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Improve code readability

This commit is contained in:
Simon Giraudot 2015-11-02 11:17:34 +01:00
parent 9c50ea1070
commit 20c95612d0
1 changed files with 383 additions and 275 deletions
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658
Point_set_shape_detection_3/include/CGAL/Plane_regularization.h
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@ -151,18 +151,22 @@ namespace CGAL {
// find pairs of epsilon-parallel primitives and store them in table_parallel // find pairs of epsilon-parallel primitives and store them in table_parallel
std::vector < std::vector < bool > > table_parallel; std::vector < std::vector < bool > > table_parallel;
for( std::size_t i=0;i<extracted_planes.size(); i++){ for( std::size_t i=0;i<extracted_planes.size(); i++)
std::vector < bool > table_parallel_tmp; {
for( std::size_t j=0;j<extracted_planes.size(); j++){ std::vector < bool > table_parallel_tmp;
for( std::size_t j=0;j<extracted_planes.size(); j++)
{
Vector v1=extracted_planes[i].orthogonal_vector(); Vector v1=extracted_planes[i].orthogonal_vector();
Vector v2=extracted_planes[j].orthogonal_vector(); Vector v2=extracted_planes[j].orthogonal_vector();
if( std::fabs(v1*v2)>1.-epsilon && i!=j) table_parallel_tmp.push_back(true); if (std::fabs(v1*v2)>1.-epsilon && i!=j)
else table_parallel_tmp.push_back(false); table_parallel_tmp.push_back(true);
else
table_parallel_tmp.push_back(false);
}
table_parallel.push_back(table_parallel_tmp);
} }
table_parallel.push_back(table_parallel_tmp);
}
@ -172,81 +176,110 @@ namespace CGAL {
std::vector < Vector > list_cluster_normales; std::vector < Vector > list_cluster_normales;
std::vector < double > list_cluster_cosangle_vertical; std::vector < double > list_cluster_cosangle_vertical;
std::vector < double > list_cluster_area; std::vector < double > list_cluster_area;
std::vector < bool > is_available; for( std::size_t i=0;i<extracted_planes.size();i++) is_available.push_back(true);
for( std::size_t i=0;i<extracted_planes.size();i++){
if(is_available[i]){ std::vector < bool > is_available;
for( std::size_t i=0;i<extracted_planes.size();i++)
is_available.push_back(true);
is_available[i]=false; for( std::size_t i=0;i<extracted_planes.size();i++)
{
//initialization containers if(is_available[i])
std::vector < int > index_container_parallel; index_container_parallel.push_back(i); {
std::vector < int > index_container_former_ring_parallel; index_container_former_ring_parallel.push_back(i);
std::list < int > index_container_current_ring_parallel;
//propagation over the pairs of epsilon-parallel primitives is_available[i]=false;
bool propagation=true;
Vector cluster_normal=extracted_planes[i].orthogonal_vector();
double cumulated_area=list_areas[i];
do{ //initialization containers
propagation=false; std::vector < int > index_container_parallel;
index_container_parallel.push_back(i);
for (std::size_t k=0;k<index_container_former_ring_parallel.size();k++){ std::vector < int > index_container_former_ring_parallel;
index_container_former_ring_parallel.push_back(i);
int plane_index=index_container_former_ring_parallel[k]; std::list < int > index_container_current_ring_parallel;
for (std::size_t it=0;it<table_parallel[plane_index].size();it++){ //propagation over the pairs of epsilon-parallel primitives
bool propagation=true;
Vector cluster_normal=extracted_planes[i].orthogonal_vector();
double cumulated_area=list_areas[i];
Vector normal_it=extracted_planes[it].orthogonal_vector(); do
{
propagation=false;
if( table_parallel[plane_index][it] && is_available[it] && std::fabs(normal_it*cluster_normal)>1.-epsilon ){ for (std::size_t k=0;k<index_container_former_ring_parallel.size();k++)
{
propagation=true; int plane_index=index_container_former_ring_parallel[k];
index_container_current_ring_parallel.push_back(it);
is_available[it]=false; for (std::size_t it=0;it<table_parallel[plane_index].size();it++)
{
Vector normal_it=extracted_planes[it].orthogonal_vector();
if( table_parallel[plane_index][it] && is_available[it]
&& std::fabs(normal_it*cluster_normal)>1.-epsilon )
{
propagation=true;
index_container_current_ring_parallel.push_back(it);
is_available[it]=false;
if(cluster_normal*normal_it <0)
normal_it=-normal_it;
cluster_normal=(FT)cumulated_area*cluster_normal+(FT)list_areas[it]*normal_it;
FT norm=1./sqrt(cluster_normal.squared_length());
cluster_normal=norm*cluster_normal;
cumulated_area+=list_areas[it];
}
}
}
//update containers
index_container_former_ring_parallel.clear();
for (std::list < int >::iterator it = index_container_current_ring_parallel.begin();
it != index_container_current_ring_parallel.end(); ++it)
{
index_container_former_ring_parallel.push_back(*it);
index_container_parallel.push_back(*it);
}
index_container_current_ring_parallel.clear();
if(cluster_normal*normal_it <0) normal_it=-normal_it;
cluster_normal=(FT)cumulated_area*cluster_normal+(FT)list_areas[it]*normal_it;
FT norm=1./sqrt(cluster_normal.squared_length());
cluster_normal=norm*cluster_normal;
cumulated_area+=list_areas[it];
} }
} while(propagation);
list_parallel_planes.push_back(index_container_parallel);
list_cluster_normales.push_back(cluster_normal);
list_cluster_area.push_back(cumulated_area);
Vector v_vertical(0.,0.,1.);
list_cluster_cosangle_vertical.push_back(std::fabs(v_vertical*cluster_normal));
} }
//update containers
index_container_former_ring_parallel.clear();
for(std::list < int >::iterator it = index_container_current_ring_parallel.begin(); it != index_container_current_ring_parallel.end(); ++it){
index_container_former_ring_parallel.push_back(*it);
index_container_parallel.push_back(*it);
}
index_container_current_ring_parallel.clear();
}while(propagation);
list_parallel_planes.push_back(index_container_parallel);
list_cluster_normales.push_back(cluster_normal);
list_cluster_area.push_back(cumulated_area);
Vector v_vertical(0.,0.,1.);
list_cluster_cosangle_vertical.push_back(std::fabs(v_vertical*cluster_normal));
} }
}
is_available.clear(); is_available.clear();
//discovery orthogonal relationship between clusters //discovery orthogonal relationship between clusters
std::vector < std::vector < bool > > group_planes_orthogonal; std::vector < std::vector < bool > > group_planes_orthogonal;
for( std::size_t i=0;i<list_parallel_planes.size(); i++){ std::vector < bool > gp_tmp; for( std::size_t j=0;j<list_parallel_planes.size(); j++) gp_tmp.push_back(false); group_planes_orthogonal.push_back(gp_tmp);} for( std::size_t i=0;i<list_parallel_planes.size(); i++)
{
for (std::size_t i=0; i<group_planes_orthogonal.size();i++){ std::vector < bool > gp_tmp;
for (std::size_t j=0; j<group_planes_orthogonal.size();j++){ for( std::size_t j=0;j<list_parallel_planes.size(); j++)
gp_tmp.push_back(false);
if( i!=j && std::fabs(list_cluster_normales[i]*list_cluster_normales[j])<epsilon){ group_planes_orthogonal.push_back(gp_tmp);
group_planes_orthogonal[i][j]=true; }
group_planes_orthogonal[j][i]=true;
} for (std::size_t i=0; i<group_planes_orthogonal.size();i++)
{
for (std::size_t j=0; j<group_planes_orthogonal.size();j++)
{
if( i!=j && std::fabs(list_cluster_normales[i]*list_cluster_normales[j])<epsilon)
{
group_planes_orthogonal[i][j]=true;
group_planes_orthogonal[j][i]=true;
}
}
} }
}
@ -254,31 +287,42 @@ namespace CGAL {
//clustering the vertical cosangle and store their centroids in cosangle_centroids and the centroid index of each cluster in list_cluster_index //clustering the vertical cosangle and store their centroids in cosangle_centroids and the centroid index of each cluster in list_cluster_index
std::vector < double > cosangle_centroids; std::vector < double > cosangle_centroids;
std::vector < int > list_cluster_index; for( std::size_t i=0;i<list_cluster_cosangle_vertical.size(); i++) list_cluster_index.push_back(-1); std::vector < int > list_cluster_index;
for( std::size_t i=0;i<list_cluster_cosangle_vertical.size(); i++)
list_cluster_index.push_back(-1);
int mean_index=0; int mean_index=0;
for( std::size_t i=0;i<list_cluster_cosangle_vertical.size(); i++){ for( std::size_t i=0;i<list_cluster_cosangle_vertical.size(); i++)
if(list_cluster_index[i]<0){ {
list_cluster_index[i]=mean_index; if(list_cluster_index[i]<0)
double mean=list_cluster_area[i]*list_cluster_cosangle_vertical[i]; {
double mean_area=list_cluster_area[i]; list_cluster_index[i]=mean_index;
for (std::size_t j=i+1; j<list_cluster_cosangle_vertical.size(); j++){ double mean=list_cluster_area[i]*list_cluster_cosangle_vertical[i];
if( list_cluster_index[j]<0 && std::fabs(list_cluster_cosangle_vertical[j]-mean/mean_area)<epsilon ){ double mean_area=list_cluster_area[i];
list_cluster_index[j]=mean_index; for (std::size_t j=i+1; j<list_cluster_cosangle_vertical.size(); j++)
mean_area+=list_cluster_area[j]; {
mean+=list_cluster_area[j]*list_cluster_cosangle_vertical[j]; if( list_cluster_index[j]<0 && std::fabs(list_cluster_cosangle_vertical[j]-mean/mean_area)<epsilon )
{
list_cluster_index[j]=mean_index;
mean_area+=list_cluster_area[j];
mean+=list_cluster_area[j]*list_cluster_cosangle_vertical[j];
}
}
mean_index++;
mean/=mean_area;
cosangle_centroids.push_back(mean);
} }
}
mean_index++;
mean/=mean_area;
cosangle_centroids.push_back(mean);
} }
}
//desactive Z-verticalité //desactive Z-verticalité
for( std::size_t i=0;i<cosangle_centroids.size(); i++) { for( std::size_t i=0;i<cosangle_centroids.size(); i++)
if(cosangle_centroids[i]<epsilon) cosangle_centroids[i]=0; {
else if(cosangle_centroids[i]>1.-epsilon) cosangle_centroids[i]=1; if(cosangle_centroids[i]<epsilon)
} cosangle_centroids[i]=0;
for (std::size_t i=0; i<group_planes_orthogonal.size();i++) list_cluster_cosangle_vertical[i]=cosangle_centroids[list_cluster_index[i]]; else if(cosangle_centroids[i]>1.-epsilon)
cosangle_centroids[i]=1;
}
for (std::size_t i=0; i<group_planes_orthogonal.size();i++)
list_cluster_cosangle_vertical[i]=cosangle_centroids[list_cluster_index[i]];
@ -287,95 +331,116 @@ namespace CGAL {
//display console //display console
// /* // /*
std::cout<<std::endl<<std::endl<<"clusters of parallel primitives:"; std::cout<<std::endl<<std::endl<<"clusters of parallel primitives:";
for (std::size_t i=0; i<list_parallel_planes.size();i++){ for (std::size_t i=0; i<list_parallel_planes.size();i++)
std::cout<<std::endl<<i<<" -> "; {
for (std::size_t j=0; j<list_parallel_planes[i].size();j++) std::cout<<list_parallel_planes[i][j]<<" "; std::cout<<std::endl<<i<<" -> ";
for (std::size_t j=0; j<list_parallel_planes[i].size();j++)
std::cout<<list_parallel_planes[i][j]<<" ";
} }
std::cout<<std::endl<<std::endl<<"pairs of orthogonal clusters:"; std::cout<<std::endl<<std::endl<<"pairs of orthogonal clusters:";
for (std::size_t i=0; i<group_planes_orthogonal.size();i++){ for (std::size_t i=0; i<group_planes_orthogonal.size();i++)
std::cout<<std::endl<<i<<" -> "; {
for (std::size_t j=0;j<group_planes_orthogonal.size();j++){ std::cout<<std::endl<<i<<" -> ";
if(group_planes_orthogonal[i][j]) std::cout<<j<<" "; for (std::size_t j=0;j<group_planes_orthogonal.size();j++)
{
if(group_planes_orthogonal[i][j])
std::cout<<j<<" ";
}
std::cout<<" -> "<<list_cluster_cosangle_vertical[i]<<" -> "<<cosangle_centroids[list_cluster_index[i]];
} }
std::cout<<" -> "<<list_cluster_cosangle_vertical[i]<<" -> "<<cosangle_centroids[list_cluster_index[i]]; // */
}
// */
//find subgraphs of mutually orthogonal clusters (store index of clusters in subgraph_clusters), and select the cluster of largest area //find subgraphs of mutually orthogonal clusters (store index of clusters in subgraph_clusters), and select the cluster of largest area
std::vector < std::vector < int > > subgraph_clusters; std::vector < std::vector < int > > subgraph_clusters;
std::vector < int > subgraph_clusters_max_area_index; std::vector < int > subgraph_clusters_max_area_index;
std::vector < bool > is_free; for (std::size_t i=0; i<list_parallel_planes.size();i++) is_free.push_back(true); std::vector < bool > is_free;
for (std::size_t i=0; i<list_parallel_planes.size();i++){ for (std::size_t i=0; i<list_parallel_planes.size();i++)
if(is_free[i]){ is_free.push_back(true);
for (std::size_t i=0; i<list_parallel_planes.size();i++)
{
if(is_free[i])
{
is_free[i]=false;
double max_area=list_cluster_area[i];
int index_max_area=i;
is_free[i]=false; //initialization containers
double max_area=list_cluster_area[i]; std::vector < int > index_container;
int index_max_area=i; index_container.push_back(i);
std::vector < int > index_container_former_ring;
index_container_former_ring.push_back(i);
std::list < int > index_container_current_ring;
//initialization containers //propagation
std::vector < int > index_container; index_container.push_back(i); bool propagation=true;
std::vector < int > index_container_former_ring; index_container_former_ring.push_back(i); do
std::list < int > index_container_current_ring; {
propagation=false;
//propagation //neighbors
bool propagation=true; for (std::size_t k=0;k<index_container_former_ring.size();k++)
do{ {
propagation=false;
//neighbors int cluster_index=index_container_former_ring[k];
for (std::size_t k=0;k<index_container_former_ring.size();k++){
int cluster_index=index_container_former_ring[k]; for (std::size_t j=0;j<group_planes_orthogonal[cluster_index].size();j++)
{
if(group_planes_orthogonal[cluster_index][j] && is_free[j])
{
propagation=true;
index_container_current_ring.push_back(j);
is_free[j]=false;
for (std::size_t j=0;j<group_planes_orthogonal[cluster_index].size();j++){ if(max_area<list_cluster_area[j])
if(group_planes_orthogonal[cluster_index][j] && is_free[j]){ {
propagation=true; max_area=list_cluster_area[j];
index_container_current_ring.push_back(j); index_max_area=j;
is_free[j]=false; }
}
}
}
//update containers
index_container_former_ring.clear();
for(std::list < int >::iterator it = index_container_current_ring.begin();
it != index_container_current_ring.end(); ++it)
{
index_container_former_ring.push_back(*it);
index_container.push_back(*it);
}
index_container_current_ring.clear();
if(max_area<list_cluster_area[j]){
max_area=list_cluster_area[j];
index_max_area=j;
}
} }
} while(propagation);
subgraph_clusters.push_back(index_container);
subgraph_clusters_max_area_index.push_back(index_max_area);
} }
//update containers
index_container_former_ring.clear();
for(std::list < int >::iterator it = index_container_current_ring.begin(); it != index_container_current_ring.end(); ++it){
index_container_former_ring.push_back(*it);
index_container.push_back(*it);
}
index_container_current_ring.clear();
}while(propagation);
subgraph_clusters.push_back(index_container);
subgraph_clusters_max_area_index.push_back(index_max_area);
} }
}
is_free.clear(); is_free.clear();
//create subgraphs of mutually orthogonal clusters in which the largest cluster is excluded and store in subgraph_clusters_prop //create subgraphs of mutually orthogonal clusters in which the largest cluster is excluded and store in subgraph_clusters_prop
std::vector < std::vector < int > > subgraph_clusters_prop; std::vector < std::vector < int > > subgraph_clusters_prop;
for (std::size_t i=0;i<subgraph_clusters.size(); i++){ for (std::size_t i=0;i<subgraph_clusters.size(); i++)
int index=subgraph_clusters_max_area_index[i]; {
std::vector < int > subgraph_clusters_prop_temp; int index=subgraph_clusters_max_area_index[i];
for (std::size_t j=0;j<subgraph_clusters[i].size(); j++){ std::vector < int > subgraph_clusters_prop_temp;
if(subgraph_clusters[i][j]!=index) subgraph_clusters_prop_temp.push_back(subgraph_clusters[i][j]); for (std::size_t j=0;j<subgraph_clusters[i].size(); j++)
if(subgraph_clusters[i][j]!=index)
subgraph_clusters_prop_temp.push_back(subgraph_clusters[i][j]);
subgraph_clusters_prop.push_back(subgraph_clusters_prop_temp);
} }
subgraph_clusters_prop.push_back(subgraph_clusters_prop_temp);
}
//display console //display console
/* /*
for (std::size_t i=0;i<subgraph_clusters_prop.size(); i++){ for (std::size_t i=0;i<subgraph_clusters_prop.size(); i++)
{
std::cout<<std::endl<<std::endl<<"subgraph "<<i<<" ("<<subgraph_clusters_max_area_index[i]<<" max area): "; std::cout<<std::endl<<std::endl<<"subgraph "<<i<<" ("<<subgraph_clusters_max_area_index[i]<<" max area): ";
for (std::size_t j=0;j<subgraph_clusters_prop[i].size(); j++) std::cout<<subgraph_clusters_prop[i][j]<<" "; for (std::size_t j=0;j<subgraph_clusters_prop[i].size(); j++) std::cout<<subgraph_clusters_prop[i][j]<<" ";
} }
@ -384,70 +449,87 @@ namespace CGAL {
//regularization of cluster normals : in eachsubgraph, we start from the largest area cluster and we propage over the subgraph by regularizing the normals of the clusters accorting to orthogonality and cosangle to vertical //regularization of cluster normals : in eachsubgraph, we start from the largest area cluster and we propage over the subgraph by regularizing the normals of the clusters accorting to orthogonality and cosangle to vertical
std::vector< bool > cluster_is_available; std::vector< bool > cluster_is_available;
for( std::size_t i=0;i<list_cluster_cosangle_vertical.size();i++) cluster_is_available.push_back(true); for( std::size_t i=0;i<list_cluster_cosangle_vertical.size();i++)
cluster_is_available.push_back(true);
for (std::size_t i=0; i<subgraph_clusters_prop.size();i++){ for (std::size_t i=0; i<subgraph_clusters_prop.size();i++)
{
int index_current=subgraph_clusters_max_area_index[i]; int index_current=subgraph_clusters_max_area_index[i];
Vector vec_current=regularize_normal(list_cluster_normales[index_current],list_cluster_cosangle_vertical[index_current]); Vector vec_current=regularize_normal(list_cluster_normales[index_current],
list_cluster_normales[index_current]=vec_current; list_cluster_cosangle_vertical[index_current]);
cluster_is_available[index_current]=false; list_cluster_normales[index_current]=vec_current;
cluster_is_available[index_current]=false;
//initialization containers //initialization containers
std::vector < int > index_container; index_container.push_back(index_current); std::vector < int > index_container;
std::vector < int > index_container_former_ring; index_container_former_ring.push_back(index_current); index_container.push_back(index_current);
std::list < int > index_container_current_ring; std::vector < int > index_container_former_ring;
index_container_former_ring.push_back(index_current);
std::list < int > index_container_current_ring;
//propagation //propagation
bool propagation=true; bool propagation=true;
do{ do
propagation=false; {
propagation=false;
//neighbors //neighbors
for (std::size_t k=0;k<index_container_former_ring.size();k++){ for (std::size_t k=0;k<index_container_former_ring.size();k++)
{
int cluster_index=index_container_former_ring[k]; int cluster_index=index_container_former_ring[k];
for (std::size_t j=0;j<group_planes_orthogonal[cluster_index].size();j++){ for (std::size_t j=0;j<group_planes_orthogonal[cluster_index].size();j++)
{
if(group_planes_orthogonal[cluster_index][j] && cluster_is_available[j]){ if(group_planes_orthogonal[cluster_index][j] && cluster_is_available[j])
{
propagation=true; propagation=true;
index_container_current_ring.push_back(j); index_container_current_ring.push_back(j);
cluster_is_available[j]=false; cluster_is_available[j]=false;
Vector new_vect=regularize_normals_from_prior(list_cluster_normales[cluster_index], list_cluster_normales[j], list_cluster_cosangle_vertical[j]); Vector new_vect=regularize_normals_from_prior(list_cluster_normales[cluster_index],
list_cluster_normales[j]=new_vect; list_cluster_normales[j],
} list_cluster_cosangle_vertical[j]);
} list_cluster_normales[j]=new_vect;
} }
}
}
//update containers //update containers
index_container_former_ring.clear(); index_container_former_ring.clear();
for(std::list < int >::iterator it = index_container_current_ring.begin(); it != index_container_current_ring.end(); ++it){ for(std::list < int >::iterator it = index_container_current_ring.begin();
index_container_former_ring.push_back(*it); it != index_container_current_ring.end(); ++it)
index_container.push_back(*it); {
} index_container_former_ring.push_back(*it);
index_container_current_ring.clear(); index_container.push_back(*it);
}while(propagation); }
} index_container_current_ring.clear();
}while(propagation);
}
//recompute optimal plane for each primitive after normal regularization //recompute optimal plane for each primitive after normal regularization
for (std::size_t i=0; i<list_cluster_normales.size();i++){ for (std::size_t i=0; i<list_cluster_normales.size();i++)
{
Vector vec_reg=list_cluster_normales[i]; Vector vec_reg=list_cluster_normales[i];
for (std::size_t j=0; j<list_parallel_planes[i].size();j++){ for (std::size_t j=0; j<list_parallel_planes[i].size();j++)
int index_prim=list_parallel_planes[i][j]; {
Point pt_reg=extracted_planes[index_prim].projection(list_centroid[index_prim]); int index_prim=list_parallel_planes[i][j];
if( extracted_planes[index_prim].orthogonal_vector() * vec_reg < 0) vec_reg=-vec_reg; Point pt_reg=extracted_planes[index_prim].projection(list_centroid[index_prim]);
Plane plane_reg(pt_reg,vec_reg); if( extracted_planes[index_prim].orthogonal_vector() * vec_reg < 0)
vec_reg=-vec_reg;
Plane plane_reg(pt_reg,vec_reg);
if( std::fabs(extracted_planes[index_prim].orthogonal_vector()*plane_reg.orthogonal_vector()) > 1. - epsilon) extracted_planes[index_prim]=plane_reg; if( std::fabs(extracted_planes[index_prim].orthogonal_vector()*plane_reg.orthogonal_vector()) > 1. - epsilon)
extracted_planes[index_prim]=plane_reg;
}
} }
}
@ -455,45 +537,54 @@ namespace CGAL {
//detecting co-planarity and store in list_coplanar_prim //detecting co-planarity and store in list_coplanar_prim
std::vector< std::vector< std::vector < int > > > list_coplanar_prim; std::vector< std::vector< std::vector < int > > > list_coplanar_prim;
for (std::size_t i=0; i<list_parallel_planes.size();i++){ for (std::size_t i=0; i<list_parallel_planes.size();i++)
{
std::vector< std::vector < int > > list_coplanar_prim_tmp; std::vector< std::vector < int > > list_coplanar_prim_tmp;
Vector vec_reg=list_cluster_normales[i]; Vector vec_reg=list_cluster_normales[i];
std::vector < int > list_cop_index; for( std::size_t ip=0;ip<list_parallel_planes[i].size(); ip++) list_cop_index.push_back(-1); std::vector < int > list_cop_index;
int cop_index=0; for( std::size_t ip=0;ip<list_parallel_planes[i].size(); ip++)
list_cop_index.push_back(-1);
for (std::size_t j=0; j<list_parallel_planes[i].size();j++){ int cop_index=0;
int index_prim=list_parallel_planes[i][j];
if(list_cop_index[j]<0){ for (std::size_t j=0; j<list_parallel_planes[i].size();j++)
{
int index_prim=list_parallel_planes[i][j];
std::vector < int > list_coplanar_prim_tmp_tmp; if(list_cop_index[j]<0)
list_cop_index[j]=cop_index; {
list_coplanar_prim_tmp_tmp.push_back(index_prim);
Point pt_reg=extracted_planes[index_prim].projection(list_centroid[index_prim]); std::vector < int > list_coplanar_prim_tmp_tmp;
Plane plan_reg(pt_reg,vec_reg); list_cop_index[j]=cop_index;
list_coplanar_prim_tmp_tmp.push_back(index_prim);
for (std::size_t k=j+1; k<list_parallel_planes[i].size(); k++){ Point pt_reg=extracted_planes[index_prim].projection(list_centroid[index_prim]);
if( list_cop_index[k]<0){ Plane plan_reg(pt_reg,vec_reg);
int index_prim_next=list_parallel_planes[i][k]; for (std::size_t k=j+1; k<list_parallel_planes[i].size(); k++)
Point pt_reg_next=extracted_planes[index_prim_next].projection(list_centroid[index_prim_next]); {
Point pt_proj=plan_reg.projection(pt_reg_next); if( list_cop_index[k]<0)
double distance=distance_Point(pt_reg_next,pt_proj); {
if(distance<tolerance_coplanarity ){ int index_prim_next=list_parallel_planes[i][k];
list_cop_index[k]=cop_index; Point pt_reg_next=extracted_planes[index_prim_next].projection(list_centroid[index_prim_next]);
list_coplanar_prim_tmp_tmp.push_back(index_prim_next); Point pt_proj=plan_reg.projection(pt_reg_next);
double distance=distance_Point(pt_reg_next,pt_proj);
if(distance<tolerance_coplanarity )
{
list_cop_index[k]=cop_index;
list_coplanar_prim_tmp_tmp.push_back(index_prim_next);
}
}
}
list_coplanar_prim_tmp.push_back(list_coplanar_prim_tmp_tmp);
cop_index++;
} }
}
} }
list_coplanar_prim_tmp.push_back(list_coplanar_prim_tmp_tmp); list_coplanar_prim.push_back(list_coplanar_prim_tmp);
cop_index++;
}
} }
list_coplanar_prim.push_back(list_coplanar_prim_tmp);
}
@ -501,46 +592,54 @@ namespace CGAL {
std::vector < std::vector < int > > list_primitive_reg_index_extracted_planes; std::vector < std::vector < int > > list_primitive_reg_index_extracted_planes;
std::vector < Plane > list_primitive_reg; std::vector < Plane > list_primitive_reg;
for (std::size_t i=0;i<list_coplanar_prim.size();i++){ for (std::size_t i=0;i<list_coplanar_prim.size();i++)
for (std::size_t j=0;j<list_coplanar_prim[i].size();j++){ {
for (std::size_t j=0;j<list_coplanar_prim[i].size();j++)
{
Point pt_bary(0.,0.,0.); Point pt_bary(0.,0.,0.);
double area=0; double area=0;
for (std::size_t k=0; k<list_coplanar_prim[i][j].size();k++){ for (std::size_t k=0; k<list_coplanar_prim[i][j].size();k++)
int index_prim=list_coplanar_prim[i][j][k]; {
Point pt_reg=extracted_planes[index_prim].projection(list_centroid[index_prim]); int index_prim=list_coplanar_prim[i][j][k];
Point pt_reg=extracted_planes[index_prim].projection(list_centroid[index_prim]);
pt_bary=barycenter(pt_bary, area,pt_reg,list_areas[index_prim]); pt_bary=barycenter(pt_bary, area,pt_reg,list_areas[index_prim]);
area+=list_areas[index_prim]; area+=list_areas[index_prim];
} }
Vector vec_reg=extracted_planes[list_coplanar_prim[i][j][0]].orthogonal_vector(); Vector vec_reg=extracted_planes[list_coplanar_prim[i][j][0]].orthogonal_vector();
Plane plane_reg(pt_bary,vec_reg); Plane plane_reg(pt_bary,vec_reg);
bool is_reg_used=false; bool is_reg_used=false;
std::vector< int > list_primitive_reg_index_extracted_planes_tmp1; std::vector< int > list_primitive_reg_index_extracted_planes_tmp1;
for (std::size_t k=0; k<list_coplanar_prim[i][j].size();k++){
int index_prim=list_coplanar_prim[i][j][k]; for (std::size_t k=0; k<list_coplanar_prim[i][j].size();k++)
if( std::fabs(extracted_planes[index_prim].orthogonal_vector()*plane_reg.orthogonal_vector()) > 1. - epsilon){ {
if(extracted_planes[index_prim].orthogonal_vector()*plane_reg.orthogonal_vector()<0) extracted_planes[index_prim]=plane_reg.opposite(); int index_prim=list_coplanar_prim[i][j][k];
else extracted_planes[index_prim]=plane_reg; if( std::fabs(extracted_planes[index_prim].orthogonal_vector()*plane_reg.orthogonal_vector()) > 1. - epsilon)
is_reg_used=true; {
list_primitive_reg_index_extracted_planes_tmp1.push_back(index_prim); if(extracted_planes[index_prim].orthogonal_vector()*plane_reg.orthogonal_vector()<0)
extracted_planes[index_prim]=plane_reg.opposite();
else
extracted_planes[index_prim]=plane_reg;
is_reg_used=true;
list_primitive_reg_index_extracted_planes_tmp1.push_back(index_prim);
}
else{
list_primitive_reg.push_back(extracted_planes[index_prim]);
std::vector< int > list_primitive_reg_index_extracted_planes_tmp;
list_primitive_reg_index_extracted_planes_tmp.push_back(index_prim);
list_primitive_reg_index_extracted_planes.push_back(list_primitive_reg_index_extracted_planes_tmp);
}
}
if(is_reg_used) {
list_primitive_reg.push_back(plane_reg);
list_primitive_reg_index_extracted_planes.push_back(list_primitive_reg_index_extracted_planes_tmp1);
}
} }
else{
list_primitive_reg.push_back(extracted_planes[index_prim]);
std::vector< int > list_primitive_reg_index_extracted_planes_tmp;
list_primitive_reg_index_extracted_planes_tmp.push_back(index_prim);
list_primitive_reg_index_extracted_planes.push_back(list_primitive_reg_index_extracted_planes_tmp);
}
}
if(is_reg_used) {
list_primitive_reg.push_back(plane_reg);
list_primitive_reg_index_extracted_planes.push_back(list_primitive_reg_index_extracted_planes_tmp1);
}
} }
}
std::cout<<std::endl<<std::endl<<"NB planes final = "<<list_primitive_reg.size()<<std::endl<<std::endl; std::cout<<std::endl<<std::endl<<"NB planes final = "<<list_primitive_reg.size()<<std::endl<<std::endl;
@ -549,39 +648,48 @@ namespace CGAL {
//merge similar planes in plane_point_index and extracted planes and HPS[i].primitive_index //merge similar planes in plane_point_index and extracted planes and HPS[i].primitive_index
std::vector < std::vector < int > > plane_point_index_temp; std::vector < std::vector < int > > plane_point_index_temp;
std::vector < Plane > extracted_planes_temp; std::vector < Plane > extracted_planes_temp;
std::vector < bool > has_been_merged; for (std::size_t i=0; i<plane_point_index.size();i++) has_been_merged.push_back(false); std::vector < bool > has_been_merged;
for (std::size_t i=0; i<plane_point_index.size();i++)
has_been_merged.push_back(false);
for (std::size_t i=0; i<plane_point_index.size();i++){ for (std::size_t i=0; i<plane_point_index.size();i++)
{
if (!has_been_merged[i]){ if (!has_been_merged[i])
extracted_planes_temp.push_back(extracted_planes[i]); {
int label_index=extracted_planes_temp.size()-1; extracted_planes_temp.push_back(extracted_planes[i]);
plane_point_index_temp.push_back(plane_point_index[i]); int label_index=extracted_planes_temp.size()-1;
for (std::size_t k=0; k<plane_point_index[i].size();k++) { plane_point_index_temp.push_back(plane_point_index[i]);
int index_pt=plane_point_index[i][k]; for (std::size_t k=0; k<plane_point_index[i].size();k++)
primitive_index[index_pt]=label_index; {
label_plane[index_pt]=label_index; int index_pt=plane_point_index[i][k];
} primitive_index[index_pt]=label_index;
label_plane[index_pt]=label_index;
}
for (std::size_t j=i+1;j<plane_point_index.size();j++){ for (std::size_t j=i+1;j<plane_point_index.size();j++)
{
if(extracted_planes[i]==extracted_planes[j]){ //if identical (do opposite plane too ?) then store the second in the first if(extracted_planes[i]==extracted_planes[j])
{ //if identical (do opposite plane too ?) then store the second in the first
has_been_merged[j]=true; has_been_merged[j]=true;
std::vector< int > plane_point_index_new=plane_point_index_temp[plane_point_index_temp.size()-1]; std::vector< int > plane_point_index_new
for (std::size_t k=0; k<plane_point_index[j].size();k++){ = plane_point_index_temp[plane_point_index_temp.size()-1];
int ind=plane_point_index[j][k]; for (std::size_t k=0; k<plane_point_index[j].size();k++)
plane_point_index_new.push_back(ind); {
primitive_index[ind]=label_index; int ind=plane_point_index[j][k];
label_plane[ind]=label_index; plane_point_index_new.push_back(ind);
} primitive_index[ind]=label_index;
plane_point_index_temp[plane_point_index_temp.size()-1]=plane_point_index_new; label_plane[ind]=label_index;
}
plane_point_index_temp[plane_point_index_temp.size()-1]=plane_point_index_new;
}
}
} }
}
} }
}
extracted_planes=extracted_planes_temp; extracted_planes=extracted_planes_temp;
plane_point_index=plane_point_index_temp; plane_point_index=plane_point_index_temp;