Voxel to Mesh Workaround

src/scenic/core/pruning.py

@@ -240,14 +240,26 @@ def pruneContainment(scenario, verbosity):
                 # We can do an exact erosion
                 container = container.buffer(-maxErosion)
             elif isinstance(container, MeshVolumeRegion):
-                # We can attempt to erode a voxel approximation of the MeshVolumeRegion.
-                eroded_container = container._erodeOverapproximate(
-                    maxErosion, PRUNING_PITCH
-                )
+                current_pitch = PRUNING_PITCH
+                eroded_container = None
+
+                while eroded_container is None:
+                    # We can attempt to erode a voxel approximation of the MeshVolumeRegion.
+                    eroded_container = container._erodeOverapproximate(
+                        maxErosion, PRUNING_PITCH
+                    )
 
-                # Now check if this erosion is useful, i.e. do we have less volume to sample from.
-                # If so, replace the original container.
-                if eroded_container.size < container.size:
+                    if isinstance(eroded_container, VoxelRegion):
+                        eroded_container = eroded_container.mesh
+
+                    current_pitch = min(2 * current_pitch, 1)
+
+                # Now check if this erosion is valid and useful, i.e. do we have less volume
+                # to sample from. If so, replace the original container.
+                if (
+                    eroded_container is not None
+                    and eroded_container.size < container.size
+                ):
                     container = eroded_container
 
         # Restrict the base region to the possibly eroded container, unless
@@ -416,9 +428,22 @@ def bufferHelper(viewRegion):
                 if needsSampling(viewRegion):
                     return viewRegion._bufferOverapproximate(buffer_quantity, 1)
                 else:
-                    return viewRegion._bufferOverapproximate(
-                        buffer_quantity, PRUNING_PITCH
-                    )
+                    current_pitch = PRUNING_PITCH
+                    buffered_container = None
+
+                    while buffered_container is None:
+                        buffered_container = viewRegion._bufferOverapproximate(
+                            buffer_quantity, current_pitch
+                        )
+
+                        if isinstance(buffered_container, VoxelRegion):
+                            buffered_container = buffered_container.mesh
+
+                        current_pitch = min(2 * current_pitch, 1)
+
+                    assert buffered_container is not None
+
+                    return buffered_container
             else:
                 return viewRegion
 

src/scenic/core/regions.py

@@ -2227,6 +2227,7 @@ def dilation(self, iterations, structure=None):
         )
         return VoxelRegion(voxelGrid=new_voxel_grid)
 
+    @cached_property
     def mesh(self):
         # Extract values for original voxel grid and the surface of the voxel grid.
         dense_encoding = self.voxelGrid.encoding.dense
@@ -2262,10 +2263,6 @@ def actual_face(index):
                 [base_index[0] + 1, base_index[1], base_index[2]]
             )
             if actual_face(target_index):
-                # # Check for an existing interior/exterior face. If an interior is found,
-                # # wipe it. If an exterior is found, don't set this one.
-                # conflicting_points = [(p, fm) for p, fm in point_face_mask_list
-                #     if p[1] == base_index[1] and p[2] == base_index[2]]
                 face_mask[0] = True
 
             # Left
@@ -2411,9 +2408,12 @@ def actual_face(index):
                 )
 
         out_mesh = trimesh.Trimesh(**trimesh.triangles.to_kwargs(triangles))
-        out_mesh.show()
-        assert out_mesh.is_volume
-        return out_mesh
+
+        # TODO: Ensure the mesh is a proper volume
+        if not out_mesh.is_volume:
+            return None
+        else:
+            return MeshVolumeRegion(out_mesh, centerMesh=False)
 
     @property
     def AABB(self):

src/scenic/core/scenarios.py

@@ -316,8 +316,6 @@ def __init__(
             self._instances + paramDeps + tuple(requirementDeps) + tuple(behaviorDeps)
         )
 
-        self.validate()
-
         # Setup the default checker
         self.defaultRequirements = self.generateDefaultRequirements()
         self.setSampleChecker(WeightedAcceptanceChecker(bufferSize=100))
@@ -347,6 +345,19 @@ def validate(self):
             # Trivial case where container is empty
             if isinstance(container, EmptyRegion):
                 raise InvalidScenarioError(f"Container region of {oi} is empty")
+            # Ensure we are not sampling position from AllRegion
+            if isinstance(
+                oi.position._conditioned, PointInRegionDistribution
+            ) and isinstance(oi.position._conditioned.region, AllRegion):
+                if oi.position.tag == "visible":
+                    raise InvalidScenarioError(
+                        f"Object {oi} uses the visible specifier to specify position, but it lacks enough information to do so."
+                        f" The simplest solution to this is to define a workspace or specify position in some other fashion."
+                    )
+                else:
+                    raise InvalidScenarioError(
+                        f"Object {oi} has position sampled from everywhere."
+                    )
             # skip objects with unknown positions or bounding boxes
             if not staticBounds[i]:
                 continue
@@ -371,18 +382,6 @@ def validate(self):
                         raise InvalidScenarioError(
                             f"{oi} at {oi.position} intersects" f" {oj} at {oj.position}"
                         )
-            if isinstance(oi.position, PointInRegionDistribution) and isinstance(
-                oi.position.region, AllRegion
-            ):
-                if oi.position.tag == "visible":
-                    raise InvalidScenarioError(
-                        f"Object {oi} uses the visible specifier to specify position, but it lacks enough information to do so."
-                        f" The simplest solution to this is to define a workspace or specify position in some other fashion."
-                    )
-                else:
-                    raise InvalidScenarioError(
-                        f"Object {oi} has position sampled from everywhere."
-                    )
 
     def generate(self, maxIterations=2000, verbosity=0, feedback=None):
         """Sample a `Scene` from this scenario.

src/scenic/syntax/translator.py

@@ -687,4 +687,7 @@ def isModularScenario(thing):
     if usePruning:
         pruning.prune(scenario, verbosity=errors.verbosityLevel)
 
+    # Validate scenario
+    scenario.validate()
+
     return scenario

tests/core/test_regions.py

@@ -606,17 +606,6 @@ def test_mesh_voxelization(getAssetPath):
         assert vr.containsPoint(sampled_pt)
 
 
-def test_voxel_to_mesh(getAssetPath):
-    plane_region = MeshVolumeRegion.fromFile(getAssetPath("meshes/classic_plane.obj.bz2"))
-    vr = plane_region.voxelized(max(plane_region.mesh.extents) / 100)
-    mr = vr.mesh
-
-    points = [vr.uniformPointInner() for _ in range(100)]
-
-    for pt in points:
-        assert vr.containsPoint(pt) == mr.containsPoint(pt)
-
-
 def test_empty_erosion():
     box_region = BoxRegion(position=(0, 0, 0), dimensions=(1, 1, 1))
     vr = box_region.voxelized(pitch=0.1)