diff --git a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/Poisson_surface_reconstruction_3.txt b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/Poisson_surface_reconstruction_3.txt index f76f4ad34e8..1ba028b1db2 100644 --- a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/Poisson_surface_reconstruction_3.txt +++ b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/Poisson_surface_reconstruction_3.txt @@ -13,7 +13,7 @@ This \cgal component implements a surface reconstruction method which takes as input point sets with oriented normals and computes an implicit function. We assume that the input points contain no outliers and little noise. The output surface mesh is generated by extracting -an isosurface of this function with the \cgal Surface Mesh Generator +an isosurface of this function with the \ref Chapter_3D_Mesh_Generation or \cgal Surface Mesh Generator \cgalCite{cgal:ry-gsddrm-06} or potentially with any other surface contouring algorithm. @@ -120,10 +120,12 @@ The following example reads a point set, creates a Poisson implicit function and The computed implicit functions can be iso-contoured to reconstruct a -surface by using the \cgal surface mesh generator +surface by using the \ref Chapter_3D_Mesh_Generation or the \cgal surface mesh generator \cgalCite{cgal:ry-gsddrm-06} \cgalCite{cgal:bo-pgsms-05} : -`make_surface_mesh()` +`make_mesh_3()` for using parallel Mesh_3 + +`make_surface_mesh()` of using the deprecated 3D Surface Mesh Generation The parameter `Tag` affects the behavior of `make_surface_mesh()`: - `Manifold_tag`: the output mesh is guaranteed to be a manifold surface without boundary. @@ -132,7 +134,10 @@ The parameter `Tag` affects the behavior of `make_surface_mesh()`: \subsection Poisson_surface_reconstruction_3Output Output -The surface reconstructed by `make_surface_mesh()` is required to be a +The surface reconstructed by `make_mesh_3()` is required to be a model of the concept +`MeshComplex_3InTriangulation_3`, a data structure devised to represent a three dimensional complex embedded into a three dimensional triangulation. The surface facets can then be extracted into a face graph by `facets_in_complex_3_to_triangle_mesh()`. + +The surface reconstructed by `make_surface_mesh()` instead is required to be a model of the concept `SurfaceMeshComplex_2InTriangulation_3`, a data structure devised to represent a two dimensional complex embedded into a three dimensional triangulation. @@ -339,15 +344,15 @@ Left: 5K points sampled on a mechanical piece with sharp features (creases, dart We provide some performance numbers for scanning data. We measure the Poisson implicit function computation time, the contouring time for a range of approximation distances, the memory occupancy as well as the influence of -the point set simplification. The machine used is a PC running Windows 7 64 bits with an Intel CPU Core 2 Duo -processor clocked at 2.81 GHz and with 8 GB of RAM. The software is compiled with Visual \CC 2010 (VC9) compiler +the point set simplification. The machine used is a PC running Windows 10 64 bits with an Intel CPU Core i7-11850H +processor with 8 cores and 32 GB of RAM. The software is compiled with Visual \CC 2022 compiler with the 03 option which maximizes speed. All measurements were done using the \ref thirdpartyEigen "Eigen" library. - \subsection SurfReconstPerfPIF Poisson Implicit Function -The point set chosen for benchmarking the Poisson implicit function is the Bimba con Nastrino point set -(1.6 million points) depicted by \cgalFigureRef{Poisson_surface_reconstruction_3-fig-contouring_bench}. +The point set chosen for benchmarking the Poisson implicit function is the Lucy statue point set from the +The Stanford 3D Scanning Repository +(originally 14 million points, here downscaled to 2.9 million points) depicted by \cgalFigureRef{Poisson_surface_reconstruction_3-fig-contouring_bench}. We measure the Poisson implicit function computation (i.e., the call to `Poisson_reconstruction_function::compute_implicit_function()` denoted by Poisson solve hereafter) for this point set as well as for simplified versions obtained through random simplification. @@ -357,115 +362,213 @@ The following table provides Poisson solve computation times in seconds for an i
- Number of points (x1000) Poisson solve duration (in s)
+30 + +3.3 + + 60 -15 - - -100 - -25 +7.7 -250 +120 -96 +18.1 -500 +237.5 -150 +35.1 -1,000 +375 -249 +64 -1,800 +750 -478 +129 + + +1,500 + +303 + + +2,900 + +486
\subsection SurfReconstPerfCont Contouring -The point set chosen for benchmarking the contouring stage is the Bimba con Nastrino point -set simplified to 100k points. We measure the contouring (i.e.\ the call to `make_surface_mesh()`) +The point set chosen for benchmarking the contouring stage is the Lucy point +set simplified to 2.9M points. We measure the contouring (i.e.\ the calls to `make_mesh_3()` and `facets_in_complex_3_to_triangle_mesh()`) duration and the reconstruction error for a range of approximation distances. -The reconstruction error is expressed as the average distance from input points to the reconstructed surface -in mm (the Bimba con Nastrino statue is 324 mm tall). +The reconstruction error is expressed as the average distance from input points to the reconstructed surface in mm (the Lucy statue is 1597 mm tall). - + + + + + + + + + + + + + + + + + + +
+
Approx. distance (*average spacing) -Contouring duration (in s) +Contouring duration single-thread (in s) + +Contouring duration parallel (in s) Reconstruction error (mm) -
+
+
+0.05 + +582 + +112 + +0.114
0.1 -19.2 +221 -0.055 +26 + +0.119
+0.15 + +104 + +25 + +0.129 +
+0.2 + +69.4 + +9.2 + +0.14 +
0.25 -6.9 +53.6 -0.106 +7.0 + +0.151
0.5 -3.2 +25.2 -0.18 +3.6 + +0.209
+0.75 + +16.4 + +4.9 + +0.209 +
1 -1.65 +12.4 -0.36 +2.3 + +0.33
+1.5 + +8.2 + +1.4 + +0.455 +
2 +6.1 + +1.1 + +0.59 +
+3 + +4.0 + 0.8 -0.76 -
+0.87 +
+5 + +2.3 + +0.7 + +1.50 +
- -\cgalFigureBegin{Poisson_surface_reconstruction_3-fig-contouring_bench,contouring_bench.jpg} +\cgalFigureAnchor{Poisson_surface_reconstruction_3-fig-contouring_bench} +
+ +
+\cgalFigureCaptionBegin{Poisson_surface_reconstruction_3-fig-contouring_bench} Contouring duration (in s) and reconstruction error (mm) against several approximation distance parameters -for the Bimba con Nastrino point set simplified to 100k points. -\cgalFigureEnd +for the Lucy point set simplified to 100k points. +\cgalFigureCaptionEnd \subsection SurfReconstPerfMem Memory -We measure the memory occupancy for the reconstruction of the full Bimba con Nastrino point -set (1.8 millions points) as well as for simplified versions.\n +We measure the memory occupancy for the reconstruction of the Lucy point +set (2.9 millions points) as well as for further simplified versions.\n The Poisson implicit function computation has a memory peak when solving the Poisson linear system using the sparse linear solver. @@ -479,34 +582,44 @@ Memory occupancy (MBytes)
+30 + +128 + + 60 -180 +226 -100 +120 -270 +431 -250 +237.5 -790 +813 -500 +375 -1300 +1,232 -1,000 +750 -2200 +2,283 -1,800 +1,500 -3800 +4,042 + + +2,900 + +6,868
@@ -514,11 +627,11 @@ Memory occupancy (MBytes) \subsection SurfReconstPerfPSS Point Set Simplification Due to the memory limitations described above, we recommend to simplify the point sets captured by laser scanners.\n -We measure the reconstruction error for the Bimba con Nastrino point set (1.6M points) as well as for +We measure the reconstruction error for the Lucy point set (2.9M points) as well as for simplified versions. All reconstructions use the recommended contouring parameter `approximation distance = 0.25 * the input point` set's average spacing. The reconstruction error is expressed as the average distance from input points to the reconstructed surface in mm -(the Bimba con Nastrino statue is 324 mm tall). +(the Lucy statue is 1597 mm tall). + + + +
@@ -530,46 +643,66 @@ Reconstruction error (mm)
+3.75 + +9.88395 +
+7.5 + +5.81843 +
+15 + +3.13479 +
+30 + +2.25391 +
60 -0.27 +1.42965
120 -0.15 +1.17589
-250 +237.5 -0.11 +0.99509
-500 +375 -0.079 +0.75215
-1,000 +750 -0.066 +0.344654
1,500 -0.061 +0.225341
-1,600 +2,900 -0.06 +0.150947
-\cgalFigureBegin{Poisson_surface_reconstruction_3-fig-simplification_bench,simplification_bench.jpg} +\cgalFigureBegin{Poisson_surface_reconstruction_3-fig-simplification_bench,simplification_bench_2.jpg} Reconstruction error (mm) against number of points -for the Bimba con Nastrino point set with 1.6M points +for the Lucy point set with 2.9M points as well as for simplified versions. \cgalFigureEnd diff --git a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/dependencies b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/dependencies index cc72c124cd4..f2994343101 100644 --- a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/dependencies +++ b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/dependencies @@ -1,8 +1,11 @@ Manual Kernel_23 +BGL STL_Extension +Mesh_3 Algebraic_foundations Circulator Stream_support Point_set_processing_3 Solver_interface +SMDS_3 diff --git a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/contouring_bench.jpg b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/contouring_bench.jpg index 70fbd8b61c5..34f241f13a6 100644 Binary files a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/contouring_bench.jpg and b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/contouring_bench.jpg differ diff --git a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/simplification_bench.jpg b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/simplification_bench.jpg index decc1e1353e..54a180332f1 100644 Binary files a/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/simplification_bench.jpg and b/Poisson_surface_reconstruction_3/doc/Poisson_surface_reconstruction_3/fig/simplification_bench.jpg differ diff --git a/Poisson_surface_reconstruction_3/include/CGAL/Poisson_mesh_domain_3.h b/Poisson_surface_reconstruction_3/include/CGAL/Poisson_mesh_domain_3.h index 1db317cc854..44e89efd100 100644 --- a/Poisson_surface_reconstruction_3/include/CGAL/Poisson_mesh_domain_3.h +++ b/Poisson_surface_reconstruction_3/include/CGAL/Poisson_mesh_domain_3.h @@ -18,7 +18,7 @@ #ifndef CGAL_POISSON_MESH_DOMAIN_3_H #define CGAL_POISSON_MESH_DOMAIN_3_H -#include +#include #include #include @@ -26,13 +26,13 @@ namespace CGAL { /*! -\ingroup PkgMesh3Domains +\ingroup PkgPoissonSurfaceReconstruction3Ref \brief The class `Poisson_mesh_domain_3` derives from `Labeled_mesh_domain_3` for the handling of `Poisson_reconstruction_function`. This class has a constructor taking a labeling function. It has also a static template member function that acts as named constructor: -
  • `create_Poisson_mesh_domain()`, to create a domain from a `Poisson_reconstruction_function` +
    • `create_Poisson_mesh_domain()`
      • , to create a domain from a `Poisson_reconstruction_function`
    \tparam BGT is a geometric traits class that provides the basic operations to implement intersection tests and intersection computations through a bisection @@ -117,9 +117,10 @@ public: /// @{ /*! \brief Construction from a function, a bounding object and a relative error bound. * - * \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" * \tparam Bounding_object either a bounding sphere (of type `Sphere_3`), a bounding box (type `Bbox_3`), * or a bounding `Iso_cuboid_3` + * \tparam NamedParameters + * a sequence of \ref bgl_namedparameters "Named Parameters" * * \param function the Poisson reconstruction function * \param bounding_object the bounding object bounding the meshable space. @@ -136,14 +137,41 @@ public: */ template Poisson_mesh_domain_3(const Function& function, - const Bounding_object& bounding_object, - const CGAL_NP_CLASS& np = parameters::default_values() + const Bounding_object& bounding_object, + const CGAL_NP_CLASS& np = parameters::default_values() #ifndef DOXYGEN_RUNNING - , typename std::enable_if>::type* = nullptr + , typename std::enable_if>::type* = nullptr #endif // DOXYGEN_RUNNING - ) - : Base(make_implicit_to_labeling_function_wrapper(function), bounding_object, np), - poisson_function(function) + ) + : Base(make_implicit_to_labeling_function_wrapper(function), bounding_object, np), + poisson_function(function) + {} + + /*! \brief Construction from a function, a bounding object and a relative error bound. + * + * \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" + * + * \param function the Poisson reconstruction function + * \param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below: + * + * \cgalNamedParamsBegin + * \cgalParamNBegin{relative_error_bound} + * \cgalParamDescription{the relative error bound used to compute intersection points between the implicit surface and query segments. + * The bisection is stopped when the length of the intersected segment is less than the product + * of `relative_error_bound` by the diameter of the bounding object.} + * \cgalParamDefault{FT(1e-3)} + * \cgalParamNEnd + * \cgalNamedParamsEnd + */ + template + Poisson_mesh_domain_3(const Function & function, + const CGAL_NP_CLASS& np = parameters::default_values() +#ifndef DOXYGEN_RUNNING + , typename std::enable_if>::type * = nullptr +#endif // DOXYGEN_RUNNING + ) + : Base(make_implicit_to_labeling_function_wrapper(function), function.bounding_sphere(), np), + poisson_function(function) {} ///@} @@ -185,7 +213,7 @@ public: * or a bounding `Iso_cuboid_3` * * \param function the Poisson reconstruction function - * \param bounding_object object boundint the meshable domain and its center is inside the domain. + * \param bounding_object object bounding the meshable domain and its center is inside the domain. * \param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below: * * \cgalNamedParamsBegin diff --git a/Poisson_surface_reconstruction_3/include/CGAL/Poisson_reconstruction_function.h b/Poisson_surface_reconstruction_3/include/CGAL/Poisson_reconstruction_function.h index 488e15b0b3a..01215b09963 100644 --- a/Poisson_surface_reconstruction_3/include/CGAL/Poisson_reconstruction_function.h +++ b/Poisson_surface_reconstruction_3/include/CGAL/Poisson_reconstruction_function.h @@ -460,7 +460,7 @@ public: // Add a pass of Delaunay refinement. // // In that pass, the sizing field, of the refinement process of the - // triangulation, is based on the result of a poisson function with a + // triangulation, is based on the result of a Poisson function with a // sample of the input points. The ratio is 'approximation_ratio'. // // For optimization reasons, the cell criteria of the refinement diff --git a/Poisson_surface_reconstruction_3/test/Poisson_surface_reconstruction_3/CMakeLists.txt b/Poisson_surface_reconstruction_3/test/Poisson_surface_reconstruction_3/CMakeLists.txt index 3592fc3e950..204812566e8 100644 --- a/Poisson_surface_reconstruction_3/test/Poisson_surface_reconstruction_3/CMakeLists.txt +++ b/Poisson_surface_reconstruction_3/test/Poisson_surface_reconstruction_3/CMakeLists.txt @@ -5,6 +5,8 @@ project(Poisson_surface_reconstruction_3_Tests) # Find CGAL find_package(CGAL REQUIRED) +find_package(TBB REQUIRED) +include(CGAL_TBB_support) # VisualC++ optimization for applications dealing with large data if(MSVC) @@ -23,13 +25,13 @@ include(CGAL_Eigen3_support) if(TARGET CGAL::Eigen3_support) # Executables that require Eigen 3.1 create_single_source_cgal_program("poisson_reconstruction_test_surface_mesher.cpp") - target_link_libraries(poisson_reconstruction_test_surface_mesher PRIVATE CGAL::Eigen3_support) + target_link_libraries(poisson_reconstruction_test_surface_mesher PRIVATE CGAL::Eigen3_support CGAL::TBB_support) create_single_source_cgal_program("poisson_reconstruction_test_mesh_3.cpp") - target_link_libraries(poisson_reconstruction_test_mesh_3 PRIVATE CGAL::Eigen3_support) + target_link_libraries(poisson_reconstruction_test_mesh_3 PRIVATE CGAL::Eigen3_support CGAL::TBB_support) create_single_source_cgal_program("compare_mesh_3_vs_Poisson_implicit_surface_3.cpp") - target_link_libraries(compare_mesh_3_vs_Poisson_implicit_surface_3 PRIVATE CGAL::Eigen3_support) + target_link_libraries(compare_mesh_3_vs_Poisson_implicit_surface_3 PRIVATE CGAL::Eigen3_support CGAL::TBB_support) else() message("NOTICE: Tests in this directory require Eigen 3.1 (or greater), and will not be compiled.")