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feat: Implement CUDA support for VoxRaytracer, add CUDA tests for voxel image operations, and update CMake to enable CUDA compilation.

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This commit is contained in:
AndreaRigoni
2026-03-04 13:59:45 +00:00
parent 52580d8cde
commit b1fb123026
13 changed files with 388 additions and 230 deletions
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88
src/Math/VoxRaytracer.h
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@@ -23,8 +23,6 @@
//////////////////////////////////////////////////////////////////////////////*/
#ifndef VOXRAYTRACER_H
#define VOXRAYTRACER_H
@@ -32,62 +30,74 @@
#include <vector>
#include "Math/StructuredGrid.h"
#include "Math/VoxImage.h"
#ifdef USE_CUDA
#include <cuda_runtime.h>
#endif
namespace uLib {
class VoxRaytracer {
public:
class RayData {
public:
RayData() : m_TotalLength(0) {}
class RayData {
public:
RayData() : m_TotalLength(0) {}
typedef struct {
Id_t vox_id;
Scalarf L;
} Element;
inline void AddElement(Id_t id, float L);
void AppendRay ( const RayData &in);
inline const std::vector<Element>& Data() const { return this->m_Data; }
inline const Scalarf& TotalLength() const { return this->m_TotalLength; }
void PrintSelf(std::ostream &o);
private:
std::vector<Element> m_Data;
Scalarf m_TotalLength;
struct Element {
Id_t vox_id;
Scalarf L;
~Element() {}
};
inline void AddElement(Id_t id, float L);
public:
VoxRaytracer(StructuredGrid &image) : m_Image(&image) {
m_scale <<
(m_Image->GetWorldMatrix() * Vector4f(1,0,0,0)).norm(),
(m_Image->GetWorldMatrix() * Vector4f(0,1,0,0)).norm(),
(m_Image->GetWorldMatrix() * Vector4f(0,0,1,0)).norm();
}
void AppendRay(const RayData &in);
bool GetEntryPoint(const HLine3f &line, HPoint3f &pt);
inline const std::vector<Element> &Data() const { return this->m_Data; }
bool GetExitPoint(const HLine3f &line, HPoint3f &pt);
inline const Scalarf &TotalLength() const { return this->m_TotalLength; }
RayData TraceBetweenPoints(const HPoint3f &in, const HPoint3f &out) const;
void PrintSelf(std::ostream &o);
RayData TraceLine(const HLine3f &line) const;
private:
std::vector<Element> m_Data;
Scalarf m_TotalLength;
};
inline StructuredGrid* GetImage() const { return this->m_Image; }
public:
VoxRaytracer(StructuredGrid &image) : m_Image(&image) {
m_scale << (m_Image->GetWorldMatrix() * Vector4f(1, 0, 0, 0)).norm(),
(m_Image->GetWorldMatrix() * Vector4f(0, 1, 0, 0)).norm(),
(m_Image->GetWorldMatrix() * Vector4f(0, 0, 1, 0)).norm();
}
bool GetEntryPoint(const HLine3f &line, HPoint3f &pt);
bool GetExitPoint(const HLine3f &line, HPoint3f &pt);
RayData TraceBetweenPoints(const HPoint3f &in, const HPoint3f &out) const;
RayData TraceLine(const HLine3f &line) const;
inline StructuredGrid *GetImage() const { return this->m_Image; }
#ifdef USE_CUDA
template <typename VoxelT>
void AccumulateLinesCUDA(const HLine3f *lines, size_t num_lines,
VoxImage<VoxelT> &image);
#endif
private:
StructuredGrid *m_Image;
Vector3f m_scale;
StructuredGrid *m_Image;
Vector3f m_scale;
};
}
} // namespace uLib
#ifdef USE_CUDA
#include "Math/VoxRaytracerCUDA.hpp"
#endif
#endif // VOXRAYTRACER_H