I try to understand binvox or Rawvox. How do I convert it to the representation of the surface model?Like obj, or other common 3D formats.

Same as title. Since I want to know some detail about your work, it's better for me to read the technique in your paper, How can I find it?

Having prebuilt releases, especially for Windows would be nice.

Hello! I run your project on Linux. When I use - solid mode, I find that the result generated by using is still hollow (my model is a sphere). And I want to fill the inside voxels. What's the problem?

Dear authors,

I would like to test/use your voxelizer code. However, I have several problems while compiling the code, it is related to the type "Vec3f". Here are errors:

/src/commons.h:47:24: error: unknown type name 'Vec3f'
inline void Fill(const Vec3f& vc, float ft[3]);
/src/commons.h:34: error: use of class template 'TriangleP' requires template arguments
/src/commons.h:35: error: use of class template 'Box' requires template arguments
...

Could you fix them ? Thank you !

Hello, under what license is this project released under ? I would like to study it and learn from it. Thank-you.

L used some stl file to test.But some stl file get errors,when l changed g_size to 128,it worked.what is the problem with that.

milo@miloub:/mnt/windows/tmp/tmp$ /home/milo/src/voxelizer/build/bin/voxelizer 512 4 test1.stl test1.vox
voxelizer init...
faces : 160
vertices : 400
space : (-244.833 -244.833 -244.833), (262.185 262.185 262.185)
mesh bound : (-226.01 -230.651 -244.833), (262.185 205.403 185.754)
done.
voxelizer initialization consumes 0.0601079 s.

surface voxelizing...
done.
surface voxelization consumes 32.8134 s.

solid voxelizing...
round 1...
round 2...
done.
solid voxelization consumes 14.7395 s.

writing voxels to file...
dim : 512 x 512 x 512
lower bound : (-244.833 -244.833 -244.833)
voxel size : 0.99027
wrote 2046729 voxels
writing file consumes 1.97082 s.

*** Error in `/home/milo/src/voxelizer/build/bin/voxelizer': munmap_chunk(): invalid pointer: 0x00007f4ef158c010 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x77725)[0x7f4ef3059725]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x1a8)[0x7f4ef3065c18]
/home/milo/src/voxelizer/build/bin/voxelizer(ZN12ArrayDeleterIN5boost7atomics6atomicIjEEEclEPKS3+0x23)[0x436c65]
/home/milo/src/voxelizer/build/bin/voxelizer(_ZN5boost6detail18sp_counted_impl_pdIPNS_7atomics6atomicIjEE12ArrayDeleterIS4_EE7disposeEv+0x27)[0x43a1c5]
/home/milo/src/voxelizer/build/bin/voxelizer(_ZN5boost6detail15sp_counted_base7releaseEv+0x42)[0x42c954]
/home/milo/src/voxelizer/build/bin/voxelizer(_ZN5boost6detail12shared_countD1Ev+0x27)[0x42c9e7]
/home/milo/src/voxelizer/build/bin/voxelizer(_ZN5boost10shared_ptrINS_7atomics6atomicIjEEED1Ev+0x1c)[0x42d98a]
/home/milo/src/voxelizer/build/bin/voxelizer(_ZN9VoxelizerD1Ev+0x2b)[0x42bcc1]
/home/milo/src/voxelizer/build/bin/voxelizer(main+0x2d1)[0x427657]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7f4ef3002830]
/home/milo/src/voxelizer/build/bin/voxelizer(_start+0x29)[0x4272b9]
======= Memory map: ========
00400000-00456000 r-xp 00000000 08:01 1053806 /home/milo/src/voxelizer/build/bin/voxelizer
00656000-00657000 r--p 00056000 08:01 1053806 /home/milo/src/voxelizer/build/bin/voxelizer
00657000-00658000 rw-p 00057000 08:01 1053806 /home/milo/src/voxelizer/build/bin/voxelizer
00658000-00659000 rw-p 00000000 00:00 0
0175c000-017a6000 rw-p 00000000 00:00 0 [heap]
7f4ed0000000-7f4ed322f000 rw-p 00000000 00:00 0
7f4ed322f000-7f4ed4000000 ---p 00000000 00:00 0
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7f4edaa1a000-7f4edc000000 ---p 00000000 00:00 0
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7f4ee304a000-7f4ee4000000 ---p 00000000 00:00 0
7f4ee8000000-7f4eeaa1b000 rw-p 00000000 00:00 0
7f4eeaa1b000-7f4eec000000 ---p 00000000 00:00 0
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7f4eee588000-7f4eeed88000 rw-p 00000000 00:00 0
7f4eeed88000-7f4eeed89000 ---p 00000000 00:00 0
7f4eeed89000-7f4eef589000 rw-p 00000000 00:00 0
7f4eef589000-7f4eef58a000 ---p 00000000 00:00 0
7f4eef58a000-7f4eefd8a000 rw-p 00000000 00:00 0
7f4eefd8a000-7f4eefd8b000 ---p 00000000 00:00 0
7f4eefd8b000-7f4ef258d000 rw-p 00000000 00:00 0
7f4ef258d000-7f4ef2594000 r-xp 00000000 08:01 923300 /lib/x86_64-linux-gnu/librt-2.23.so
7f4ef2594000-7f4ef2793000 ---p 00007000 08:01 923300 /lib/x86_64-linux-gnu/librt-2.23.so
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7f4ef2795000-7f4ef27ad000 r-xp 00000000 08:01 923292 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f4ef27ad000-7f4ef29ac000 ---p 00018000 08:01 923292 /lib/x86_64-linux-gnu/libpthread-2.23.so
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7f4ef29ae000-7f4ef29b2000 rw-p 00000000 00:00 0
7f4ef29b2000-7f4ef29bc000 r-xp 00000000 08:01 11633 /usr/lib/x86_64-linux-gnu/libccd.so.2.0
7f4ef29bc000-7f4ef2bbb000 ---p 0000a000 08:01 11633 /usr/lib/x86_64-linux-gnu/libccd.so.2.0
7f4ef2bbb000-7f4ef2bbc000 r--p 00009000 08:01 11633 /usr/lib/x86_64-linux-gnu/libccd.so.2.0
7f4ef2bbc000-7f4ef2bbd000 rw-p 0000a000 08:01 11633 /usr/lib/x86_64-linux-gnu/libccd.so.2.0
7f4ef2bbd000-7f4ef2bc7000 r-xp 00000000 08:01 11739 /usr/lib/x86_64-linux-gnu/libminizip.so.1.0.0
7f4ef2bc7000-7f4ef2dc6000 ---p 0000a000 08:01 11739 /usr/lib/x86_64-linux-gnu/libminizip.so.1.0.0
7f4ef2dc6000-7f4ef2dc7000 r--p 00009000 08:01 11739 /usr/lib/x86_64-linux-gnu/libminizip.so.1.0.0
7f4ef2dc7000-7f4ef2dc8000 rw-p 0000a000 08:01 11739 /usr/lib/x86_64-linux-gnu/libminizip.so.1.0.0
7f4ef2dc8000-7f4ef2de1000 r-xp 00000000 08:01 923337 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4ef2de1000-7f4ef2fe0000 ---p 00019000 08:01 923337 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4ef2fe0000-7f4ef2fe1000 r--p 00018000 08:01 923337 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4ef2fe1000-7f4ef2fe2000 rw-p 00019000 08:01 923337 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4ef2fe2000-7f4ef31a2000 r-xp 00000000 08:01 923146 /lib/x86_64-linux-gnu/libc-2.23.so
7f4ef31a2000-7f4ef33a1000 ---p 001c0000 08:01 923146 /lib/x86_64-linux-gnu/libc-2.23.so
7f4ef33a1000-7f4ef33a5000 r--p 001bf000 08:01 923146 /lib/x86_64-linux-gnu/libc-2.23.so
7f4ef33a5000-7f4ef33a7000 rw-p 001c3000 08:01 923146 /lib/x86_64-linux-gnu/libc-2.23.so
7f4ef33a7000-7f4ef33ab000 rw-p 00000000 00:00 0
7f4ef33ab000-7f4ef33c1000 r-xp 00000000 08:01 923184 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f4ef33c1000-7f4ef35c0000 ---p 00016000 08:01 923184 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f4ef35c0000-7f4ef35c1000 rw-p 00015000 08:01 923184 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f4ef35c1000-7f4ef36c9000 r-xp 00000000 08:01 923216 /lib/x86_64-linux-gnu/libm-2.23.so
7f4ef36c9000-7f4ef38c8000 ---p 00108000 08:01 923216 /lib/x86_64-linux-gnu/libm-2.23.so
7f4ef38c8000-7f4ef38c9000 r--p 00107000 08:01 923216 /lib/x86_64-linux-gnu/libm-2.23.so
7f4ef38c9000-7f4ef38ca000 rw-p 00108000 08:01 923216 /lib/x86_64-linux-gnu/libm-2.23.so
7f4ef38ca000-7f4ef3a3c000 r-xp 00000000 08:01 11140 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4ef3a3c000-7f4ef3c3c000 ---p 00172000 08:01 11140 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4ef3c3c000-7f4ef3c46000 r--p 00172000 08:01 11140 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4ef3c46000-7f4ef3c48000 rw-p 0017c000 08:01 11140 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
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7f4ef3e75000-7f4ef4074000 ---p 00003000 08:01 10153 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f4ef4074000-7f4ef4075000 r--p 00002000 08:01 10153 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f4ef4075000-7f4ef4076000 rw-p 00003000 08:01 10153 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f4ef4076000-7f4ef47d8000 r-xp 00000000 08:01 159269 /usr/local/lib/libfcl.so
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7f4ef4a0a000-7f4ef4a10000 rw-p 00000000 00:00 0
7f4ef4a10000-7f4ef4fd2000 r-xp 00000000 08:01 11741 /usr/lib/x86_64-linux-gnu/libassimp.so.3.2.0
7f4ef4fd2000-7f4ef51d2000 ---p 005c2000 08:01 11741 /usr/lib/x86_64-linux-gnu/libassimp.so.3.2.0
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7f4ef5298000-7f4ef529a000 rw-p 00688000 08:01 11741 /usr/lib/x86_64-linux-gnu/libassimp.so.3.2.0
7f4ef529a000-7f4ef529f000 rw-p 00000000 00:00 0
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7f4ef549f000-7f4ef54aa000 rw-p 00000000 00:00 0
7f4ef54c1000-7f4ef54c4000 rw-p 00000000 00:00 0
7f4ef54c4000-7f4ef54c5000 r--p 00025000 08:01 923118 /lib/x86_64-linux-gnu/ld-2.23.so
7f4ef54c5000-7f4ef54c6000 rw-p 00026000 08:01 923118 /lib/x86_64-linux-gnu/ld-2.23.so
7f4ef54c6000-7f4ef54c7000 rw-p 00000000 00:00 0
7fff720c4000-7fff720e5000 rw-p 00000000 00:00 0 [stack]
7fff7214f000-7fff72151000 r--p 00000000 00:00 0 [vvar]
7fff72151000-7fff72153000 r-xp 00000000 00:00 0 [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 [vsyscall]
Aborted (core dumped)
milo@miloub:/mnt/windows/tmp/tmp$ /home/milo/src/voxelizer/build/bin/voxelizer 128 4 test1.stl test1.vox
voxelizer init...
faces : 160
vertices : 400
space : (-244.833 -244.833 -244.833), (262.185 262.185 262.185)
mesh bound : (-226.01 -230.651 -244.833), (262.185 205.403 185.754)
done.
voxelizer initialization consumes 0.011822 s.

surface voxelizing...
done.
surface voxelization consumes 0.806176 s.

solid voxelizing...
round 1...
round 2...
done.
solid voxelization consumes 0.140749 s.

writing voxels to file...
dim : 128 x 128 x 128
lower bound : (-244.833 -244.833 -244.833)
voxel size : 3.96108
wrote 120197 voxels
writing file consumes 0.038398 s.

Hi there Chen! (@topskychen )
Very nice project!
The only issue I faced using your code was the program has random crashes, I tried to debug and find the issue sometimes getting voxel size (double)(*_halfUnit)[0] * 2 throw a null and sometimes (*_meshVoxLB)[0] throws null error.

I searched over the net and it seems its an act of boost::asio.
Can you please take a look and try a fix?

Your app is extremely fast ( 2 million voxel in 200ms ) but it crash like 2 in 3 run.

Also a very small note, you mentioned in README :

It supports stl files only now.

But you're using assimp and it supports lots of formats.
It's enough to use inputmesh.obj instead of inputmesh.stl and it works just fine!

Regards,
Ultran

Hi Dear Qian (@topskychen )
First of all thanks a lot for your great support and great library!

These are a series of suggested features that are simple to implement but very useful and have been used in several powerful voxelizers, Using these capabilities, you can produce interesting meshes...

I made the following proposal for you :

1. Voxel Size based voxelizer model so we have two options like GRID_SIZE_BASED and VOXEL_SIZE_BASED flags also it will be great if you add a Vector3 input like --size=(10 20 15) and if we select VOXEL_SIZE_BASED it will be used as voxel size , size parameter is Vector3 and Flag is a Byte :
   
   And with Vector3 Input :
   

2. Bound Clipping : in this feature we have our original bounding box and a clipper one with a Vector3 input (parameter is Vector3) :
   

3. Tight Fit Mode : Tight fit voxelizing is such that we check whether the center point of each voxel is inside the mesh or outside it, and if it is outside, we remove it. (parameter is Boolean)
   

4. Voxel Meta Bit Flags : It's extremely helpful if we know which voxel is solid and which one is surface, It would be great if you can add a flag to each voxel like SURFACE_VOXEL and SOLID_VOXEL (parameter is Byte) :
   

5. Voxel Spacing We take voxels and add a Vector3 space between them (parameter is Vector3) :
   

6. Voxels Transformation : A very good feature to edit and change voxels transformations using modifiers like 3D Noises , Perlin and stuff. This feature data can be kept as extra voxel meta data, so each voxel can have a pos , rotation and scale.
   
   Perlin 3D Noises :
   

7. Face Aligning : A very interesting method to align solid and surface voxels on original mesh surface (parameter is Boolean) :
   

8. Row Offset Alternating : A simple but cool method to offset odd rows by a float value relative to voxel size. (parameter is Float) :
   

9. UV Mapping and Color Picking : In this method voxelizer keeps UV of original base mesh and also pick a color from input texture and store it in voxel meta data like vector VoxelColors or even can be stored in voxel itself :
   
   Sphere UV before and after voxelization :
   

I made this images using a commercial voxelizer and All of them are doable and technically possible.

With these features, your voxelizer will be one of the best and can help a lot of people. I have not very knowledge in this field, but I will help you wherever I can and also I can also make it a plugin for 3D software like 3ds Max, Blender or Maya.

And if this features be added, it's going to be hard to use using a command liner I can make a good GUI for it too.

Thanks for reading,
Regards,
Ultran

Hi, when I make in build, I got these errors

[ 7%] Building CXX object bin/CMakeFiles/voxelizer.dir/voxelizerMain.cpp.o
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/voxelizerMain.cpp:7:
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/voxelizer.h:16:
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/commons.h:17:
In file included from /opt/local/include/fcl/collision.h:43:
In file included from /opt/local/include/fcl/collision_object.h:45:
In file included from /opt/local/include/fcl/ccd/motion_base.h:46:
In file included from /opt/local/include/fcl/BV/RSS.h:41:
/opt/local/include/fcl/math/constants.h:47:9: error: unknown type name 'constexpr'
constexpr FCL_REAL pi = FCL_REAL(3.141592653589793238462643383279502884197169399375...
^
/opt/local/include/fcl/math/constants.h:47:27: error: expected ';' after top level declarator
constexpr FCL_REAL pi = FCL_REAL(3.141592653589793238462643383279502884197169399375...
^
;
/opt/local/include/fcl/math/constants.h:50:9: error: unknown type name 'constexpr'
constexpr FCL_REAL phi = FCL_REAL(1.618033988749894848204586834365638117720309179805...
^
/opt/local/include/fcl/math/constants.h:50:27: error: expected ';' after top level declarator
constexpr FCL_REAL phi = FCL_REAL(1.618033988749894848204586834365638117720309179805...
^
;
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/voxelizerMain.cpp:7:
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/voxelizer.h:16:
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/commons.h:17:
In file included from /opt/local/include/fcl/collision.h:43:
In file included from /opt/local/include/fcl/collision_object.h:45:
In file included from /opt/local/include/fcl/ccd/motion_base.h:46:
/opt/local/include/fcl/BV/RSS.h:114:50: error: no member named 'pi' in namespace 'fcl::constants'
return (l[0] * l[1] * 2 * r + 4 * constants::pi * r * r * r);
~~~~~~~~~~~^
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/voxelizerMain.cpp:7:
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/voxelizer.h:16:
In file included from /Users/YJ-work/Desktop/cpp_programs/voxelizer/src/commons.h:18:
/opt/local/include/fcl/shape/geometric_shapes.h:142:29: error: no member named 'pi' in namespace
'fcl::constants'
return 4.0 * constants::pi * radius * radius * radius / 3.0;
~~~~~~~~~~~^
/opt/local/include/fcl/shape/geometric_shapes.h:180:36: error: no member named 'pi' in namespace
'fcl::constants'
const FCL_REAL pi = constants::pi;
~~~~~~~~~~~^
/opt/local/include/fcl/shape/geometric_shapes.h:207:23: error: no member named 'pi' in namespace
'fcl::constants'
return constants::pi * radius * radius *(lz + radius * 4/3.0);
~~~~~~~~~~~^
/opt/local/include/fcl/shape/geometric_shapes.h:212:56: error: no member named 'pi' in namespace
'fcl::constants'
FCL_REAL v_cyl = radius * radius * lz * constants::pi;
~~~~~~~~~~~^
/opt/local/include/fcl/shape/geometric_shapes.h:213:60: error: no member named 'pi' in namespace
'fcl::constants'
FCL_REAL v_sph = radius * radius * radius * constants::pi * 4 / 3.0;
~~~~~~~~~~~^
/opt/local/include/fcl/shape/geometric_shapes.h:247:23: error: no member named 'pi' in namespace
'fcl::constants'
return constants::pi * radius * radius * lz / 3;
~~~~~~~~~~~^
/opt/local/include/fcl/shape/geometric_shapes.h:290:23: error: no member named 'pi' in namespace
'fcl::constants'
return constants::pi * radius * radius * lz;
~~~~~~~~~~~^
12 errors generated.
make[2]: *** [bin/CMakeFiles/voxelizer.dir/voxelizerMain.cpp.o] Error 1
make[1]: *** [bin/CMakeFiles/voxelizer.dir/all] Error 2
make: *** [all] Error 2

How can I fix these?

l aready installed fcl from git.but l still get this error
-- Boost version: 1.63.0
-- Found the following Boost libraries:
-- atomic
-- thread
-- date_time
-- filesystem
-- system
-- unit_test_framework
-- checking for module 'fcl'
-- package 'fcl' not found
-- checking for module 'libfcl'
-- package 'libfcl' not found
CMake Error at CMakeLists.txt:32 (message):
Libfcl is required by Voxelizer

locate libfcl

/root/src/fcl/build/lib/libfcl.so
/root/src/fcl/build/lib/libfcl.so.0.6
/root/src/fcl/build/lib/libfcl.so.0.6.0
/usr/local/lib64/libfcl.so
/usr/local/lib64/libfcl.so.0.6
/usr/local/lib64/libfcl.so.0.6.0

why????