside vs outside background tiles (different background values) | ||
| 1455 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1456 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1457 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1458 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 1459 | |||
| 1460 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1461 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1462 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1463 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1464 | |||
| 1465 |
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|
1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1466 | } | ||
| 1467 | |||
| 1468 | { // test inside background tiles (different background values) | ||
| 1469 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1470 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1471 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1472 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 1473 | |||
| 1474 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1475 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1476 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1477 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1478 | |||
| 1479 | const auto& root = grid->tree().root(); | ||
| 1480 |
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1 | EXPECT_TRUE(hasOnlyInactiveNegativeBackgroundTiles(root)); |
| 1481 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 1482 |
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|
1 | EXPECT_EQ(-grid->background(), *root.cbeginValueOff()); |
| 1483 | } | ||
| 1484 | } | ||
| 1485 | |||
| 1486 | ///////////////////////////////////////////////////////////////////////// | ||
| 1487 | |||
| 1488 | { // test one tile, one child | ||
| 1489 | |||
| 1490 | { // test background tiles vs child nodes | ||
| 1491 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1492 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1493 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1494 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 1495 | |||
| 1496 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1497 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1498 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1499 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1500 | |||
| 1501 |
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|
1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1502 | } | ||
| 1503 | |||
| 1504 | { // test background tiles vs child nodes | ||
| 1505 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1506 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1507 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1508 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 1509 | |||
| 1510 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1511 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1512 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1513 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1514 | |||
| 1515 | const auto& root = grid->tree().root(); | ||
| 1516 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1517 |
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|
2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 1518 | } | ||
| 1519 | |||
| 1520 | { // test background tiles vs child nodes | ||
| 1521 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1522 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1523 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1524 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 1525 | |||
| 1526 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1527 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1528 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1529 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1530 | |||
| 1531 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1532 | } | ||
| 1533 | |||
| 1534 | { // test background tiles vs child nodes | ||
| 1535 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1536 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1537 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1538 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 1539 | |||
| 1540 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1541 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1542 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1543 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1544 | |||
| 1545 | const auto& root = grid->tree().root(); | ||
| 1546 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1547 |
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|
1 | EXPECT_EQ(-grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 1548 | } | ||
| 1549 | |||
| 1550 | { // test background tiles vs child nodes | ||
| 1551 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1552 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), false)); |
| 1553 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1554 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1555 | |||
| 1556 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1557 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1558 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1559 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1560 | |||
| 1561 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1562 | } | ||
| 1563 | } | ||
| 1564 | |||
| 1565 | ///////////////////////////////////////////////////////////////////////// | ||
| 1566 | |||
| 1567 | { // test two children | ||
| 1568 | |||
| 1569 | { // test two child nodes | ||
| 1570 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1571 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), false)); |
| 1572 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1573 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), true)); |
| 1574 | |||
| 1575 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1576 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1577 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1578 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1579 | |||
| 1580 | const auto& root = grid->tree().root(); | ||
| 1581 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1582 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 1583 |
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|
2 | EXPECT_EQ(false, root.cbeginChildOn()->isValueOn(0)); |
| 1584 | } | ||
| 1585 | |||
| 1586 | { // test two child nodes | ||
| 1587 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1588 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), true)); |
| 1589 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1590 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), false)); |
| 1591 | |||
| 1592 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1593 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1594 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1595 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1596 | |||
| 1597 | const auto& root = grid->tree().root(); | ||
| 1598 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1599 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 1600 |
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|
2 | EXPECT_EQ(true, root.cbeginChildOn()->isValueOn(0)); |
| 1601 | } | ||
| 1602 | |||
| 1603 | { // test two child nodes | ||
| 1604 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1605 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid->background(), false)); |
| 1606 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1607 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid2->background(), true)); |
| 1608 | |||
| 1609 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1610 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1611 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1612 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1613 | |||
| 1614 | const auto& root = grid->tree().root(); | ||
| 1615 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1616 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 1617 |
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2 | EXPECT_EQ(true, root.cbeginChildOn()->isValueOn(0)); |
| 1618 | } | ||
| 1619 | |||
| 1620 | { // test two child nodes | ||
| 1621 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1622 |
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1 | grid->tree().root().addChild(new RootChildType(Coord(0, 0, 0), grid->background(), true)); |
| 1623 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1624 |
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1 | grid2->tree().root().addChild(new RootChildType(Coord(0, 0, 0), -grid2->background(), false)); |
| 1625 | |||
| 1626 |
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1 | std::vector<FloatTree*> trees{&grid2->tree()}; |
| 1627 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1628 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1629 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1630 | |||
| 1631 | const auto& root = grid->tree().root(); | ||
| 1632 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1633 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->getFirstValue()); |
| 1634 |
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2 | EXPECT_EQ(true, root.cbeginChildOn()->isValueOn(0)); |
| 1635 | } | ||
| 1636 | } | ||
| 1637 | |||
| 1638 | ///////////////////////////////////////////////////////////////////////// | ||
| 1639 | |||
| 1640 | { // test multiple root node elements | ||
| 1641 | |||
| 1642 | { // merge a child node into a grid with an existing child node | ||
| 1643 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1644 | auto& root = grid->tree().root(); | ||
| 1645 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 1646 |
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1 | root.addTile(Coord(8192, 0, 0), -grid->background(), false); |
| 1647 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1648 | auto& root2 = grid2->tree().root(); | ||
| 1649 |
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1 | root2.addTile(Coord(0, 0, 0), -grid2->background(), false); |
| 1650 |
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1 | root2.addChild(new RootChildType(Coord(8192, 0, 0), 2.0f, false)); |
| 1651 | |||
| 1652 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1653 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1654 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1655 | |||
| 1656 |
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1 | EXPECT_EQ(Index(2), getChildCount(root)); |
| 1657 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->cbeginValueAll()); |
| 1658 |
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1 | EXPECT_EQ(1.0f, root.cbeginChildOn()->getFirstValue()); |
| 1659 |
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2 | EXPECT_EQ(2.0f, (++root.cbeginChildOn())->getFirstValue()); |
| 1660 | } | ||
| 1661 | |||
| 1662 | { // merge a child node into a grid with an existing child node | ||
| 1663 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1664 | auto& root = grid->tree().root(); | ||
| 1665 |
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1 | root.addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1666 |
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1 | root.addChild(new RootChildType(Coord(8192, 0, 0), 2.0f, false)); |
| 1667 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1668 | auto& root2 = grid2->tree().root(); | ||
| 1669 |
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1 | root2.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 1670 |
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1 | root2.addTile(Coord(8192, 0, 0), -grid2->background(), false); |
| 1671 | |||
| 1672 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1673 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1674 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1675 | |||
| 1676 |
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1 | EXPECT_EQ(Index(2), getChildCount(root)); |
| 1677 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->cbeginValueAll()); |
| 1678 |
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1 | EXPECT_EQ(1.0f, root.cbeginChildOn()->getFirstValue()); |
| 1679 |
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2 | EXPECT_EQ(2.0f, (++root.cbeginChildOn())->getFirstValue()); |
| 1680 | } | ||
| 1681 | |||
| 1682 | { // merge background tiles and child nodes | ||
| 1683 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1684 | auto& root = grid->tree().root(); | ||
| 1685 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 1686 |
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1 | root.addTile(Coord(8192, 0, 0), grid->background(), false); |
| 1687 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1688 | auto& root2 = grid2->tree().root(); | ||
| 1689 |
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1 | root2.addTile(Coord(0, 0, 0), grid2->background(), false); |
| 1690 |
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1 | root2.addChild(new RootChildType(Coord(8192, 0, 0), 2.0f, false)); |
| 1691 | |||
| 1692 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1693 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1694 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1695 | |||
| 1696 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 1697 | } | ||
| 1698 | } | ||
| 1699 | |||
| 1700 | ///////////////////////////////////////////////////////////////////////// | ||
| 1701 | |||
| 1702 | { // test merging internal node children | ||
| 1703 | |||
| 1704 | { // merge two internal nodes into a grid with an inside tile and an outside tile | ||
| 1705 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1706 | auto& root = grid->tree().root(); | ||
| 1707 |
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3 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), 123.0f, false); |
| 1708 |
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1 | rootChild->addTile(0, -grid->background(), false); |
| 1709 |
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1 | root.addChild(rootChild.release()); |
| 1710 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1711 | auto& root2 = grid2->tree().root(); | ||
| 1712 |
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3 | auto rootChild2 = std::make_unique<RootChildType>(Coord(0, 0, 0), 55.0f, false); |
| 1713 | |||
| 1714 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 0), 29.0f, false)); |
| 1715 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 128), 31.0f, false)); |
| 1716 |
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1 | rootChild2->addTile(2, -grid->background(), false); |
| 1717 |
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1 | root2.addChild(rootChild2.release()); |
| 1718 | |||
| 1719 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1720 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1721 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1722 | |||
| 1723 |
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1 | EXPECT_EQ(Index(1), getChildCount(*root.cbeginChildOn())); |
| 1724 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(*root.cbeginChildOn())); |
| 1725 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(0)); |
| 1726 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(1)); |
| 1727 |
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2 | EXPECT_EQ(29.0f, root.cbeginChildOn()->cbeginChildOn()->getFirstValue()); |
| 1728 |
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|
2 | EXPECT_EQ(123.0f, root.cbeginChildOn()->cbeginValueAll().getValue()); |
| 1729 | } | ||
| 1730 | |||
| 1731 | { // merge two internal nodes into a grid with an inside tile and an outside tile | ||
| 1732 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1733 | auto& root = grid->tree().root(); | ||
| 1734 |
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3 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), -123.0f, false); |
| 1735 |
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1 | root.addChild(rootChild.release()); |
| 1736 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1737 | auto& root2 = grid2->tree().root(); | ||
| 1738 |
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3 | auto rootChild2 = std::make_unique<RootChildType>(Coord(0, 0, 0), 55.0f, false); |
| 1739 | |||
| 1740 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 0), 29.0f, false)); |
| 1741 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 128), 31.0f, false)); |
| 1742 | 1 | rootChild2->addTile(2, 140.0f, false); | |
| 1743 |
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1 | rootChild2->addTile(3, -grid2->background(), false); |
| 1744 |
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1 | root2.addChild(rootChild2.release()); |
| 1745 | |||
| 1746 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1747 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1748 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1749 | |||
| 1750 |
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1 | EXPECT_EQ(Index(2), getChildCount(*root.cbeginChildOn())); |
| 1751 |
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1 | EXPECT_EQ(Index(1), getInsideTileCount(*root.cbeginChildOn())); |
| 1752 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(0)); |
| 1753 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(1)); |
| 1754 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(2)); |
| 1755 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(3)); |
| 1756 |
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2 | EXPECT_EQ(29.0f, root.cbeginChildOn()->cbeginChildOn()->getFirstValue()); |
| 1757 |
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2 | EXPECT_EQ(grid->background(), root.cbeginChildOn()->cbeginValueAll().getItem(2)); |
| 1758 |
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2 | EXPECT_EQ(-123.0f, root.cbeginChildOn()->cbeginValueAll().getItem(3)); |
| 1759 | } | ||
| 1760 | } | ||
| 1761 | |||
| 1762 | ///////////////////////////////////////////////////////////////////////// | ||
| 1763 | |||
| 1764 | { // test merging leaf nodes | ||
| 1765 | |||
| 1766 | { // merge a leaf node into an empty grid | ||
| 1767 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1768 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1769 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1770 | |||
| 1771 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1772 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1773 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1774 | |||
| 1775 |
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1 | EXPECT_EQ(Index32(0), grid->tree().leafCount()); |
| 1776 | } | ||
| 1777 | |||
| 1778 | { // merge a leaf node into a grid with a background tile | ||
| 1779 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1780 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), grid->background(), false); |
| 1781 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1782 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1783 | |||
| 1784 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1785 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1786 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1787 | |||
| 1788 |
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1 | EXPECT_EQ(Index32(0), grid->tree().leafCount()); |
| 1789 | } | ||
| 1790 | |||
| 1791 | { // merge a leaf node into a grid with an outside tile | ||
| 1792 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1793 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), 10.0f, false); |
| 1794 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1795 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1796 | |||
| 1797 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1798 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1799 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1800 | |||
| 1801 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1802 | } | ||
| 1803 | |||
| 1804 | { // merge a leaf node into a grid with an outside tile | ||
| 1805 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1806 | ✗ | grid->tree().touchLeaf(Coord(0, 0, 0)); | |
| 1807 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1808 |
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1 | grid2->tree().root().addTile(Coord(0, 0, 0), 10.0f, false); |
| 1809 | |||
| 1810 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1811 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1812 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1813 | |||
| 1814 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1815 | } | ||
| 1816 | |||
| 1817 | { // merge a leaf node into a grid with an internal node inside tile | ||
| 1818 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1819 |
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3 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), -grid->background(), false); |
| 1820 |
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1 | grid->tree().root().addChild(rootChild.release()); |
| 1821 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1822 |
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1 | auto* leaf = grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1823 | |||
| 1824 | leaf->setValueOnly(11, grid2->background()); | ||
| 1825 |
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2 | leaf->setValueOnly(12, -grid2->background()); |
| 1826 | |||
| 1827 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1828 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1829 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1830 | |||
| 1831 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 1832 |
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1 | EXPECT_EQ(Index32(0), grid2->tree().leafCount()); |
| 1833 | |||
| 1834 | // test background values are remapped | ||
| 1835 | |||
| 1836 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 1837 |
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1 | EXPECT_EQ(grid->background(), testLeaf->getValue(11)); |
| 1838 |
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1 | EXPECT_EQ(-grid->background(), testLeaf->getValue(12)); |
| 1839 | } | ||
| 1840 | |||
| 1841 | { // merge a leaf node into a grid with a partially constructed leaf node | ||
| 1842 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1843 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -grid->background(), false); |
| 1844 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1845 | |||
| 1846 |
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1 | grid->tree().addLeaf(new LeafT(PartialCreate(), Coord(0, 0, 0))); |
| 1847 | 1 | auto* leaf = grid2->tree().touchLeaf(Coord(0, 0, 0)); | |
| 1848 |
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2 | leaf->setValueOnly(10, 6.4f); |
| 1849 | |||
| 1850 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp{grid2->tree(), Steal()}; |
| 1851 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1852 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1853 | |||
| 1854 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 1855 |
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1 | EXPECT_EQ(6.4f, testLeaf->getValue(10)); |
| 1856 | } | ||
| 1857 | |||
| 1858 | { // merge three leaf nodes from different grids | ||
| 1859 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1860 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1861 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 1862 | |||
| 1863 |
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1 | auto* leaf = grid->tree().touchLeaf(Coord(0, 0, 0)); |
| 1864 |
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1 | auto* leaf2 = grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1865 | 1 | auto* leaf3 = grid3->tree().touchLeaf(Coord(0, 0, 0)); | |
| 1866 | |||
| 1867 | // active state from the voxel with the maximum value preserved | ||
| 1868 | |||
| 1869 |
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1 | leaf->setValueOnly(5, 4.0f); |
| 1870 |
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2 | leaf2->setValueOnly(5, 2.0f); |
| 1871 | leaf2->setValueOn(5); | ||
| 1872 |
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1 | leaf3->setValueOnly(5, 3.0f); |
| 1873 | |||
| 1874 |
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2 | leaf->setValueOnly(7, 2.0f); |
| 1875 | leaf->setValueOn(7); | ||
| 1876 |
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1 | leaf2->setValueOnly(7, 3.0f); |
| 1877 |
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1 | leaf3->setValueOnly(7, 4.0f); |
| 1878 | |||
| 1879 |
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2 | leaf->setValueOnly(9, 4.0f); |
| 1880 | leaf->setValueOn(9); | ||
| 1881 |
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1 | leaf2->setValueOnly(9, 3.0f); |
| 1882 |
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2 | leaf3->setValueOnly(9, 2.0f); |
| 1883 | |||
| 1884 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1885 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1886 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1887 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1888 | |||
| 1889 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 1890 |
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1 | EXPECT_EQ(4.0f, testLeaf->getValue(5)); |
| 1891 |
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1 | EXPECT_TRUE(!testLeaf->isValueOn(5)); |
| 1892 |
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1 | EXPECT_EQ(4.0f, testLeaf->getValue(7)); |
| 1893 |
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1 | EXPECT_TRUE(!testLeaf->isValueOn(7)); |
| 1894 |
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1 | EXPECT_EQ(4.0f, testLeaf->getValue(9)); |
| 1895 |
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1 | EXPECT_TRUE(testLeaf->isValueOn(9)); |
| 1896 | } | ||
| 1897 | |||
| 1898 | { // merge a leaf node into an empty grid from a const grid | ||
| 1899 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1900 |
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1 | grid->tree().root().addTile(Coord(0, 0, 0), -1.0f, false); |
| 1901 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1902 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1903 | |||
| 1904 |
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1 | EXPECT_EQ(Index32(0), grid->tree().leafCount()); |
| 1905 |
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1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 1906 | |||
| 1907 | // merge from a const tree | ||
| 1908 | |||
| 1909 | 1 | std::vector<tools::TreeToMerge<FloatTree>> treesToMerge; | |
| 1910 |
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1 | treesToMerge.emplace_back(grid2->constTree(), DeepCopy()); |
| 1911 | tools::CsgIntersectionOp<FloatTree> mergeOp(treesToMerge); | ||
| 1912 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1913 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1914 | |||
| 1915 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 1916 | // leaf has been deep copied not stolen | ||
| 1917 |
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1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 1918 | } | ||
| 1919 | |||
| 1920 | { // merge three leaf nodes from four grids | ||
| 1921 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1922 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 1923 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(); |
| 1924 |
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1 | FloatGrid::Ptr grid4 = createLevelSet<FloatGrid>(); |
| 1925 | |||
| 1926 |
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1 | auto* leaf = grid->tree().touchLeaf(Coord(0, 0, 0)); |
| 1927 |
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1 | auto* leaf2 = grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 1928 | 1 | auto* leaf3 = grid3->tree().touchLeaf(Coord(0, 0, 0)); | |
| 1929 | |||
| 1930 | // active state from the voxel with the maximum value preserved | ||
| 1931 | |||
| 1932 |
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1 | leaf->setValueOnly(5, 4.0f); |
| 1933 |
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2 | leaf2->setValueOnly(5, 2.0f); |
| 1934 | leaf2->setValueOn(5); | ||
| 1935 |
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1 | leaf3->setValueOnly(5, 3.0f); |
| 1936 | |||
| 1937 |
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2 | leaf->setValueOnly(7, 2.0f); |
| 1938 | leaf->setValueOn(7); | ||
| 1939 |
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1 | leaf2->setValueOnly(7, 3.0f); |
| 1940 |
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1 | leaf3->setValueOnly(7, 4.0f); |
| 1941 | |||
| 1942 |
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2 | leaf->setValueOnly(9, 4.0f); |
| 1943 | leaf->setValueOn(9); | ||
| 1944 |
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1 | leaf2->setValueOnly(9, 3.0f); |
| 1945 |
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2 | leaf3->setValueOnly(9, 2.0f); |
| 1946 | |||
| 1947 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree(), &grid4->tree()}; |
| 1948 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1949 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1950 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1951 | |||
| 1952 |
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1 | EXPECT_EQ(Index(0), grid->tree().root().getTableSize()); |
| 1953 | } | ||
| 1954 | |||
| 1955 | } | ||
| 1956 | |||
| 1957 | ///////////////////////////////////////////////////////////////////////// | ||
| 1958 | |||
| 1959 | { // merge multiple grids | ||
| 1960 | |||
| 1961 | { // merge two background root tiles from two different grids | ||
| 1962 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1963 | auto& root = grid->tree().root(); | ||
| 1964 |
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1 | root.addTile(Coord(0, 0, 0), /*background=*/-grid->background(), false); |
| 1965 |
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1 | root.addTile(Coord(8192, 0, 0), /*background=*/-grid->background(), false); |
| 1966 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1967 | auto& root2 = grid2->tree().root(); | ||
| 1968 |
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1 | root2.addTile(Coord(0, 0, 0), /*background=*/grid2->background(), false); |
| 1969 |
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1 | root2.addTile(Coord(8192, 0, 0), /*background=*/-grid2->background(), false); |
| 1970 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 1971 | auto& root3 = grid3->tree().root(); | ||
| 1972 |
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1 | root3.addTile(Coord(0, 0, 0), /*background=*/-grid3->background(), false); |
| 1973 |
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1 | root3.addTile(Coord(8192, 0, 0), /*background=*/grid3->background(), false); |
| 1974 | |||
| 1975 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1976 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1977 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 1978 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 1979 | |||
| 1980 |
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1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 1981 | } | ||
| 1982 | |||
| 1983 | { // merge two outside root tiles from two different grids | ||
| 1984 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 1985 | auto& root = grid->tree().root(); | ||
| 1986 |
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1 | root.addTile(Coord(0, 0, 0), /*background=*/-grid->background(), false); |
| 1987 |
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1 | root.addTile(Coord(8192, 0, 0), /*background=*/-grid->background(), false); |
| 1988 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 1989 | auto& root2 = grid2->tree().root(); | ||
| 1990 |
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1 | root2.addTile(Coord(0, 0, 0), /*background=*/10.0f, false); |
| 1991 |
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1 | root2.addTile(Coord(8192, 0, 0), /*background=*/-grid2->background(), false); |
| 1992 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 1993 | auto& root3 = grid3->tree().root(); | ||
| 1994 |
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1 | root3.addTile(Coord(0, 0, 0), /*background=*/-grid3->background(), false); |
| 1995 |
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1 | root3.addTile(Coord(8192, 0, 0), /*background=*/11.0f, false); |
| 1996 | |||
| 1997 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 1998 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 1999 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2000 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2001 | |||
| 2002 |
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1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 2003 | } | ||
| 2004 | |||
| 2005 | { // merge two active, outside root tiles from two different grids | ||
| 2006 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2007 | auto& root = grid->tree().root(); | ||
| 2008 |
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1 | root.addTile(Coord(0, 0, 0), /*background=*/-grid->background(), false); |
| 2009 |
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1 | root.addTile(Coord(8192, 0, 0), /*background=*/-grid->background(), false); |
| 2010 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/5); |
| 2011 | auto& root2 = grid2->tree().root(); | ||
| 2012 |
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1 | root2.addTile(Coord(0, 0, 0), /*background=*/10.0f, true); |
| 2013 |
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1 | root2.addTile(Coord(8192, 0, 0), /*background=*/-grid2->background(), false); |
| 2014 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*narrowBandWidth=*/7); |
| 2015 | auto& root3 = grid3->tree().root(); | ||
| 2016 |
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1 | root3.addTile(Coord(0, 0, 0), /*background=*/-grid3->background(), false); |
| 2017 |
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1 | root3.addTile(Coord(8192, 0, 0), /*background=*/11.0f, true); |
| 2018 | |||
| 2019 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 2020 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 2021 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2022 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2023 | |||
| 2024 |
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|
1 | EXPECT_EQ(Index(2), getTileCount(root)); |
| 2025 | |||
| 2026 |
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|
2 | EXPECT_EQ(grid->background(), root.cbeginValueAll().getValue()); |
| 2027 |
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|
2 | EXPECT_EQ(grid->background(), (++root.cbeginValueAll()).getValue()); |
| 2028 | } | ||
| 2029 | |||
| 2030 | { // merge three root tiles, one of which is a background tile | ||
| 2031 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2032 | auto& root = grid->tree().root(); | ||
| 2033 |
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1 | root.addTile(Coord(0, 0, 0), -grid->background(), true); |
| 2034 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2035 | auto& root2 = grid2->tree().root(); | ||
| 2036 |
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1 | root2.addTile(Coord(0, 0, 0), grid2->background(), true); |
| 2037 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(); |
| 2038 | auto& root3 = grid3->tree().root(); | ||
| 2039 |
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1 | root3.addTile(Coord(0, 0, 0), grid3->background(), false); |
| 2040 | |||
| 2041 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 2042 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 2043 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2044 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2045 | |||
| 2046 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2047 |
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|
1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2048 | } | ||
| 2049 | |||
| 2050 | { // merge three root tiles, one of which is a background tile | ||
| 2051 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2052 | auto& root = grid->tree().root(); | ||
| 2053 |
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1 | root.addTile(Coord(0, 0, 0), -grid->background(), true); |
| 2054 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2055 | auto& root2 = grid2->tree().root(); | ||
| 2056 |
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1 | root2.addTile(Coord(0, 0, 0), grid2->background(), false); |
| 2057 |
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1 | FloatGrid::Ptr grid3 = createLevelSet<FloatGrid>(); |
| 2058 | auto& root3 = grid3->tree().root(); | ||
| 2059 |
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1 | root3.addTile(Coord(0, 0, 0), grid3->background(), true); |
| 2060 | |||
| 2061 |
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1 | std::vector<FloatTree*> trees{&grid2->tree(), &grid3->tree()}; |
| 2062 |
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1 | tools::CsgIntersectionOp<FloatTree> mergeOp(trees, Steal()); |
| 2063 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2064 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2065 | |||
| 2066 |
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1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 2067 | } | ||
| 2068 | |||
| 2069 | } | ||
| 2070 | 1 | } | |
| 2071 | |||
| 2072 |
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1 | TEST_F(TestMerge, testCsgDifference) |
| 2073 | { | ||
| 2074 | using RootChildType = FloatTree::RootNodeType::ChildNodeType; | ||
| 2075 | using LeafParentType = RootChildType::ChildNodeType; | ||
| 2076 | using LeafT = FloatTree::LeafNodeType; | ||
| 2077 | |||
| 2078 | { // construction | ||
| 2079 | 2 | FloatTree tree1; | |
| 2080 | 2 | const FloatTree tree2; | |
| 2081 | |||
| 2082 | { // one non-const tree (steal) | ||
| 2083 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree1, Steal()); | ||
| 2084 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2085 | } | ||
| 2086 | { // one non-const tree (deep-copy) | ||
| 2087 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree1, DeepCopy()); | ||
| 2088 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2089 | } | ||
| 2090 | { // one const tree (deep-copy) | ||
| 2091 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree2, DeepCopy()); | ||
| 2092 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2093 | } | ||
| 2094 | { // one non-const tree wrapped in TreeToMerge | ||
| 2095 | 1 | tools::TreeToMerge<FloatTree> tree3(tree1, Steal()); | |
| 2096 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree3); | ||
| 2097 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2098 | } | ||
| 2099 | { // one const tree wrapped in TreeToMerge | ||
| 2100 |
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2 | tools::TreeToMerge<FloatTree> tree4(tree2, DeepCopy()); |
| 2101 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree4); | ||
| 2102 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2103 | } | ||
| 2104 | { // implicit copy constructor | ||
| 2105 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree2, DeepCopy()); | ||
| 2106 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2107 | tools::CsgDifferenceOp<FloatTree> mergeOp2(mergeOp); | ||
| 2108 |
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1 | EXPECT_EQ(size_t(1), mergeOp2.size()); |
| 2109 | } | ||
| 2110 | { // implicit assignment operator | ||
| 2111 | tools::CsgDifferenceOp<FloatTree> mergeOp(tree2, DeepCopy()); | ||
| 2112 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2113 | tools::CsgDifferenceOp<FloatTree> mergeOp2 = mergeOp; | ||
| 2114 |
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1 | EXPECT_EQ(size_t(1), mergeOp2.size()); |
| 2115 | } | ||
| 2116 | } | ||
| 2117 | |||
| 2118 | { // merge two different outside root tiles from one grid into an empty grid (noop) | ||
| 2119 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2120 | auto& root = grid->tree().root(); | ||
| 2121 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2122 | auto& root2 = grid2->tree().root(); | ||
| 2123 |
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1 | root2.addTile(Coord(0, 0, 0), grid->background(), false); |
| 2124 |
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1 | root2.addTile(Coord(8192, 0, 0), grid->background(), true); |
| 2125 | |||
| 2126 |
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1 | EXPECT_EQ(Index(2), root2.getTableSize()); |
| 2127 |
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1 | EXPECT_EQ(Index(2), getTileCount(root2)); |
| 2128 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root2)); |
| 2129 |
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|
1 | EXPECT_EQ(Index(1), getInactiveTileCount(root2)); |
| 2130 | |||
| 2131 | // test container constructor here | ||
| 2132 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2133 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2134 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2135 | |||
| 2136 |
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1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 2137 | } | ||
| 2138 | |||
| 2139 | { // merge an outside root tile to a grid which already has this tile | ||
| 2140 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2141 | auto& root = grid->tree().root(); | ||
| 2142 |
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1 | root.addTile(Coord(0, 0, 0), grid->background(), false); |
| 2143 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2144 | auto& root2 = grid2->tree().root(); | ||
| 2145 |
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1 | root2.addTile(Coord(0, 0, 0), grid->background(), true); |
| 2146 | |||
| 2147 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2148 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2149 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2150 | |||
| 2151 |
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|
1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 2152 | } | ||
| 2153 | |||
| 2154 | { // merge an outside root tile to a grid which already has this tile | ||
| 2155 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2156 | auto& root = grid->tree().root(); | ||
| 2157 |
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1 | root.addTile(Coord(0, 0, 0), grid->background(), true); |
| 2158 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2159 | auto& root2 = grid2->tree().root(); | ||
| 2160 |
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1 | root2.addTile(Coord(0, 0, 0), grid->background(), false); |
| 2161 | |||
| 2162 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2163 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2164 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2165 | |||
| 2166 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2167 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2168 | // tile in merge grid should not replace existing tile - tile should remain inactive | ||
| 2169 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root)); |
| 2170 |
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1 | EXPECT_EQ(Index(0), getInactiveTileCount(root)); |
| 2171 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2172 |
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|
1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2173 | } | ||
| 2174 | |||
| 2175 | { // merge an outside root tile to a grid which has an inside tile (noop) | ||
| 2176 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2177 | auto& root = grid->tree().root(); | ||
| 2178 |
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1 | root.addTile(Coord(0, 0, 0), -grid->background(), false); |
| 2179 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2180 | auto& root2 = grid2->tree().root(); | ||
| 2181 |
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1 | root2.addTile(Coord(0, 0, 0), 123.0f, true); |
| 2182 | |||
| 2183 |
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1 | EXPECT_EQ(Index(1), getInsideTileCount(root)); |
| 2184 |
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|
1 | EXPECT_EQ(Index(0), getOutsideTileCount(root)); |
| 2185 | |||
| 2186 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2187 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2188 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2189 | |||
| 2190 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2191 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2192 |
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1 | EXPECT_EQ(Index(0), getActiveTileCount(root)); |
| 2193 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 2194 |
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1 | EXPECT_EQ(Index(1), getInsideTileCount(root)); |
| 2195 |
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1 | EXPECT_EQ(Index(0), getOutsideTileCount(root)); |
| 2196 | } | ||
| 2197 | |||
| 2198 | { // merge an outside root tile to a grid which has a child (noop) | ||
| 2199 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2200 | auto& root = grid->tree().root(); | ||
| 2201 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 2202 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2203 | auto& root2 = grid2->tree().root(); | ||
| 2204 |
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1 | root2.addTile(Coord(0, 0, 0), 123.0f, true); |
| 2205 | |||
| 2206 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2207 | |||
| 2208 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2209 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2210 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2211 | |||
| 2212 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2213 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2214 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2215 | } | ||
| 2216 | |||
| 2217 | { // merge a child to a grid which has an outside root tile (noop) | ||
| 2218 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2219 | auto& root = grid->tree().root(); | ||
| 2220 |
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1 | root.addTile(Coord(0, 0, 0), 123.0f, true); |
| 2221 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2222 | auto& root2 = grid2->tree().root(); | ||
| 2223 |
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1 | root2.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 2224 | |||
| 2225 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2226 |
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1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2227 | |||
| 2228 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2229 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2230 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2231 | |||
| 2232 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2233 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2234 |
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1 | EXPECT_EQ(Index(0), getChildCount(root)); |
| 2235 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root)); |
| 2236 |
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1 | EXPECT_EQ(Index(0), getInactiveTileCount(root)); |
| 2237 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2238 |
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1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2239 | } | ||
| 2240 | |||
| 2241 | { // merge an inside root tile to a grid which has an outside tile (noop) | ||
| 2242 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2243 | auto& root = grid->tree().root(); | ||
| 2244 |
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1 | root.addTile(Coord(0, 0, 0), grid->background(), true); |
| 2245 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2246 | auto& root2 = grid2->tree().root(); | ||
| 2247 |
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1 | root2.addTile(Coord(0, 0, 0), -123.0f, true); |
| 2248 | |||
| 2249 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2250 |
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1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2251 | |||
| 2252 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2253 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2254 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2255 | |||
| 2256 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2257 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2258 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root)); |
| 2259 |
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1 | EXPECT_EQ(Index(0), getInactiveTileCount(root)); |
| 2260 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2261 |
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|
1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2262 | } | ||
| 2263 | |||
| 2264 | { // merge two grids with outside tiles, active state should be carried across | ||
| 2265 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2266 | auto& root = grid->tree().root(); | ||
| 2267 |
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1 | root.addTile(Coord(0, 0, 0), 0.1f, false); |
| 2268 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2269 | auto& root2 = grid2->tree().root(); | ||
| 2270 |
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1 | root2.addTile(Coord(0, 0, 0), 0.2f, true); |
| 2271 | |||
| 2272 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2273 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2274 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2275 | |||
| 2276 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2277 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2278 | // outside tile should now be inactive | ||
| 2279 |
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1 | EXPECT_EQ(Index(0), getActiveTileCount(root)); |
| 2280 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 2281 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2282 |
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1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2283 | |||
| 2284 |
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|
1 | EXPECT_EQ(0.1f, root.cbeginValueAll().getValue()); |
| 2285 | } | ||
| 2286 | |||
| 2287 | { // merge two grids with outside tiles, active state should be carried across | ||
| 2288 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2289 | auto& root = grid->tree().root(); | ||
| 2290 |
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1 | root.addTile(Coord(0, 0, 0), -0.1f, true); |
| 2291 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2292 | auto& root2 = grid2->tree().root(); | ||
| 2293 |
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1 | root2.addTile(Coord(0, 0, 0), -0.2f, false); |
| 2294 | |||
| 2295 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2296 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2297 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2298 | |||
| 2299 |
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|
1 | EXPECT_EQ(Index(0), root.getTableSize()); |
| 2300 | } | ||
| 2301 | |||
| 2302 | { // merge an inside root tile to a grid which has a child, inside tile has precedence | ||
| 2303 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2304 | auto& root = grid->tree().root(); | ||
| 2305 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 2306 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2307 | auto& root2 = grid2->tree().root(); | ||
| 2308 |
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1 | root2.addTile(Coord(0, 0, 0), -123.0f, true); |
| 2309 | |||
| 2310 |
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|
1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2311 | |||
| 2312 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2313 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2314 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2315 | |||
| 2316 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2317 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2318 |
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1 | EXPECT_EQ(Index(0), getChildCount(root)); |
| 2319 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root)); |
| 2320 |
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1 | EXPECT_EQ(Index(0), getInactiveTileCount(root)); |
| 2321 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(root)); |
| 2322 |
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1 | EXPECT_EQ(Index(1), getOutsideTileCount(root)); |
| 2323 | |||
| 2324 |
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|
2 | EXPECT_EQ(grid->background(), root.cbeginValueAll().getValue()); |
| 2325 | } | ||
| 2326 | |||
| 2327 | { // merge a child to a grid which has an inside root tile, child should be stolen | ||
| 2328 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2329 | auto& root = grid->tree().root(); | ||
| 2330 |
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1 | root.addTile(Coord(0, 0, 0), -123.0f, true); |
| 2331 | // use a different background value | ||
| 2332 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(/*voxelSize=*/1.0, /*halfWidth=*/5); |
| 2333 | auto& root2 = grid2->tree().root(); | ||
| 2334 |
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2 | auto childPtr = std::make_unique<RootChildType>(Coord(0, 0, 0), 5.0f, false); |
| 2335 |
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1 | childPtr->addTile(Index(1), 1.3f, true); |
| 2336 |
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1 | root2.addChild(childPtr.release()); |
| 2337 | |||
| 2338 |
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1 | EXPECT_EQ(Index(1), getInsideTileCount(root)); |
| 2339 |
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1 | EXPECT_EQ(Index(0), getOutsideTileCount(root)); |
| 2340 | |||
| 2341 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2342 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2343 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2344 | |||
| 2345 |
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1 | EXPECT_EQ(Index(1), root.getTableSize()); |
| 2346 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2347 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2348 |
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1 | EXPECT_EQ(Index(0), getChildCount(root2)); |
| 2349 | |||
| 2350 |
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2 | EXPECT_TRUE(!root.cbeginChildOn()->isValueOn(Index(0))); |
| 2351 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isValueOn(Index(1))); |
| 2352 | |||
| 2353 |
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2 | auto iter = root.cbeginChildOn()->cbeginValueAll(); |
| 2354 |
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1 | EXPECT_EQ(-3.0f, iter.getValue()); |
| 2355 | ++iter; | ||
| 2356 |
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|
1 | EXPECT_EQ(-1.3f, iter.getValue()); |
| 2357 | } | ||
| 2358 | |||
| 2359 | { // merge two child nodes into a grid with two inside tiles | ||
| 2360 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2361 | auto& root = grid->tree().root(); | ||
| 2362 |
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1 | root.addTile(Coord(0, 0, 0), -2.0f, false); |
| 2363 |
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1 | root.addTile(Coord(8192, 0, 0), -4.0f, false); |
| 2364 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2365 | auto& root2 = grid2->tree().root(); | ||
| 2366 |
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1 | root2.addChild(new RootChildType(Coord(0, 0, 0), 1.0f, false)); |
| 2367 |
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1 | root2.addChild(new RootChildType(Coord(8192, 0, 0), -123.0f, true)); |
| 2368 | |||
| 2369 |
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1 | EXPECT_EQ(Index(2), root2.getTableSize()); |
| 2370 |
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|
1 | EXPECT_EQ(Index(0), getTileCount(root2)); |
| 2371 |
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|
1 | EXPECT_EQ(Index(2), getChildCount(root2)); |
| 2372 | |||
| 2373 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2374 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2375 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2376 | |||
| 2377 |
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1 | EXPECT_EQ(Index(2), root.getTableSize()); |
| 2378 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2379 |
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|
1 | EXPECT_EQ(Index(2), getChildCount(root)); |
| 2380 | } | ||
| 2381 | |||
| 2382 | { // merge an inside tile and an outside tile into a grid with two child nodes | ||
| 2383 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2384 | auto& root = grid->tree().root(); | ||
| 2385 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 123.0f, false)); |
| 2386 |
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1 | root.addChild(new RootChildType(Coord(8192, 0, 0), 1.9f, false)); |
| 2387 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2388 | auto& root2 = grid2->tree().root(); | ||
| 2389 |
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|
1 | root2.addTile(Coord(0, 0, 0), 15.0f, true); // should not replace child |
| 2390 |
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1 | root2.addTile(Coord(8192, 0, 0), -25.0f, true); // should replace child |
| 2391 | |||
| 2392 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2393 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2394 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2395 | |||
| 2396 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2397 |
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1 | EXPECT_EQ(Index(1), getTileCount(root)); |
| 2398 |
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|
1 | EXPECT_EQ(123.0f, root.cbeginChildOn()->getFirstValue()); |
| 2399 |
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|
1 | EXPECT_TRUE(root.cbeginChildAll().isChildNode()); |
| 2400 |
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1 | EXPECT_TRUE(!(++root.cbeginChildAll()).isChildNode()); |
| 2401 |
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|
2 | EXPECT_EQ(grid->background(), root.cbeginValueOn().getValue()); |
| 2402 | } | ||
| 2403 | |||
| 2404 | { // merge an inside tile and an outside tile into a grid with two child nodes | ||
| 2405 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2406 | auto& root = grid->tree().root(); | ||
| 2407 |
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1 | root.addChild(new RootChildType(Coord(0, 0, 0), 123.0f, false)); |
| 2408 |
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1 | root.addChild(new RootChildType(Coord(8192, 0, 0), 1.9f, false)); |
| 2409 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2410 | auto& root2 = grid2->tree().root(); | ||
| 2411 |
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1 | root2.addTile(Coord(0, 0, 0), 15.0f, false); // should not replace child |
| 2412 |
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1 | root2.addTile(Coord(8192, 0, 0), -25.0f, false); // should replace child |
| 2413 | |||
| 2414 |
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1 | EXPECT_EQ(Index(2), getChildCount(root)); |
| 2415 |
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|
1 | EXPECT_EQ(Index(2), getTileCount(root2)); |
| 2416 | |||
| 2417 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2418 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2419 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2420 | |||
| 2421 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2422 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2423 |
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|
1 | EXPECT_EQ(123.0f, root.cbeginChildOn()->getFirstValue()); |
| 2424 | } | ||
| 2425 | |||
| 2426 | { // merge two internal nodes into a grid with an inside tile and an outside tile | ||
| 2427 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2428 | auto& root = grid->tree().root(); | ||
| 2429 |
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2 | auto rootChild = std::make_unique<RootChildType>(Coord(0, 0, 0), 123.0f, false); |
| 2430 | 1 | rootChild->addTile(0, -14.0f, false); | |
| 2431 | 1 | rootChild->addTile(1, 15.0f, false); | |
| 2432 |
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1 | rootChild->addTile(2, -13.0f, false); |
| 2433 |
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1 | root.addChild(rootChild.release()); |
| 2434 | |||
| 2435 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2436 | auto& root2 = grid2->tree().root(); | ||
| 2437 |
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3 | auto rootChild2 = std::make_unique<RootChildType>(Coord(0, 0, 0), 55.0f, false); |
| 2438 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 0), 29.0f, false)); |
| 2439 |
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1 | rootChild2->addChild(new LeafParentType(Coord(0, 0, 128), 31.0f, false)); |
| 2440 | 1 | rootChild2->addTile(2, -17.0f, true); | |
| 2441 |
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1 | rootChild2->addTile(9, 19.0f, true); |
| 2442 |
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1 | root2.addChild(rootChild2.release()); |
| 2443 | |||
| 2444 |
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1 | EXPECT_EQ(Index(2), getInsideTileCount(*root.cbeginChildOn())); |
| 2445 |
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1 | EXPECT_EQ(Index(0), getActiveTileCount(*root.cbeginChildOn())); |
| 2446 | |||
| 2447 |
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1 | EXPECT_EQ(Index(2), getChildCount(*root2.cbeginChildOn())); |
| 2448 |
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1 | EXPECT_EQ(Index(1), getInsideTileCount(*root2.cbeginChildOn())); |
| 2449 |
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1 | EXPECT_EQ(Index(2), getActiveTileCount(*root2.cbeginChildOn())); |
| 2450 | |||
| 2451 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2452 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2453 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2454 | |||
| 2455 |
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1 | EXPECT_EQ(Index(1), getChildCount(*root.cbeginChildOn())); |
| 2456 |
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1 | EXPECT_EQ(Index(0), getInsideTileCount(*root.cbeginChildOn())); |
| 2457 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(*root.cbeginChildOn())); |
| 2458 |
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2 | EXPECT_TRUE(root.cbeginChildOn()->isChildMaskOn(0)); |
| 2459 |
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|
2 | EXPECT_TRUE(!root.cbeginChildOn()->isChildMaskOn(1)); |
| 2460 |
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|
2 | EXPECT_EQ(-29.0f, root.cbeginChildOn()->cbeginChildOn()->getFirstValue()); |
| 2461 |
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|
2 | auto iter = root.cbeginChildOn()->cbeginValueAll(); |
| 2462 |
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|
1 | EXPECT_EQ(15.0f, iter.getValue()); |
| 2463 | ++iter; | ||
| 2464 |
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1 | EXPECT_EQ(3.0f, iter.getValue()); |
| 2465 | |||
| 2466 |
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|
1 | EXPECT_EQ(Index(1), getChildCount(*root2.cbeginChildOn())); |
| 2467 | } | ||
| 2468 | |||
| 2469 | { // merge a leaf node into a grid with an inside tile | ||
| 2470 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2471 |
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1 | grid->tree().addTile(1, Coord(0, 0, 0), -1.3f, true); |
| 2472 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2473 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 2474 | |||
| 2475 |
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1 | EXPECT_EQ(Index32(0), grid->tree().leafCount()); |
| 2476 |
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|
1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 2477 | |||
| 2478 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2479 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2480 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2481 | |||
| 2482 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 2483 |
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|
1 | EXPECT_EQ(Index32(0), grid2->tree().leafCount()); |
| 2484 | } | ||
| 2485 | |||
| 2486 | { // merge two leaf nodes into a grid | ||
| 2487 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2488 | ✗ | grid->tree().touchLeaf(Coord(0, 0, 0)); | |
| 2489 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2490 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 2491 | |||
| 2492 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 2493 |
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|
1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 2494 | |||
| 2495 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2496 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2497 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2498 | |||
| 2499 |
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1 | const auto* leaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 2500 |
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|
1 | EXPECT_TRUE(leaf); |
| 2501 | } | ||
| 2502 | |||
| 2503 | { // merge a leaf node into a grid with a partially constructed leaf node | ||
| 2504 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2505 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2506 | |||
| 2507 |
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1 | grid->tree().addLeaf(new LeafT(PartialCreate(), Coord(0, 0, 0))); |
| 2508 | 1 | auto* leaf = grid2->tree().touchLeaf(Coord(0, 0, 0)); | |
| 2509 |
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|
2 | leaf->setValueOnly(10, 6.4f); |
| 2510 | |||
| 2511 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2512 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2513 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2514 | |||
| 2515 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 2516 |
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|
1 | EXPECT_EQ(3.0f, testLeaf->getValue(10)); |
| 2517 | } | ||
| 2518 | |||
| 2519 | { // merge two leaf nodes from different grids | ||
| 2520 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2521 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2522 | |||
| 2523 |
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1 | auto* leaf = grid->tree().touchLeaf(Coord(0, 0, 0)); |
| 2524 | 1 | auto* leaf2 = grid2->tree().touchLeaf(Coord(0, 0, 0)); | |
| 2525 | |||
| 2526 | // active state from the voxel with the maximum value preserved | ||
| 2527 | |||
| 2528 |
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1 | leaf->setValueOnly(5, 98.0f); |
| 2529 |
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2 | leaf2->setValueOnly(5, 2.0f); |
| 2530 | leaf2->setValueOn(5); | ||
| 2531 | |||
| 2532 |
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2 | leaf->setValueOnly(7, 2.0f); |
| 2533 | leaf->setValueOn(7); | ||
| 2534 |
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1 | leaf2->setValueOnly(7, 100.0f); |
| 2535 | |||
| 2536 |
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2 | leaf->setValueOnly(9, 4.0f); |
| 2537 | leaf->setValueOn(9); | ||
| 2538 |
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2 | leaf2->setValueOnly(9, -100.0f); |
| 2539 | |||
| 2540 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->tree(), Steal()); | ||
| 2541 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2542 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2543 | |||
| 2544 |
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1 | const auto* testLeaf = grid->tree().probeConstLeaf(Coord(0, 0, 0)); |
| 2545 |
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1 | EXPECT_EQ(98.0f, testLeaf->getValue(5)); |
| 2546 |
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1 | EXPECT_TRUE(!testLeaf->isValueOn(5)); |
| 2547 |
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1 | EXPECT_EQ(2.0f, testLeaf->getValue(7)); |
| 2548 |
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1 | EXPECT_TRUE(testLeaf->isValueOn(7)); |
| 2549 |
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1 | EXPECT_EQ(100.0f, testLeaf->getValue(9)); |
| 2550 |
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|
1 | EXPECT_TRUE(!testLeaf->isValueOn(9)); |
| 2551 | } | ||
| 2552 | |||
| 2553 | { // merge a leaf node into a grid with an inside tile from a const tree | ||
| 2554 | 1 | FloatGrid::Ptr grid = createLevelSet<FloatGrid>(); | |
| 2555 |
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1 | grid->tree().addTile(1, Coord(0, 0, 0), -1.3f, true); |
| 2556 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 2557 |
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1 | grid2->tree().touchLeaf(Coord(0, 0, 0)); |
| 2558 | |||
| 2559 |
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1 | EXPECT_EQ(Index32(0), grid->tree().leafCount()); |
| 2560 |
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|
1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 2561 | |||
| 2562 | tools::CsgDifferenceOp<FloatTree> mergeOp(grid2->constTree(), DeepCopy()); | ||
| 2563 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(grid->tree()); | |
| 2564 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2565 | |||
| 2566 |
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1 | EXPECT_EQ(Index32(1), grid->tree().leafCount()); |
| 2567 |
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1 | EXPECT_EQ(Index32(1), grid2->tree().leafCount()); |
| 2568 | } | ||
| 2569 | 1 | } | |
| 2570 | |||
| 2571 | |||
| 2572 |
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1 | TEST_F(TestMerge, testSum) |
| 2573 | { | ||
| 2574 | using RootChildType = FloatTree::RootNodeType::ChildNodeType; | ||
| 2575 | using LeafT = FloatTree::LeafNodeType; | ||
| 2576 | |||
| 2577 | { // construction | ||
| 2578 | 2 | FloatTree tree1; | |
| 2579 | 2 | FloatTree tree2; | |
| 2580 | 2 | const FloatTree tree3; | |
| 2581 | |||
| 2582 | { // one non-const tree (steal) | ||
| 2583 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree1, Steal()); |
| 2584 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2585 | } | ||
| 2586 | { // one non-const tree (deep-copy) | ||
| 2587 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree1, DeepCopy()); |
| 2588 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2589 | } | ||
| 2590 | { // one const tree (deep-copy) | ||
| 2591 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, DeepCopy()); |
| 2592 |
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1 | EXPECT_EQ(size_t(1), mergeOp.size()); |
| 2593 | } | ||
| 2594 | { // vector of tree pointers | ||
| 2595 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 2596 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(trees, Steal()); |
| 2597 |
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1 | EXPECT_EQ(size_t(2), mergeOp.size()); |
| 2598 | } | ||
| 2599 | { // deque of tree pointers | ||
| 2600 |
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1 | std::deque<FloatTree*> trees{&tree1, &tree2}; |
| 2601 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(trees, DeepCopy()); |
| 2602 |
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|
1 | EXPECT_EQ(size_t(2), mergeOp.size()); |
| 2603 | } | ||
| 2604 | { // vector of TreesToMerge (to mix const and non-const trees) | ||
| 2605 | 1 | std::vector<tools::TreeToMerge<FloatTree>> trees; | |
| 2606 |
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1 | trees.emplace_back(tree1, Steal()); |
| 2607 |
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1 | trees.emplace_back(tree3, DeepCopy()); // const tree |
| 2608 |
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1 | trees.emplace_back(tree2, Steal()); |
| 2609 | tools::SumMergeOp<FloatTree> mergeOp(trees); | ||
| 2610 |
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1 | EXPECT_EQ(size_t(3), mergeOp.size()); |
| 2611 | } | ||
| 2612 | { // implicit copy constructor | ||
| 2613 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 2614 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(trees, Steal()); |
| 2615 | tools::SumMergeOp<FloatTree> mergeOp2(mergeOp); | ||
| 2616 |
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1 | EXPECT_EQ(size_t(2), mergeOp2.size()); |
| 2617 | } | ||
| 2618 | { // implicit assignment operator | ||
| 2619 |
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1 | std::vector<FloatTree*> trees{&tree1, &tree2}; |
| 2620 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(trees, Steal()); |
| 2621 | tools::SumMergeOp<FloatTree> mergeOp2 = mergeOp; | ||
| 2622 |
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1 | EXPECT_EQ(size_t(2), mergeOp2.size()); |
| 2623 | } | ||
| 2624 | } | ||
| 2625 | |||
| 2626 | { // merge two different background root tiles from one tree into an empty tree | ||
| 2627 | 2 | FloatTree tree, tree2; | |
| 2628 |
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1 | tree2.root().addTile(Coord(0, 0, 0), tree2.background(), false); |
| 2629 |
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1 | tree2.root().addTile(Coord(8192, 0, 0), tree2.background(), true); |
| 2630 | |||
| 2631 | const auto& root2 = tree2.root(); | ||
| 2632 |
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1 | EXPECT_EQ(Index(2), root2.getTableSize()); |
| 2633 |
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1 | EXPECT_EQ(Index(2), getTileCount(root2)); |
| 2634 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root2)); |
| 2635 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root2)); |
| 2636 | |||
| 2637 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2638 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2639 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2640 | |||
| 2641 | // background tiles are not erased | ||
| 2642 |
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1 | EXPECT_EQ(Index(2), tree.root().getTableSize()); |
| 2643 | } | ||
| 2644 | |||
| 2645 | { // merge two different root tiles from one tree into an empty tree | ||
| 2646 | 2 | FloatTree tree, tree2; | |
| 2647 |
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1 | tree2.root().addTile(Coord(0, 0, 0), 1.1f, false); |
| 2648 |
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1 | tree2.root().addTile(Coord(8192, 0, 0), 2.2f, true); |
| 2649 |
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1 | EXPECT_EQ(Index(2), getTileCount(tree2.root())); |
| 2650 | |||
| 2651 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2652 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2653 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2654 | |||
| 2655 |
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1 | EXPECT_EQ(Index(2), tree.root().getTableSize()); |
| 2656 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(tree.root())); |
| 2657 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(tree.root())); |
| 2658 | } | ||
| 2659 | |||
| 2660 | { // merge two different root tiles from one tree into a tree with one root tile | ||
| 2661 | 2 | FloatTree tree, tree2; | |
| 2662 |
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1 | tree.root().addTile(Coord(-8192, 0, 0), -3.3f, true); |
| 2663 |
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1 | tree2.root().addTile(Coord(0, 0, 0), 1.1f, false); |
| 2664 |
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1 | tree2.root().addTile(Coord(8192, 0, 0), 2.2f, true); |
| 2665 | |||
| 2666 |
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1 | EXPECT_EQ(Index(1), getTileCount(tree.root())); |
| 2667 |
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1 | EXPECT_EQ(Index(2), getTileCount(tree2.root())); |
| 2668 | |||
| 2669 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2670 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2671 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2672 | |||
| 2673 | const auto& root = tree.root(); | ||
| 2674 |
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1 | EXPECT_EQ(Index(3), root.getTableSize()); |
| 2675 |
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1 | EXPECT_EQ(Index(2), getActiveTileCount(root)); |
| 2676 |
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1 | EXPECT_EQ(Index(1), getInactiveTileCount(root)); |
| 2677 | 1 | auto iter = root.cbeginValueAll(); | |
| 2678 |
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1 | EXPECT_EQ(-3.3f, *iter); |
| 2679 |
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1 | EXPECT_TRUE(iter.isValueOn()); |
| 2680 | ++iter; | ||
| 2681 |
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1 | EXPECT_EQ(1.1f, *iter); |
| 2682 |
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1 | EXPECT_TRUE(iter.isValueOff()); |
| 2683 | ++iter; | ||
| 2684 |
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1 | EXPECT_EQ(2.2f, *iter); |
| 2685 |
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|
1 | EXPECT_TRUE(iter.isValueOn()); |
| 2686 | } | ||
| 2687 | |||
| 2688 | { // merge root tiles with the same active state | ||
| 2689 | 2 | FloatTree tree, tree2; | |
| 2690 |
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1 | tree.root().addTile(Coord(0, 0, 0), 1.1f, false); |
| 2691 |
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1 | tree2.root().addTile(Coord(0, 0, 0), 2.2f, false); |
| 2692 |
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1 | tree.root().addTile(Coord(8192, 0, 0), 1.1f, true); |
| 2693 |
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1 | tree2.root().addTile(Coord(8192, 0, 0), 2.2f, true); |
| 2694 | |||
| 2695 |
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1 | EXPECT_EQ(Index(2), getTileCount(tree.root())); |
| 2696 |
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1 | EXPECT_EQ(Index(2), getTileCount(tree2.root())); |
| 2697 | |||
| 2698 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2699 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2700 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2701 | |||
| 2702 | const auto& root = tree.root(); | ||
| 2703 |
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1 | EXPECT_EQ(Index(1), getActiveTileCount(root)); |
| 2704 | 1 | auto iter = root.cbeginValueAll(); | |
| 2705 |
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1 | EXPECT_EQ(1.1f+2.2f, *iter); |
| 2706 |
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|
1 | EXPECT_TRUE(iter.isValueOff()); |
| 2707 | ++iter; | ||
| 2708 |
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1 | EXPECT_EQ(1.1f+2.2f, *iter); |
| 2709 |
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|
1 | EXPECT_TRUE(iter.isValueOn()); |
| 2710 | } | ||
| 2711 | |||
| 2712 | { // merge root tiles with different active state | ||
| 2713 | 2 | FloatTree tree, tree2; | |
| 2714 |
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1 | tree.root().addTile(Coord(0, 0, 0), 1.1f, false); |
| 2715 |
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|
1 | tree2.root().addTile(Coord(0, 0, 0), 2.2f, true); |
| 2716 |
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1 | tree.root().addTile(Coord(8192, 0, 0), 1.1f, true); |
| 2717 |
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1 | tree2.root().addTile(Coord(8192, 0, 0), 2.2f, false); |
| 2718 | |||
| 2719 |
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|
1 | EXPECT_EQ(Index(2), getTileCount(tree.root())); |
| 2720 |
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1 | EXPECT_EQ(Index(2), getTileCount(tree2.root())); |
| 2721 | |||
| 2722 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2723 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2724 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2725 | |||
| 2726 | const auto& root = tree.root(); | ||
| 2727 |
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|
1 | EXPECT_EQ(Index(2), getActiveTileCount(root)); |
| 2728 | 1 | auto iter = root.cbeginValueAll(); | |
| 2729 |
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1 | EXPECT_EQ(1.1f+2.2f, *iter); |
| 2730 |
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1 | EXPECT_TRUE(iter.isValueOn()); |
| 2731 | ++iter; | ||
| 2732 |
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1 | EXPECT_EQ(1.1f+2.2f, *iter); |
| 2733 |
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|
1 | EXPECT_TRUE(iter.isValueOn()); |
| 2734 | } | ||
| 2735 | |||
| 2736 | { // merge root tiles from three trees | ||
| 2737 | 2 | FloatTree tree, tree2, tree3; | |
| 2738 |
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|
1 | tree.root().addTile(Coord(0, 0, 0), 1.1f, false); |
| 2739 |
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|
1 | tree2.root().addTile(Coord(0, 0, 0), 2.2f, false); |
| 2740 |
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|
1 | tree3.root().addTile(Coord(0, 0, 0), 3.3f, false); |
| 2741 |
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|
1 | tree2.root().addTile(Coord(8192, 0, 0), 2.2f, false); |
| 2742 |
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|
1 | tree3.root().addTile(Coord(8192, 0, 0), 3.3f, true); |
| 2743 |
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|
1 | tree3.root().addTile(Coord(-8192, 0, 0), -9.9f, false); |
| 2744 | |||
| 2745 |
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|
1 | EXPECT_EQ(Index(1), getTileCount(tree.root())); |
| 2746 |
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1 | EXPECT_EQ(Index(2), getTileCount(tree2.root())); |
| 2747 |
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1 | EXPECT_EQ(Index(3), getTileCount(tree3.root())); |
| 2748 | |||
| 2749 |
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|
1 | std::vector<FloatTree*> trees{&tree2, &tree3}; |
| 2750 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(trees, Steal()); |
| 2751 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2752 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2753 | |||
| 2754 | const auto& root = tree.root(); | ||
| 2755 | 1 | auto iter = root.cbeginValueAll(); | |
| 2756 |
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1 | EXPECT_EQ(-9.9f, *iter); |
| 2757 |
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1 | EXPECT_TRUE(iter.isValueOff()); |
| 2758 | ++iter; | ||
| 2759 |
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1 | EXPECT_EQ(1.1f+2.2f+3.3f, *iter); |
| 2760 |
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1 | EXPECT_TRUE(iter.isValueOff()); |
| 2761 | ++iter; | ||
| 2762 |
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1 | EXPECT_EQ(2.2f+3.3f, *iter); |
| 2763 |
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|
1 | EXPECT_TRUE(iter.isValueOn()); |
| 2764 | } | ||
| 2765 | |||
| 2766 | { // merge root tiles and root children | ||
| 2767 | 2 | FloatTree tree, tree2; | |
| 2768 |
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1 | tree.root().addTile(Coord(0, 0, 0), 1.1f, false); |
| 2769 |
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1 | tree2.root().addChild(new RootChildType(Coord(0, 0, 0), 2.2f, false)); |
| 2770 |
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1 | tree.root().addTile(Coord(8192, 0, 0), 1.1f, false); |
| 2771 |
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1 | tree2.root().addChild(new RootChildType(Coord(8192, 0, 0), 2.2f, true)); |
| 2772 |
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1 | tree.root().addTile(Coord(16384, 0, 0), 1.1f, true); |
| 2773 |
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1 | tree2.root().addChild(new RootChildType(Coord(16384, 0, 0), 2.2f, false)); |
| 2774 |
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1 | tree.root().addChild(new RootChildType(Coord(24576, 0, 0), 1.1f, false)); |
| 2775 |
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1 | tree2.root().addTile(Coord(24576, 0, 0), 2.2f, false); |
| 2776 |
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1 | tree.root().addChild(new RootChildType(Coord(32768, 0, 0), 1.1f, true)); |
| 2777 |
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1 | tree2.root().addTile(Coord(32768, 0, 0), 2.2f, false); |
| 2778 |
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1 | tree.root().addChild(new RootChildType(Coord(40960, 0, 0), 1.1f, false)); |
| 2779 |
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|
1 | tree2.root().addTile(Coord(40960, 0, 0), 2.2f, true); |
| 2780 | |||
| 2781 |
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1 | EXPECT_EQ(Index(3), getTileCount(tree.root())); |
| 2782 |
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1 | EXPECT_EQ(Index(3), getTileCount(tree2.root())); |
| 2783 |
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1 | EXPECT_EQ(Index(3), getChildCount(tree.root())); |
| 2784 |
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1 | EXPECT_EQ(Index(3), getChildCount(tree2.root())); |
| 2785 | |||
| 2786 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2787 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2788 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2789 | |||
| 2790 | const auto& root = tree.root(); | ||
| 2791 |
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1 | EXPECT_EQ(Index(6), getChildCount(root)); |
| 2792 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2793 | 1 | auto iter = root.cbeginChildOn(); | |
| 2794 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2795 |
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1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 2796 | ++iter; | ||
| 2797 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2798 |
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1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2799 | ++iter; | ||
| 2800 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2801 |
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|
1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2802 | ++iter; | ||
| 2803 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2804 |
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|
1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 2805 | ++iter; | ||
| 2806 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2807 |
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1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2808 | ++iter; | ||
| 2809 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2810 |
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|
1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2811 | } | ||
| 2812 | |||
| 2813 | { // merge root children | ||
| 2814 | 2 | FloatTree tree, tree2; | |
| 2815 |
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1 | tree.root().addChild(new RootChildType(Coord(0, 0, 0), 1.1f, false)); |
| 2816 |
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1 | tree2.root().addChild(new RootChildType(Coord(0, 0, 0), 2.2f, false)); |
| 2817 |
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1 | tree.root().addChild(new RootChildType(Coord(8192, 0, 0), 1.1f, false)); |
| 2818 |
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1 | tree2.root().addChild(new RootChildType(Coord(8192, 0, 0), 2.2f, true)); |
| 2819 |
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1 | tree.root().addChild(new RootChildType(Coord(16384, 0, 0), 1.1f, true)); |
| 2820 |
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1 | tree2.root().addChild(new RootChildType(Coord(16384, 0, 0), 2.2f, false)); |
| 2821 | |||
| 2822 |
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|
1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 2823 |
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1 | EXPECT_EQ(Index(0), getTileCount(tree2.root())); |
| 2824 |
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1 | EXPECT_EQ(Index(3), getChildCount(tree.root())); |
| 2825 |
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1 | EXPECT_EQ(Index(3), getChildCount(tree2.root())); |
| 2826 | |||
| 2827 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2828 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2829 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2830 | |||
| 2831 | const auto& root = tree.root(); | ||
| 2832 |
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1 | EXPECT_EQ(Index(3), getChildCount(root)); |
| 2833 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2834 | 1 | auto iter = root.cbeginChildOn(); | |
| 2835 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2836 |
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1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 2837 | ++iter; | ||
| 2838 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2839 |
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1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2840 | ++iter; | ||
| 2841 |
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1 | EXPECT_EQ(1.1f+2.2f, iter->getFirstValue()); |
| 2842 |
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|
1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2843 | } | ||
| 2844 | |||
| 2845 | { // merge root children tiles | ||
| 2846 | 2 | FloatTree tree, tree2; | |
| 2847 |
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1 | auto* child = new RootChildType(Coord(0, 0, 0), 0.0f, false); |
| 2848 | 1 | child->addTile(0, 1.1f, false); | |
| 2849 | 1 | child->addTile(1, 2.2f, true); | |
| 2850 | 1 | child->addTile(2, 3.3f, false); | |
| 2851 |
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1 | tree.root().addChild(child); |
| 2852 |
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1 | child = new RootChildType(Coord(0, 0, 0), 2.2f, false); |
| 2853 | 1 | child->addTile(0, 4.4f, false); | |
| 2854 | 1 | child->addTile(1, 5.5f, false); | |
| 2855 | 1 | child->addTile(2, 6.6f, true); | |
| 2856 |
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1 | tree2.root().addChild(child); |
| 2857 | |||
| 2858 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2859 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2860 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2861 | |||
| 2862 | const auto& root = tree.root(); | ||
| 2863 |
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1 | EXPECT_EQ(Index(1), getChildCount(root)); |
| 2864 |
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1 | EXPECT_EQ(Index(0), getTileCount(root)); |
| 2865 |
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|
2 | auto iter = root.cbeginChildOn()->cbeginValueAll(); |
| 2866 |
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1 | EXPECT_EQ(1.1f+4.4f, *iter); |
| 2867 |
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1 | EXPECT_FALSE(iter.isValueOn()); |
| 2868 | ++iter; | ||
| 2869 |
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1 | EXPECT_EQ(2.2f+5.5f, *iter); |
| 2870 |
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1 | EXPECT_TRUE(iter.isValueOn()); |
| 2871 | ++iter; | ||
| 2872 |
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1 | EXPECT_EQ(3.3f+6.6f, *iter); |
| 2873 |
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|
1 | EXPECT_TRUE(iter.isValueOn()); |
| 2874 | } | ||
| 2875 | |||
| 2876 | ///////////////////////////////////////////////////////////////////////// | ||
| 2877 | |||
| 2878 | { // test merging leaf nodes | ||
| 2879 | |||
| 2880 | { // merge a leaf node into an empty tree | ||
| 2881 | 2 | FloatTree tree, tree2; | |
| 2882 | 1 | auto* leaf = tree2.touchLeaf(Coord(0, 0, 0)); | |
| 2883 |
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1 | leaf->setValueOnly(10, -2.3f); |
| 2884 | |||
| 2885 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2886 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2887 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2888 | |||
| 2889 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 2890 |
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|
2 | EXPECT_EQ(tree.cbeginLeaf()->getFirstValue(), 0.0f); |
| 2891 | } | ||
| 2892 | |||
| 2893 | { // merge a leaf node into a tree with a tile | ||
| 2894 | 2 | FloatTree tree, tree2; | |
| 2895 |
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1 | tree.root().addTile(Coord(0, 0, 0), 10.0f, false); |
| 2896 | 1 | auto* leaf = tree2.touchLeaf(Coord(0, 0, 0)); | |
| 2897 |
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1 | leaf->setValueOnly(10, -2.3f); |
| 2898 |
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1 | leaf->setValueOn(11, 1.5f); |
| 2899 | |||
| 2900 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2901 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2902 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2903 | |||
| 2904 |
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|
1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 2905 |
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|
1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 2906 | auto iter = tree.cbeginLeaf(); | ||
| 2907 |
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|
2 | EXPECT_EQ(iter->getValue(0), 10.0f); |
| 2908 |
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|
1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 2909 |
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2 | EXPECT_EQ(iter->getValue(10), 10.0f-2.3f); |
| 2910 |
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1 | EXPECT_FALSE(iter->isValueOn(10)); |
| 2911 |
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|
2 | EXPECT_EQ(iter->getValue(11), 10.0f+1.5f); |
| 2912 |
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|
1 | EXPECT_TRUE(iter->isValueOn(11)); |
| 2913 | } | ||
| 2914 | |||
| 2915 | { // merge a tile into a tree with a leaf node | ||
| 2916 | 2 | FloatTree tree, tree2; | |
| 2917 | 1 | auto* leaf = tree.touchLeaf(Coord(0, 0, 0)); | |
| 2918 |
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1 | leaf->setValueOnly(10, -2.3f); |
| 2919 |
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1 | leaf->setValueOn(11, 1.5f); |
| 2920 |
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1 | tree2.root().addTile(Coord(0, 0, 0), 10.0f, false); |
| 2921 | |||
| 2922 |
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|
1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, DeepCopy()); |
| 2923 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2924 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2925 | |||
| 2926 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 2927 |
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|
1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 2928 | auto iter = tree.cbeginLeaf(); | ||
| 2929 |
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2 | EXPECT_EQ(iter->getValue(0), 10.0f); |
| 2930 |
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1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 2931 |
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2 | EXPECT_EQ(iter->getValue(10), 10.0f-2.3f); |
| 2932 |
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1 | EXPECT_FALSE(iter->isValueOn(10)); |
| 2933 |
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2 | EXPECT_EQ(iter->getValue(11), 10.0f+1.5f); |
| 2934 |
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|
1 | EXPECT_TRUE(iter->isValueOn(11)); |
| 2935 | } | ||
| 2936 | |||
| 2937 | { // merge a root child tile into a tree with a leaf node | ||
| 2938 | 2 | FloatTree tree, tree2; | |
| 2939 | 1 | auto* leaf = tree.touchLeaf(Coord(0, 0, 0)); | |
| 2940 |
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1 | leaf->setValueOnly(10, -2.3f); |
| 2941 |
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2 | leaf->setValueOn(11, 1.5f); |
| 2942 |
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1 | tree2.root().addChild(new RootChildType(Coord(0, 0, 0), 10.0f, true)); |
| 2943 | |||
| 2944 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2945 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2946 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2947 | |||
| 2948 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 2949 |
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1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 2950 | auto iter = tree.cbeginLeaf(); | ||
| 2951 |
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2 | EXPECT_EQ(iter->getValue(0), 10.0f); |
| 2952 |
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1 | EXPECT_TRUE(iter->isValueOn(0)); |
| 2953 |
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2 | EXPECT_EQ(iter->getValue(10), 10.0f-2.3f); |
| 2954 |
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1 | EXPECT_TRUE(iter->isValueOn(10)); |
| 2955 |
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2 | EXPECT_EQ(iter->getValue(11), 10.0f+1.5f); |
| 2956 |
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|
1 | EXPECT_TRUE(iter->isValueOn(11)); |
| 2957 | } | ||
| 2958 | |||
| 2959 | { // merge an empty tree with non-zero background value into a tree with a leaf node | ||
| 2960 | 2 | FloatTree tree, tree2; | |
| 2961 | 1 | auto* leaf = tree.touchLeaf(Coord(0, 0, 0)); | |
| 2962 |
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1 | leaf->setValueOnly(10, -2.3f); |
| 2963 |
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1 | leaf->setValueOn(11, 1.5f); |
| 2964 |
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|
1 | tree2.root().setBackground(10.0f, /*updateChildNodes=*/false); |
| 2965 | |||
| 2966 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2967 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2968 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2969 | |||
| 2970 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 2971 |
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1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 2972 | auto iter = tree.cbeginLeaf(); | ||
| 2973 |
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2 | EXPECT_EQ(iter->getValue(0), 10.0f); |
| 2974 |
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1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 2975 |
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2 | EXPECT_EQ(iter->getValue(10), 10.0f-2.3f); |
| 2976 |
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1 | EXPECT_FALSE(iter->isValueOn(10)); |
| 2977 |
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2 | EXPECT_EQ(iter->getValue(11), 10.0f+1.5f); |
| 2978 |
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|
1 | EXPECT_TRUE(iter->isValueOn(11)); |
| 2979 | } | ||
| 2980 | |||
| 2981 | { // merge a leaf node into a grid with a partially constructed leaf node | ||
| 2982 | 2 | FloatTree tree, tree2; | |
| 2983 | |||
| 2984 |
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1 | tree.addLeaf(new LeafT(PartialCreate(), Coord(0, 0, 0))); |
| 2985 | 1 | auto* leaf = tree2.touchLeaf(Coord(0, 0, 0)); | |
| 2986 |
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1 | leaf->setValueOnly(10, -2.3f); |
| 2987 | |||
| 2988 |
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1 | tools::SumMergeOp<FloatTree> mergeOp(tree2, Steal()); |
| 2989 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 2990 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 2991 | |||
| 2992 |
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1 | const auto* testLeaf = tree.probeConstLeaf(Coord(0, 0, 0)); |
| 2993 |
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|
1 | EXPECT_EQ(-2.3f, testLeaf->getValue(10)); |
| 2994 | } | ||
| 2995 | |||
| 2996 | { // merge three leaf nodes from different grids | ||
| 2997 | 2 | DoubleTree tree, tree2, tree3; | |
| 2998 | |||
| 2999 |
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|
1 | auto* leaf = tree.touchLeaf(Coord(0, 0, 0)); |
| 3000 |
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|
1 | auto* leaf2 = tree2.touchLeaf(Coord(0, 0, 0)); |
| 3001 | 1 | auto* leaf3 = tree3.touchLeaf(Coord(0, 0, 0)); | |
| 3002 | |||
| 3003 | // active state from the voxel with the minimum value preserved | ||
| 3004 | |||
| 3005 |
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|
1 | leaf->setValueOnly(5, 0.7); |
| 3006 |
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|
2 | leaf2->setValueOnly(5, 0.2); |
| 3007 | leaf2->setValueOn(5); | ||
| 3008 |
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1 | leaf3->setValueOnly(5, 0.1); |
| 3009 | |||
| 3010 |
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2 | leaf->setValueOnly(7, 0.2); |
| 3011 | leaf->setValueOn(7); | ||
| 3012 |
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|
1 | leaf2->setValueOnly(7, 0.1); |
| 3013 |
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1 | leaf3->setValueOnly(7, 0.7); |
| 3014 | |||
| 3015 |
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1 | leaf->setValueOnly(9, 0.7); |
| 3016 |
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1 | leaf2->setValueOnly(9, 0.1); |
| 3017 |
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1 | leaf3->setValueOnly(9, 0.2); |
| 3018 | |||
| 3019 |
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|
1 | std::vector<DoubleTree*> trees{&tree2, &tree3}; |
| 3020 |
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1 | tools::SumMergeOp<DoubleTree> mergeOp(trees, Steal()); |
| 3021 | 1 | tree::DynamicNodeManager<DoubleTree, 3> nodeManager(tree); | |
| 3022 |
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|
1 | nodeManager.foreachTopDown(mergeOp); |
| 3023 | |||
| 3024 | // non-associativity of floating-point addition | ||
| 3025 |
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|
1 | EXPECT_NE(0.7 + 0.2 + 0.1, 0.7 + 0.1 + 0.2); |
| 3026 | |||
| 3027 | // order of additions must be preserved | ||
| 3028 | |||
| 3029 |
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1 | const auto* testLeaf = tree.probeConstLeaf(Coord(0, 0, 0)); |
| 3030 |
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|
1 | EXPECT_EQ(0.7 + 0.2 + 0.1, testLeaf->getValue(5)); |
| 3031 |
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|
1 | EXPECT_TRUE(testLeaf->isValueOn(5)); |
| 3032 |
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|
1 | EXPECT_EQ(0.2 + 0.1 + 0.7, testLeaf->getValue(7)); |
| 3033 |
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|
1 | EXPECT_TRUE(testLeaf->isValueOn(7)); |
| 3034 |
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1 | EXPECT_EQ(0.7 + 0.1 + 0.2, testLeaf->getValue(9)); |
| 3035 |
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|
1 | EXPECT_FALSE(testLeaf->isValueOn(9)); |
| 3036 | } | ||
| 3037 | |||
| 3038 | { // merge a leaf node into an empty grid from a const grid | ||
| 3039 | 2 | FloatTree tree, tree2; | |
| 3040 |
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1 | tree.root().addTile(Coord(0, 0, 0), 1.0f, false); |
| 3041 |
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1 | FloatGrid::Ptr grid2 = createLevelSet<FloatGrid>(); |
| 3042 |
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1 | tree2.touchLeaf(Coord(0, 0, 0)); |
| 3043 | |||
| 3044 |
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1 | EXPECT_EQ(Index32(0), tree.leafCount()); |
| 3045 |
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|
1 | EXPECT_EQ(Index32(1), tree2.leafCount()); |
| 3046 | |||
| 3047 | // merge from a const tree | ||
| 3048 | |||
| 3049 | const FloatTree& constTree2 = tree2; | ||
| 3050 | |||
| 3051 | 1 | std::vector<tools::TreeToMerge<FloatTree>> treesToMerge; | |
| 3052 |
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1 | treesToMerge.emplace_back(constTree2, DeepCopy()); |
| 3053 | tools::SumMergeOp<FloatTree> mergeOp(treesToMerge); | ||
| 3054 | 1 | tree::DynamicNodeManager<FloatTree, 3> nodeManager(tree); | |
| 3055 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 3056 | |||
| 3057 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 3058 | // leaf has been deep copied not stolen | ||
| 3059 |
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|
1 | EXPECT_EQ(Index32(1), tree2.leafCount()); |
| 3060 | } | ||
| 3061 | } | ||
| 3062 | |||
| 3063 | { // test a Vec3STree | ||
| 3064 | 2 | Vec3STree tree, tree2; | |
| 3065 |
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1 | tree.root().addTile(Coord(0, 0, 0), Vec3s(1.0f, 2.0f, 3.0f), false); |
| 3066 |
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1 | auto* leaf = tree2.touchLeaf(Coord(0, 0, 0)); |
| 3067 |
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1 | leaf->setValueOnly(10, Vec3s(0.1f, 0.2f, 0.3f)); |
| 3068 | ✗ | leaf->setValueOn(11, Vec3s(0.4f, 0.5f, 0.6f)); | |
| 3069 | |||
| 3070 |
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1 | tools::SumMergeOp<Vec3STree> mergeOp(tree2, Steal()); |
| 3071 | 1 | tree::DynamicNodeManager<Vec3STree, 3> nodeManager(tree); | |
| 3072 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 3073 | |||
| 3074 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 3075 |
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|
1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 3076 | auto iter = tree.cbeginLeaf(); | ||
| 3077 |
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1 | EXPECT_EQ(iter->getValue(0), Vec3s(1.0f, 2.0f, 3.0f)); |
| 3078 |
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1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 3079 |
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|
1 | EXPECT_EQ(iter->getValue(10), Vec3s(1.0f+0.1f, 2.0f+0.2f, 3.0f+0.3f)); |
| 3080 |
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1 | EXPECT_FALSE(iter->isValueOn(10)); |
| 3081 |
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1 | EXPECT_EQ(iter->getValue(11), Vec3s(1.0f+0.4f, 2.0f+0.5f, 3.0f+0.6f)); |
| 3082 |
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|
1 | EXPECT_TRUE(iter->isValueOn(11)); |
| 3083 | } | ||
| 3084 | |||
| 3085 | { // test a MaskTree | ||
| 3086 | 2 | MaskTree tree, tree2; | |
| 3087 |
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1 | tree.root().addTile(Coord(0, 0, 0), false, false); |
| 3088 | 1 | auto* leaf = tree2.touchLeaf(Coord(0, 0, 0)); | |
| 3089 | leaf->setValueOnly(10, true); | ||
| 3090 | |||
| 3091 |
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1 | tools::SumMergeOp<MaskTree> mergeOp(tree2, Steal()); |
| 3092 | 1 | tree::DynamicNodeManager<MaskTree, 3> nodeManager(tree); | |
| 3093 |
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1 | nodeManager.foreachTopDown(mergeOp); |
| 3094 | |||
| 3095 |
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1 | EXPECT_EQ(Index32(1), tree.leafCount()); |
| 3096 |
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|
1 | EXPECT_EQ(Index(0), getTileCount(tree.root())); |
| 3097 | auto iter = tree.cbeginLeaf(); | ||
| 3098 |
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1 | EXPECT_FALSE(iter->isValueOn(0)); |
| 3099 |
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1 | EXPECT_TRUE(iter->isValueOn(10)); |
| 3100 | } | ||
| 3101 | 1 | } | |
| 3102 |