From 5141abe2c32a2105809a14a1fd8ef3eec238c0c0 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 20 Apr 2018 12:33:23 +0200 Subject: [PATCH 001/150] qr factorization --- .../Optimal_bounding_box/linear_algebra.h | 51 ++++++++++++++++ .../test/Optimal_bounding_box/CMakeLists.txt | 59 +++++++++++++++++++ .../test_linear_algebra_functions.cpp | 58 ++++++++++++++++++ 3 files changed, 168 insertions(+) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h new file mode 100644 index 00000000000..8570964f2f1 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -0,0 +1,51 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_H +#define CGAL_OPTIMAL_BOUNDING_BOX_H + + +#include + + +namespace CGAL { +namespace Optimal_bounding_box { + + +template +void qr_factorization(EigenMatrix& A, EigenMatrix& Q) +{ + Eigen::HouseholderQR qr(A); + Q = qr.householderQ(); +} + + + +}} + + + + + + +#endif //CGAL_OPTIMAL_BOUNDING_BOX_H + + diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt new file mode 100644 index 00000000000..378a96457e6 --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt @@ -0,0 +1,59 @@ +# Created by the script cgal_create_CMakeLists +# This is the CMake script for compiling a set of CGAL applications. + +project( Optimal_bounding_box_Tests ) + + +cmake_minimum_required(VERSION 2.6.2) +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" VERSION_GREATER 2.6) + if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}" VERSION_GREATER 2.8.3) + cmake_policy(VERSION 2.8.4) + else() + cmake_policy(VERSION 2.6) + endif() +endif() + + +# CGAL and its components +find_package( CGAL QUIET COMPONENTS ) + +if ( NOT CGAL_FOUND ) + + message(STATUS "This project requires the CGAL library, and will not be compiled.") + return() + +endif() + +# include helper file +include( ${CGAL_USE_FILE} ) + + +# Boost and its components +find_package( Boost REQUIRED ) + +if ( NOT Boost_FOUND ) + + message(STATUS "This project requires the Boost library, and will not be compiled.") + + return() + +endif() + +# include for local directory + +# include for local package +include_directories( BEFORE ../../include ) + +find_package(Eigen3 3.2.0) #(requires 3.2.0 or greater) + +find_package( TBB ) + +include( CGAL_CreateSingleSourceCGALProgram ) +if (EIGEN3_FOUND) + include( ${EIGEN3_USE_FILE} ) + + create_single_source_cgal_program("test_linear_algebra_functions.cpp") + +endif(EIGEN3_FOUND) + + diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp new file mode 100644 index 00000000000..435c8a755da --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -0,0 +1,58 @@ +#include +#include + +#include + +#include +#include + +#include + +//typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +//typedef CGAL::Surface_mesh Surface_mesh; + +typedef Eigen::MatrixXf MatrixXf; + + +bool assert_doubles(double d1, double d2, double epsilon) +{ + return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; +} + + +void test_qr_factorization() +{ + + MatrixXf A(3, 3); + A << 0.3011944, 0.9932761, 0.5483701, + 0.5149142, 0.5973263, 0.5162336, + 0.0039213, 0.0202949, 0.9240308; + + MatrixXf Q; + CGAL::Optimal_bounding_box::qr_factorization(A, Q); + + double epsilon = 1e-6; + CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); + CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); + CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); + CGAL_assertion(assert_doubles(Q(1,0), -0.863156, epsilon)); + CGAL_assertion(assert_doubles(Q(1,1), -0.504894, epsilon)); + CGAL_assertion(assert_doubles(Q(1,2), 0.006687, epsilon)); + CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); + CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); + CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); + + +} + + + + + +int main() +{ + + test_qr_factorization(); + + return 0; +} From 4f64c44c83e55e1b99ce8d0ab85bbb340241572d Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 20 Apr 2018 14:48:14 +0200 Subject: [PATCH 002/150] fitness function --- .../Optimal_bounding_box/fitness_function.h | 85 +++++++++++++++++++ .../Optimal_bounding_box/linear_algebra.h | 3 +- .../test_linear_algebra_functions.cpp | 22 +++++ 3 files changed, 108 insertions(+), 2 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h new file mode 100644 index 00000000000..87b4c662a44 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -0,0 +1,85 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + +#ifndef CGAL_FITNESS_FUNCTION_H +#define CGAL_FITNESS_FUNCTION_H + +#include +#include + + +namespace CGAL { +namespace Optimal_bounding_box { + +template +const double compute_fitness(Matrix& R, Matrix& data) +{ + + // R: rotation matrix + CGAL_assertion(R.cols() == 3); + CGAL_assertion(R.rows() == 3); + // data: points + CGAL_assertion(data.cols() == 3); + CGAL_assertion(data.rows() >= 3); + + CGAL_assertion(R.rows() == data.cols()); + + // rotate points + Matrix RT = R.transpose(); + Matrix rotated_data = data * RT; + CGAL_assertion(rotated_data.cols() == data.cols()); + CGAL_assertion(rotated_data.rows() == data.rows()); + + // AABB: take mins and maxs + double xmin = rotated_data.col(0).minCoeff(); + double xmax = rotated_data.col(0).maxCoeff(); + double ymin = rotated_data.col(1).minCoeff(); + double ymax = rotated_data.col(1).maxCoeff(); + double zmin = rotated_data.col(2).minCoeff(); + double zmax = rotated_data.col(2).maxCoeff(); + + double x_dim = abs(xmax - xmin); + double y_dim = abs(ymax - ymin); + double z_dim = abs(zmax - zmin); + + // volume + return (x_dim * y_dim * z_dim); + +} + + + + + + + + +}} // end namespaces + + + + + + +#endif //CGAL_FITNESS_FUNCTION_H + + + diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 8570964f2f1..83be8c79885 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -38,8 +38,7 @@ void qr_factorization(EigenMatrix& A, EigenMatrix& Q) } - -}} +}} // end namespaces diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 435c8a755da..27b00e3229f 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -46,6 +47,26 @@ void test_qr_factorization() } +void test_fitness_function() +{ + MatrixXf data_points(4, 3); + data_points << 0.866802, 0.740808, 0.895304, + 0.912651, 0.761565, 0.160330, + 0.093661, 0.892578, 0.737412, + 0.166461, 0.149912, 0.364944; + + MatrixXf rotation(3, 3); + rotation << -0.809204, 0.124296, 0.574230, + -0.574694, 0.035719, -0.817589, + -0.122134, -0.991602, 0.042528; + + double fitness = CGAL::Optimal_bounding_box::compute_fitness(rotation, data_points); + CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-6)); + +} + + + @@ -53,6 +74,7 @@ int main() { test_qr_factorization(); + test_fitness_function(); return 0; } From 460a17f950e78909f1120de975f4b199aa5d270d Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 20 Apr 2018 16:52:08 +0200 Subject: [PATCH 003/150] simplex functions refection, contraction, etc --- .../Optimal_bounding_box/fitness_function.h | 4 -- .../Optimal_bounding_box/linear_algebra.h | 54 ++++++++++++++-- .../test_linear_algebra_functions.cpp | 62 ++++++++++++++++++- 3 files changed, 111 insertions(+), 9 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 87b4c662a44..1f9a5b7372f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -68,10 +68,6 @@ const double compute_fitness(Matrix& R, Matrix& data) - - - - }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 83be8c79885..7dd2145a602 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -22,7 +22,7 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_H #define CGAL_OPTIMAL_BOUNDING_BOX_H - +#include #include @@ -30,13 +30,59 @@ namespace CGAL { namespace Optimal_bounding_box { -template -void qr_factorization(EigenMatrix& A, EigenMatrix& Q) +template +void qr_factorization(Matrix& A, Matrix& Q) { - Eigen::HouseholderQR qr(A); + Eigen::HouseholderQR qr(A); Q = qr.householderQ(); } +template +const Matrix reflection(Matrix& S_centroid, Matrix& S_worst) +{ + CGAL_assertion(S_centroid.rows() == 3); + CGAL_assertion(S_centroid.rows() == 3); + CGAL_assertion(S_worst.cols() == 3); + CGAL_assertion(S_worst.cols() == 3); + + return S_centroid * S_worst.transpose() * S_centroid; +} + +template +const Matrix expansion(Matrix& S_centroid, Matrix& S_worst, Matrix& S_reflection) +{ + CGAL_assertion(S_centroid.rows() == 3); + CGAL_assertion(S_centroid.rows() == 3); + CGAL_assertion(S_worst.cols() == 3); + CGAL_assertion(S_worst.cols() == 3); + CGAL_assertion(S_reflection.cols() == 3); + CGAL_assertion(S_reflection.cols() == 3); + + return S_centroid * S_worst.transpose() * S_reflection; +} + +template +const Matrix constraction(Matrix& S_centroid, Matrix& S_worst) +{ + // same API for reduction + CGAL_assertion(S_centroid.rows() == 3); + CGAL_assertion(S_centroid.rows() == 3); + CGAL_assertion(S_worst.cols() == 3); + CGAL_assertion(S_worst.cols() == 3); + + Matrix contract = 0.5 * S_centroid + 0.5 * S_worst; + Matrix Q; + qr_factorization(contract, Q); + double det = Q.determinant(); + return Q / det; +} + + + + + + + }} // end namespaces diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 27b00e3229f..8a52a0ca29c 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -61,11 +61,70 @@ void test_fitness_function() -0.122134, -0.991602, 0.042528; double fitness = CGAL::Optimal_bounding_box::compute_fitness(rotation, data_points); - CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-6)); + CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); } +void test_simplex_operations() +{ + MatrixXf Sc(3, 3); + Sc << -0.809204, 0.124296, 0.574230, + -0.574694, 0.035719, -0.817589, + -0.122134, -0.991602, 0.042528; + + MatrixXf S_worst(3, 3); + S_worst << -0.45070, -0.32769, -0.83035, + -0.13619, -0.89406, 0.42675, + -0.88222, 0.30543, 0.35833; + + MatrixXf Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + double epsilon = 1e-5; + CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); + CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); + CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,0), -0.60307, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,1), -0.11875, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,2), 0.78880, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,0), -0.78642, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); + + MatrixXf Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); + CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); + CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); + CGAL_assertion(assert_doubles(Se(1,0), -0.11816, epsilon)); + CGAL_assertion(assert_doubles(Se(1,1), -0.79593, epsilon)); + CGAL_assertion(assert_doubles(Se(1,2), -0.59375, epsilon)); + CGAL_assertion(assert_doubles(Se(2,0), -0.460215, epsilon)); + CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); + CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); + + + MatrixXf S_a(3, 3); + S_a << -0.277970, 0.953559, 0.116010, + -0.567497, -0.065576, -0.820760, + -0.775035, -0.293982, 0.559370; + + MatrixXf S_b(3, 3); + S_b << -0.419979, 0.301765, -0.855894, + -0.653011, -0.755415, 0.054087, + -0.630234, 0.581624, 0.514314; + + MatrixXf S_c = CGAL::Optimal_bounding_box::constraction(S_a, S_b); + CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); + CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); + CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); + CGAL_assertion(assert_doubles(S_c(1,0), -0.61398, epsilon)); + CGAL_assertion(assert_doubles(S_c(1,1), -0.59635, epsilon)); + CGAL_assertion(assert_doubles(S_c(1,2), -0.51710, epsilon)); + CGAL_assertion(assert_doubles(S_c(2,0), -0.70693, epsilon)); + CGAL_assertion(assert_doubles(S_c(2,1), 0.12405, epsilon)); + CGAL_assertion(assert_doubles(S_c(2,2), 0.69632, epsilon)); + +} + @@ -75,6 +134,7 @@ int main() test_qr_factorization(); test_fitness_function(); + test_simplex_operations(); return 0; } From 82aeb8336fe03747a6b3ddca8358c558942e30a0 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 20 Apr 2018 17:17:05 +0200 Subject: [PATCH 004/150] centroid function --- .../Optimal_bounding_box/linear_algebra.h | 11 +++++++ .../test_linear_algebra_functions.cpp | 33 ++++++++++++++++++- 2 files changed, 43 insertions(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 7dd2145a602..641b81302b6 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -77,6 +77,17 @@ const Matrix constraction(Matrix& S_centroid, Matrix& S_worst) return Q / det; } +template +const Matrix centroid(Matrix& S1, Matrix& S2, Matrix& S3) +{ + Matrix mean = (S1 + S2 + S3) / 3.0; + Matrix Q; + qr_factorization(mean, Q); + double det = Q.determinant(); + return Q / det; +} + + diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 8a52a0ca29c..53b0f355d78 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -101,7 +101,6 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); - MatrixXf S_a(3, 3); S_a << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, @@ -125,6 +124,37 @@ void test_simplex_operations() } +void test_centroid() +{ + MatrixXf S_a(3, 3); + S_a << -0.588443, 0.807140, -0.047542, + -0.786228, -0.584933, -0.199246, + -0.188629, -0.079867, 0.978795; + + MatrixXf S_b(3, 3); + S_b << -0.2192721, 0.2792986, -0.9348326, + -0.7772152, -0.6292092, -0.0056861, + -0.5897934, 0.7253193, 0.3550431; + + MatrixXf S_c(3, 3); + S_c << -0.32657, -0.60013, -0.73020, + -0.20022, -0.71110, 0.67398, + -0.92372, 0.36630, 0.11207; + + + MatrixXf S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); + double epsilon = 1e-5; + CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(0,2), -0.855894, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(1,0), -0.653011, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(1,1), -0.755415, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(1,2), 0.054087, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(2,0), -0.630234, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(2,1), 0.581624, epsilon)); + CGAL_assertion(assert_doubles(S_centroid(2,2), 0.514314, epsilon)); + +} @@ -135,6 +165,7 @@ int main() test_qr_factorization(); test_fitness_function(); test_simplex_operations(); + test_centroid(); return 0; } From 3e732160923196ad6b8ee0e06a6b02c6eaf6c4e1 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Mon, 23 Apr 2018 14:39:03 +0200 Subject: [PATCH 005/150] population class --- .../CGAL/Optimal_bounding_box/population.h | 126 ++++++++++++++++++ .../test_linear_algebra_functions.cpp | 19 +++ 2 files changed, 145 insertions(+) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h new file mode 100644 index 00000000000..a5418acc663 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -0,0 +1,126 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H +#define CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H + +#include +#include + + +namespace CGAL { + +namespace Optimal_bounding_box { + + + +template +class Population +{ + + typedef std::vector Individual; + +public: + Population(std::size_t size) : n(size) + { + // reserve pop space + pop.reserve(n); + + // create individuals + for(std::size_t i = 0 ; i < n; ++i) + { + Individual member(4); + create_individual(member); + CGAL_assertion(member.size() == 4); + pop.push_back(member); + } + } + + void show_population() + { + std::size_t id = 0; + for(const Individual i : pop) + { + CGAL_assertion(i.size() == 4); + std:: cout << "Individual: "<< id++ << std::endl; + for(const Matrix R : i) + { + std::cout << R; // eigen out + std::cout << "\n\n"; + } + + std:: cout << std:: endl; + } + } + + std::size_t size() + { + return n; + } + +private: + void create_individual(Individual& member) + { + CGAL_assertion(member.size() == 4); + + for(std::size_t i = 0; i < 4; ++i) + { + // create matrix + Matrix R(3,3); + create_simplex(R); + member[i] = R; + } + + CGAL_assertion(member.size() == 4); + } + + void create_simplex(Matrix& R) + { + CGAL_assertion(R.rows() == 3); + CGAL_assertion(R.cols() == 3); + + for(std::size_t i = 0; i < 3; ++i) + { + for(std::size_t j = 0; j < 3; ++j) + { + R(i, j) = random_generator.get_double(); + } + } + } + + + CGAL::Random random_generator; + std::size_t n; + std::vector pop; + +}; + + + +} } // end namespaces + + + + + + + +#endif //CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 53b0f355d78..3c9c7777a41 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -158,6 +159,21 @@ void test_centroid() +void test_population() +{ + + CGAL::Optimal_bounding_box::Population pop(5); + + //pop.show_population(); + + CGAL_assertion(pop.size() == 5); + + + +} + + + int main() { @@ -167,5 +183,8 @@ int main() test_simplex_operations(); test_centroid(); + test_population(); + + return 0; } From 704c3b77c653c6fa79efc9753b7e31786e9949ba Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Tue, 24 Apr 2018 14:53:52 +0200 Subject: [PATCH 006/150] nelder-mead algorithm --- .../Optimal_bounding_box/fitness_function.h | 2 +- .../Optimal_bounding_box/linear_algebra.h | 16 +- .../optimization_algorithms.h | 180 ++++++++++++++++++ .../CGAL/Optimal_bounding_box/population.h | 19 ++ .../test/Optimal_bounding_box/CMakeLists.txt | 1 + .../test_linear_algebra_functions.cpp | 16 +- .../test_optimization_algorithms.cpp | 127 ++++++++++++ 7 files changed, 337 insertions(+), 24 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 1f9a5b7372f..93f7b12e9f5 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -30,7 +30,7 @@ namespace CGAL { namespace Optimal_bounding_box { template -const double compute_fitness(Matrix& R, Matrix& data) +const double compute_fitness(const Matrix& R, const Matrix& data) { // R: rotation matrix diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 641b81302b6..121e0124ebf 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -38,7 +38,7 @@ void qr_factorization(Matrix& A, Matrix& Q) } template -const Matrix reflection(Matrix& S_centroid, Matrix& S_worst) +const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) { CGAL_assertion(S_centroid.rows() == 3); CGAL_assertion(S_centroid.rows() == 3); @@ -49,7 +49,7 @@ const Matrix reflection(Matrix& S_centroid, Matrix& S_worst) } template -const Matrix expansion(Matrix& S_centroid, Matrix& S_worst, Matrix& S_reflection) +const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Matrix& S_reflection) { CGAL_assertion(S_centroid.rows() == 3); CGAL_assertion(S_centroid.rows() == 3); @@ -62,15 +62,15 @@ const Matrix expansion(Matrix& S_centroid, Matrix& S_worst, Matrix& S_reflection } template -const Matrix constraction(Matrix& S_centroid, Matrix& S_worst) +Matrix mean(const Matrix& m1, const Matrix& m2) // mean { // same API for reduction - CGAL_assertion(S_centroid.rows() == 3); - CGAL_assertion(S_centroid.rows() == 3); - CGAL_assertion(S_worst.cols() == 3); - CGAL_assertion(S_worst.cols() == 3); + CGAL_assertion(m1.rows() == 3); + CGAL_assertion(m1.rows() == 3); + CGAL_assertion(m2.cols() == 3); + CGAL_assertion(m2.cols() == 3); - Matrix contract = 0.5 * S_centroid + 0.5 * S_worst; + Matrix contract = 0.5 * m1 + 0.5 * m2; Matrix Q; qr_factorization(contract, Q); double det = Q.determinant(); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h new file mode 100644 index 00000000000..8e02c925125 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -0,0 +1,180 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H +#define CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H + +#include +#include +#include + +#include +#include + + +namespace CGAL { + +namespace Optimal_bounding_box { + + +template +struct Comparator +{ + Comparator(std::vector in) : fitness(in) {} + + inline bool operator() (std::size_t& i, std::size_t& j) + { + return fitness[i] < fitness[j]; + } + + std::vector fitness; +}; + + + +// points: point coords +// simplex: 4 roation matrices are its vertices +template +void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_iterations) +{ + + CGAL_assertion(simplex.size() == 4); // tetrahedron + + std::vector fitness(4); + std::vector indices( boost::counting_iterator( 0 ), + boost::counting_iterator( simplex.size() ) ); + + + for(std::size_t t = 0; t < nb_iterations; ++t) + { + + for(int i = 0; i < 4; ++i) + { + fitness[i] = compute_fitness(simplex[i], points); + } + + /* + for(const Matrix& v : simplex) + fitness.push_back(compute_fitness(v, points)); + */ + CGAL_assertion(fitness.size() == 4); + CGAL_assertion(indices.size() == 4); + + + // get indices of sorted sequence + Comparator compare_indices(fitness); + std::sort(indices.begin(), indices.end(), compare_indices); + + + /* + for(int i =0 ; i < 4; ++i) + { + std::cout << simplex[i] << "\n"; + std::cout << "fitness= " << fitness[i] << "\n"; + std::cout << "index= " << indices[i] << "\n\n"; + } + std::cout << std::endl; + */ + + + // new sorted simplex & fitness + std::vector s_simplex(4); + std::vector s_fitness(4); + for(int i = 0; i < 4; ++i) + { + s_simplex[i] = simplex[indices[i]]; + s_fitness[i] = fitness[indices[i]]; + } + + simplex = s_simplex; // swap? + fitness = s_fitness; + + // centroid + const Matrix v_centroid = centroid(simplex[0], simplex[1], simplex[2]); + + // find worst's vertex reflection + const Matrix v_worst = simplex[3]; + const Matrix v_refl = reflection(v_centroid, v_worst); + const double f_refl = compute_fitness(v_refl, points); + + if(f_refl < fitness[2]) + { + if(f_refl >= fitness[0]) // if reflected point is not better than the best + { + // do reflection + simplex[3] = v_refl; + } + else + { + // expansion + const Matrix v_expand = expansion(v_centroid, v_worst, v_refl); + const double f_expand = compute_fitness(v_expand, points); + if(f_expand < f_refl) + simplex[3] = v_expand; + else + simplex[3] = v_refl; + } + } + else // if reflected vertex is not better + { + const Matrix v_mean = mean(v_centroid, v_worst); + const double f_mean = compute_fitness(v_mean, points); + if(f_mean <= fitness[3]) + // contraction of worst + simplex[3] = v_mean; + else + { + // reduction: move all vertices towards the best + for(int i=1; i < 4; ++i) + { + simplex[i] = mean(simplex[i], simplex[0]); // todo: test order of addition + } + } + } + + CGAL_assertion(simplex.size() == 4); // tetrahedron + + + } // iterations + + + + +} + + + + + + + + + + +} } // end namespaces + + + + + + + +#endif //CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index a5418acc663..375021b0768 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -25,6 +25,8 @@ #include #include +#include + namespace CGAL { @@ -76,7 +78,24 @@ public: return n; } + + // access individual + Individual& operator[](std::size_t i) + { + CGAL_assertion(i < n); + return pop[i]; + } + + const Individual& operator[](std::size_t i) const + { + CGAL_assertion(i < n); + return pop[i]; + } + + private: + + // create random population void create_individual(Individual& member) { CGAL_assertion(member.size() == 4); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt index 378a96457e6..57c961df417 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt @@ -53,6 +53,7 @@ if (EIGEN3_FOUND) include( ${EIGEN3_USE_FILE} ) create_single_source_cgal_program("test_linear_algebra_functions.cpp") + create_single_source_cgal_program("test_optimization_algorithms.cpp") endif(EIGEN3_FOUND) diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 3c9c7777a41..bfb618d7731 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -112,7 +112,7 @@ void test_simplex_operations() -0.653011, -0.755415, 0.054087, -0.630234, 0.581624, 0.514314; - MatrixXf S_c = CGAL::Optimal_bounding_box::constraction(S_a, S_b); + MatrixXf S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); @@ -159,19 +159,6 @@ void test_centroid() -void test_population() -{ - - CGAL::Optimal_bounding_box::Population pop(5); - - //pop.show_population(); - - CGAL_assertion(pop.size() == 5); - - - -} - @@ -183,7 +170,6 @@ int main() test_simplex_operations(); test_centroid(); - test_population(); return 0; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp new file mode 100644 index 00000000000..7504038a3de --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -0,0 +1,127 @@ +#include +#include + +#include +#include + +#include +#include + +#include + + +typedef Eigen::MatrixXf MatrixXf; + +bool assert_doubles(double d1, double d2, double epsilon) +{ + return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; +} + + +void test_population() +{ + + CGAL::Optimal_bounding_box::Population pop(5); + + //pop.show_population(); + + CGAL_assertion(pop.size() == 5); +} + +void test_nelder_mead() +{ + + MatrixXf data_points(4, 3); + data_points << 0.866802, 0.740808, 0.895304, + 0.912651, 0.761565, 0.160330, + 0.093661, 0.892578, 0.737412, + 0.166461, 0.149912, 0.364944; + + // one simplex + std::vector simplex(4); + + MatrixXf v0(3, 3); + v0 << -0.2192721, 0.2792986, -0.9348326, + -0.7772152, -0.6292092, -0.0056861, + -0.5897934, 0.7253193, 0.3550431; + + MatrixXf v1(3, 3); + v1 << -0.588443, 0.807140, -0.047542, + -0.786228, -0.584933, -0.199246, + -0.188629, -0.079867, 0.978795; + + MatrixXf v2(3, 3); + v2 << -0.277970, 0.953559, 0.116010, + -0.567497, -0.065576, -0.820760, + -0.775035, -0.293982, 0.559370; + + MatrixXf v3(3, 3); + v3 << -0.32657, -0.60013, -0.73020, + -0.20022, -0.71110, 0.67398, + -0.92372, 0.36630, 0.11207; + + simplex[0] = v0; + simplex[1] = v1; + simplex[2] = v2; + simplex[3] = v3; + + std::size_t iterations = 19; + CGAL::Optimal_bounding_box::nelder_mead(simplex, data_points, iterations); + + double epsilon = 1e-5; + + MatrixXf v0_new = simplex[0]; + CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); + CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); + CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); + CGAL_assertion(assert_doubles(v0_new(1,0), -0.9407046, epsilon)); + CGAL_assertion(assert_doubles(v0_new(1,1), -0.3391466, epsilon)); + CGAL_assertion(assert_doubles(v0_new(1,2), 0.0073817, epsilon)); + CGAL_assertion(assert_doubles(v0_new(2,0), -0.1776743, epsilon)); + CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); + CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); + + MatrixXf v1_new = simplex[1]; + CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); + CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); + CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); + CGAL_assertion(assert_doubles(v1_new(1,0), -0.885235, epsilon)); + CGAL_assertion(assert_doubles(v1_new(1,1), -0.455997, epsilon)); + CGAL_assertion(assert_doubles(v1_new(1,2), 0.091794, epsilon)); + CGAL_assertion(assert_doubles(v1_new(2,0), -0.076866, epsilon)); + CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); + CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); + + MatrixXf v2_new = simplex[2]; + CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); + CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); + CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); + CGAL_assertion(assert_doubles(v2_new(1,0), -0.936885, epsilon)); + CGAL_assertion(assert_doubles(v2_new(1,1), -0.341445, epsilon)); + CGAL_assertion(assert_doubles(v2_new(1,2), 0.075251, epsilon)); + CGAL_assertion(assert_doubles(v2_new(2,0), -0.046131, epsilon)); + CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); + CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); + + MatrixXf v3_new = simplex[3]; + CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); + CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); + CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); + CGAL_assertion(assert_doubles(v3_new(1,0), -0.912112, epsilon)); + CGAL_assertion(assert_doubles(v3_new(1,1), -0.398788, epsilon)); + CGAL_assertion(assert_doubles(v3_new(1,2), 0.094972, epsilon)); + CGAL_assertion(assert_doubles(v3_new(2,0), -0.110692, epsilon)); + CGAL_assertion(assert_doubles(v3_new(2,1), 0.462655, epsilon)); + CGAL_assertion(assert_doubles(v3_new(2,2), 0.879601, epsilon)); + +} + + +int main() +{ + test_population(); + test_nelder_mead(); + + + return 0; +} From efbb1be89078b16a47ed706338e1e1b4a913cf2c Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 25 Apr 2018 12:29:04 +0200 Subject: [PATCH 007/150] genetic algorithm --- .../optimization_algorithms.h | 154 ++++++++++++++++++ .../CGAL/Optimal_bounding_box/population.h | 11 +- .../test_optimization_algorithms.cpp | 21 +++ 3 files changed, 184 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 8e02c925125..4742c7a4bce 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -23,11 +23,13 @@ #define CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H #include +#include #include #include #include #include +#include namespace CGAL { @@ -155,7 +157,141 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it } // iterations +} +struct Random_int_generator +{ + Random_int_generator(int l, int h) : low(l), high(h) {} + + int operator() () + { + return random_gen.get_int(low, high); + } + + CGAL::Random random_gen; + int low; + int high; +}; + + +template +void genetic_algorithm(Population& pop, Simplex& points) +{ + // random permutations + std::size_t m = pop.size(); + + //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored + std::size_t size_first_group = m/2; + std::size_t size_second_group = m - m/2; + + std::vector ids1(m/2), ids2(m/2); + std::vector ids3(m - m/2), ids4(m - m/2); + + CGAL::Random rng; + + //Random_int_generator rgen(0, m); + //std::generate(indices.begin(), indices.end(), rgen); + + std::generate(ids1.begin(), ids1.end(), + [&rng, &m] () + { return rng.get_int(0, m); }); + + std::generate(ids2.begin(), ids2.end(), + [&rng, &m] () + { return rng.get_int(0, m); }); + + std::generate(ids3.begin(), ids3.end(), + [&rng, &m] () + { return rng.get_int(0, m); }); + + std::generate(ids4.begin(), ids4.end(), + [&rng, &m] () + { return rng.get_int(0, m); }); + + + Population group1(m/2), group2(m/2); + Population group3(m - m/2), group4(m - m/2); + + for(std::size_t i = 0; i < ids1.size(); ++i) + group1[i] = pop[ids1[i]]; + + for(std::size_t i = 0; i < ids2.size(); ++i) + group2[i] = pop[ids2[i]]; + + for(std::size_t i = 0; i < ids3.size(); ++i) + group3[i] = pop[ids3[i]]; + + for(std::size_t i = 0; i < ids4.size(); ++i) + group4[i] = pop[ids4[i]]; + + + + + // crossover I + Population offspringsA(size_first_group); + double bias = 0.1; + + for(int i = 0; i < size_first_group; ++i) + { + std::vector offspring(4); + for(int j = 0; j < 4; ++j) + { + double r = rng.get_double(); + double fitnessA = compute_fitness(group1[i][j], points); + double fitnessB = compute_fitness(group2[i][j], points); + double threshold; + if(fitnessA < fitnessB) + threshold = 0.5 + bias; + else + threshold = 0.5 - bias; + if(r < threshold) // choose A + offspring[j] = group1[i][j]; + else // choose B + offspring[j] = group2[i][j]; + } + offspringsA[i] = offspring; + } + + + // crossover II + Population offspringsB(size_second_group); + bias = 0.1; + + for(int i = 0; i < size_second_group; ++i) + { + std::vector offspring(4); + for(int j = 0; j < 4; ++j) + { + double fitnessA = compute_fitness(group3[i][j], points); + double fitnessB = compute_fitness(group4[i][j], points); + double lambda; + if(fitnessA < fitnessB) + lambda = 0.5 + bias; + else + lambda = 0.5 - bias; + // combine information from A and B + offspring[j] = lambda * group3[i][j] + lambda * group4[i][j]; + + } + offspringsB[i] = offspring; + } + + + CGAL_assertion(offspringsA.size() == size_first_group); + CGAL_assertion(offspringsB.size() == size_second_group); + CGAL_assertion(offspringsA.size() + offspringsB.size() == pop.size()); + + + // next generatrion + for(std::size_t i = 0; i < size_first_group; ++i) + { + pop[i] = offspringsA[i]; + } + + for(std::size_t i = 0; i < size_second_group; ++i) + { + pop[size_first_group + i] = offspringsB[i]; + } } @@ -163,6 +299,24 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it +template +void find_global_minimum(Population& pop, Simplex points) +{ + + genetic_algorithm(pop, points); + + std::size_t nelder_mead_iterations = 1; + + for(Simplex s : pop) + nelder_mead(s, points, nelder_mead_iterations); + + //optional random mutations + + +} + + + diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 375021b0768..2d952554602 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -26,6 +26,7 @@ #include #include +#include namespace CGAL { @@ -41,8 +42,10 @@ class Population typedef std::vector Individual; public: - Population(std::size_t size) : n(size) + Population(std::size_t size) : n(size), random_generator(CGAL::Random(1)) { + //std::cout << "seed= " << random_generator.get_seed() << std::endl; + // reserve pop space pop.reserve(n); @@ -105,7 +108,9 @@ private: // create matrix Matrix R(3,3); create_simplex(R); - member[i] = R; + Matrix Q; + qr_factorization(R, Q); + member[i] = Q; } CGAL_assertion(member.size() == 4); @@ -126,6 +131,8 @@ private: } + + CGAL::Random random_generator; std::size_t n; std::vector pop; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 7504038a3de..696b7ea2486 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -116,11 +116,32 @@ void test_nelder_mead() } +void test_genetic_algorithm() +{ + + MatrixXf data_points(4, 3); + data_points << 0.866802, 0.740808, 0.895304, + 0.912651, 0.761565, 0.160330, + 0.093661, 0.892578, 0.737412, + 0.166461, 0.149912, 0.364944; + + CGAL::Optimal_bounding_box::Population pop(5); + CGAL::Optimal_bounding_box::genetic_algorithm(pop, data_points); + CGAL_assertion(pop.size() == 5); +} + + int main() { test_population(); test_nelder_mead(); + test_genetic_algorithm(); + + + + + return 0; From 1ef55a86f8850b9a4cd327541349f3325d4678a4 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 25 Apr 2018 14:45:19 +0200 Subject: [PATCH 008/150] visualization --- .../include/CGAL/Optimal_bounding_box/obb.h | 102 ++++++++++++++++++ .../optimization_algorithms.h | 16 --- .../test_optimization_algorithms.cpp | 17 +++ 3 files changed, 119 insertions(+), 16 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h new file mode 100644 index 00000000000..f2661db44f9 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -0,0 +1,102 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + +#ifndef CGAL_OBB_H +#define CGAL_OBB_H + +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace CGAL { +namespace Optimal_bounding_box { + + + +template +void find_global_minimum(Population& pop, Simplex points) +{ + + genetic_algorithm(pop, points); + + std::size_t nelder_mead_iterations = 1; + + for(Simplex s : pop) + nelder_mead(s, points, nelder_mead_iterations); + + //optional random mutations +} + + +template +void visualize_obb(Simplex data_points) +{ + + + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; + typedef CGAL::Surface_mesh Mesh; + + // Simplex -> std::vector + std::vector points; + + for(int i = 0; i < data_points.rows(); ++i) + { + Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); + points.push_back(p); + } + + + CGAL::Bbox_3 bbox; + bbox = bbox_3(points.begin(), points.end()); + K::Iso_cuboid_3 ic(bbox); + + Mesh mesh; + CGAL::make_hexahedron(ic[0], ic[1], ic[2], ic[3], ic[4], ic[5], ic[6], ic[7], mesh); + + std::ofstream out("/tmp/box.off"); + out << mesh; + out.close(); + + +} + + + + + +}} // end namespaces + + + + + + +#endif //CGAL_OBB_H + + + diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 4742c7a4bce..4bc152a72db 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -299,22 +299,6 @@ void genetic_algorithm(Population& pop, Simplex& points) -template -void find_global_minimum(Population& pop, Simplex points) -{ - - genetic_algorithm(pop, points); - - std::size_t nelder_mead_iterations = 1; - - for(Simplex s : pop) - nelder_mead(s, points, nelder_mead_iterations); - - //optional random mutations - - -} - diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 696b7ea2486..78c00d2032f 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -130,6 +131,19 @@ void test_genetic_algorithm() CGAL_assertion(pop.size() == 5); } +void test_visualization() +{ + MatrixXf data_points(4, 3); + data_points << 0.866802, 0.740808, 0.895304, + 0.912651, 0.761565, 0.160330, + 0.093661, 0.892578, 0.737412, + 0.166461, 0.149912, 0.364944; + + + CGAL::Optimal_bounding_box::visualize_obb(data_points); + + +} int main() @@ -139,6 +153,9 @@ int main() test_genetic_algorithm(); + test_visualization(); + + From ea994650ec087a66334917128878cd2ae5b1330e Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 26 Apr 2018 14:22:45 +0200 Subject: [PATCH 009/150] it works! --- .../Optimal_bounding_box/fitness_function.h | 57 +++++- .../Optimal_bounding_box/linear_algebra.h | 12 ++ .../include/CGAL/Optimal_bounding_box/obb.h | 168 ++++++++++++++++-- .../optimization_algorithms.h | 39 ++++ .../CGAL/Optimal_bounding_box/population.h | 5 +- .../test/Optimal_bounding_box/data/tetra3.off | 12 ++ .../test_optimization_algorithms.cpp | 132 +++++++++++++- 7 files changed, 401 insertions(+), 24 deletions(-) create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/tetra3.off diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 93f7b12e9f5..6b2cd7b5bb5 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -24,7 +24,8 @@ #include #include - +#include +#include namespace CGAL { namespace Optimal_bounding_box { @@ -40,8 +41,6 @@ const double compute_fitness(const Matrix& R, const Matrix& data) CGAL_assertion(data.cols() == 3); CGAL_assertion(data.rows() >= 3); - CGAL_assertion(R.rows() == data.cols()); - // rotate points Matrix RT = R.transpose(); Matrix rotated_data = data * RT; @@ -56,7 +55,7 @@ const double compute_fitness(const Matrix& R, const Matrix& data) double zmin = rotated_data.col(2).minCoeff(); double zmax = rotated_data.col(2).maxCoeff(); - double x_dim = abs(xmax - xmin); + double x_dim = abs(xmax - xmin); // abs needed? double y_dim = abs(ymax - ymin); double z_dim = abs(zmax - zmin); @@ -65,6 +64,56 @@ const double compute_fitness(const Matrix& R, const Matrix& data) } +template +struct Fitness_map // -> a free function +{ + Fitness_map(Population& p, Matrix& points) : pop(p), points(points) + {} + + Matrix get_best() + { + std::size_t count_vertices = 0; + + std::size_t simplex_id; + std::size_t vertex_id; + double best_fitness = std::numeric_limits::max(); + for(std::size_t i = 0; i < pop.size(); ++i) + { + const std::vector simplex = pop[i]; + for(std::size_t j =0; j < 4; ++j) + { + const Matrix vertex = simplex[j]; + //std::cout << "i= "<< i << " j=" << j<<"\n vertex= " << vertex << std::endl; + ++count_vertices; + //std::cout << "vertex = " << vertex << std::endl; + + const double fitness = compute_fitness(vertex, points); + //std::cout << "fitness = " << fitness << std::endl; + if (fitness < best_fitness) + { + simplex_id = i; + vertex_id = j; + best_fitness = fitness; + std::cout << "best fitness = " << best_fitness << std::endl; + } + + } + } + + std::vector best_simplex = pop[simplex_id]; + Matrix temp = best_simplex[vertex_id]; + + return temp; + } + + + const Matrix points; + Population pop; +}; + + + + diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 121e0124ebf..d78eda5fc31 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -24,6 +24,7 @@ #include #include +#include namespace CGAL { @@ -37,6 +38,17 @@ void qr_factorization(Matrix& A, Matrix& Q) Q = qr.householderQ(); } +template +void qr_factorization(std::vector& Simplex) +{ + for(int i = 0; i < Simplex.size(); ++i) + { + Eigen::HouseholderQR qr(Simplex[i]); + Matrix Q = qr.householderQ(); + Simplex[i] = Q; + } +} + template const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) { diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index f2661db44f9..cd90c110f12 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -23,6 +23,7 @@ #define CGAL_OBB_H #include +#include #include #include #include @@ -37,25 +38,56 @@ namespace Optimal_bounding_box { -template -void find_global_minimum(Population& pop, Simplex points) +template +void evolution(Matrix& R, Matrix& points) { + std::size_t generations = 7; + std::size_t nelder_mead_iterations = 20; - genetic_algorithm(pop, points); + Population pop(50); - std::size_t nelder_mead_iterations = 1; + //std::cout << "initial pop" << std::endl; + //pop.show_population(); + //std::cout << std::endl; + //std::cin.get(); - for(Simplex s : pop) - nelder_mead(s, points, nelder_mead_iterations); + for(std::size_t t = 0; t < generations; ++t) + { + genetic_algorithm(pop, points); + + //std::cout << "pop after genetic" << std::endl; + // pop.show_population(); + // std::cout << std::endl; + //std::cin.get(); + + + for(std::size_t s = 0; s < pop.size(); ++s) + nelder_mead(pop[s], points, nelder_mead_iterations); + + //std::cout << "pop after nelder mead: " << std::endl; + //pop.show_population(); + //std::cout << std::endl; + //std::cin.get(); + + + // debugging + Fitness_map fitness_map(pop, points); + Matrix R_now = fitness_map.get_best(); + std::cout << "det= " << R_now.determinant() << std::endl; + + } + + // compute fitness of entire population + Fitness_map fitness_map(pop, points); + R = fitness_map.get_best(); - //optional random mutations } -template -void visualize_obb(Simplex data_points) -{ +template +void visualize_obb(Simplex data_points, std::string filename) +{ typedef CGAL::Simple_cartesian K; typedef K::Point_3 Point; @@ -78,13 +110,127 @@ void visualize_obb(Simplex data_points) Mesh mesh; CGAL::make_hexahedron(ic[0], ic[1], ic[2], ic[3], ic[4], ic[5], ic[6], ic[7], mesh); - std::ofstream out("/tmp/box.off"); + std::ofstream out(filename); out << mesh; out.close(); } +template +void find_and_rotate_aabb(SurfaceMesh& sm, Matrix& R, Matrix& OBB) +{ + // get vector + typedef typename boost::property_map::const_type Vpm; + typedef typename boost::property_traits::value_type Point; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + Vpm vpm = get(boost::vertex_point, sm); + + std::vector points; + points.resize(vertices(sm).size()); + std::size_t i = 0; + for(vertex_descriptor v : vertices(sm)) + { + Point p = get(vpm, v); + points[i] = p; + ++i; + } + + CGAL_assertion(points.size() == vertices(sm).size()); + + + // get AABB + typedef CGAL::Simple_cartesian K; + CGAL::Bbox_3 bbox; + bbox = bbox_3(points.begin(), points.end()); + K::Iso_cuboid_3 ic(bbox); + + + + // rotate AABB -> OBB + Matrix aabb(8,3); //hexahedron + for(int i = 0; i < 8; ++i) + { + aabb(i, 0) = ic[i].x(); + aabb(i, 1) = ic[i].y(); + aabb(i, 2) = ic[i].z(); + } + + + + OBB = aabb * R.transpose(); + CGAL_assertion(OBB.cols() == aabb.cols()); + CGAL_assertion(OBB.rows() == aabb.rows()); + + //std::cout << OBB << std::endl; +} + + +template +void post_processing(Matrix& points, Matrix& R, Matrix& obb) +{ + + // 1) rotate points with R + + Matrix rotated_points(points.rows(), points.cols()); + rotated_points = points * R.transpose(); + + // 2) get AABB from rotated points + + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; + std::vector v_points; // Simplex -> std::vector + for(int i = 0; i < rotated_points.rows(); ++i) + { + Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); + v_points.push_back(p); + } + CGAL::Bbox_3 bbox; + bbox = bbox_3(v_points.begin(), v_points.end()); + K::Iso_cuboid_3 ic(bbox); + + Matrix aabb(8, 3); + for(int i = 0; i < 8; ++i) + { + aabb(i, 0) = ic[i].x(); + aabb(i, 1) = ic[i].y(); + aabb(i, 2) = ic[i].z(); + } + + // 3) apply inverse rotation to rotated AABB + + obb = aabb * R; + + +} + +template +void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) +{ + + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; + typedef CGAL::Surface_mesh Mesh; + + // Simplex -> std::vector + std::vector points; + + for(int i = 0; i < data_points.rows(); ++i) + { + Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); + points.push_back(p); + } + + + Mesh mesh; + CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], + points[6], points[7], mesh); + + std::ofstream out(filename); + out << mesh; + out.close(); + +} diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 4bc152a72db..980b6c10491 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -226,6 +226,13 @@ void genetic_algorithm(Population& pop, Simplex& points) + /* + check_det(group1); + check_det(group2); + check_det(group3); + check_det(group4); + */ + // crossover I Population offspringsA(size_first_group); @@ -253,6 +260,14 @@ void genetic_algorithm(Population& pop, Simplex& points) } + /* + std::cout << "offspringsA: \n" ; + check_det(offspringsA); + std::cin.get(); + */ + + + // crossover II Population offspringsB(size_second_group); bias = 0.1; @@ -273,10 +288,22 @@ void genetic_algorithm(Population& pop, Simplex& points) offspring[j] = lambda * group3[i][j] + lambda * group4[i][j]; } + + // qr factorization of the offspring + qr_factorization(offspring); offspringsB[i] = offspring; } + + + /* + std::cout << "offspringsB: \n" ; + check_det(offspringsB); + std::cin.get(); + */ + + CGAL_assertion(offspringsA.size() == size_first_group); CGAL_assertion(offspringsB.size() == size_second_group); CGAL_assertion(offspringsA.size() + offspringsB.size() == pop.size()); @@ -297,6 +324,18 @@ void genetic_algorithm(Population& pop, Simplex& points) } +template +void check_det(Population& pop) +{ + for(int i = 0; i < pop.size(); ++i) + { + for(int j = 0; j < 4; ++j) + { + auto A = pop[i][j]; + std::cout << A.determinant() << std::endl; + } + } +} diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 2d952554602..76231016eba 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -82,7 +82,7 @@ public: } - // access individual + // access simplex Individual& operator[](std::size_t i) { CGAL_assertion(i < n); @@ -95,7 +95,6 @@ public: return pop[i]; } - private: // create random population @@ -132,6 +131,8 @@ private: + Individual somebody; //temp + CGAL::Random random_generator; std::size_t n; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/data/tetra3.off b/Optimal_bounding_box/test/Optimal_bounding_box/data/tetra3.off new file mode 100644 index 00000000000..d83aa004308 --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/data/tetra3.off @@ -0,0 +1,12 @@ +OFF +4 4 0 + +0 1 0 +1 0 0 +0 0 0 +0 0 1 +3 0 1 2 +3 2 3 0 +3 1 3 2 +3 0 3 1 + diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 78c00d2032f..a29b7c092eb 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -13,6 +13,9 @@ typedef Eigen::MatrixXf MatrixXf; +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + + bool assert_doubles(double d1, double d2, double epsilon) { return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; @@ -131,29 +134,144 @@ void test_genetic_algorithm() CGAL_assertion(pop.size() == 5); } -void test_visualization() + + + +void find_obb() { - MatrixXf data_points(4, 3); + + MatrixXf data_points(4, 3); // there are on the convex hull data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; - CGAL::Optimal_bounding_box::visualize_obb(data_points); + CGAL::Optimal_bounding_box::visualize_obb(data_points, "/tmp/original.off"); + + + MatrixXf rotation(3, 3); + CGAL::Optimal_bounding_box::evolution(rotation, data_points); + + // rotate + MatrixXf rotated_points(4, 3); + rotated_points = data_points * rotation.transpose(); + + CGAL_assertion(rotated_points.cols() == data_points.cols()); + CGAL_assertion(rotated_points.rows() == data_points.rows()); + + std::cout << "rotation matrix= \n" << rotation << std::endl << std::endl; + std::cout << "rotated_points= \n" << rotated_points << std::endl; + + CGAL::Optimal_bounding_box::visualize_obb(rotated_points, "/tmp/rotated.off"); } + + +template +void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) +{ + typedef typename boost::property_map::const_type Vpm; + typedef typename boost::property_traits::reference Point_ref; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + Vpm vpm = get(boost::vertex_point, sm); + + mat.resize(vertices(sm).size(), 3); + std::size_t i = 0; + for(vertex_descriptor v : vertices(sm)) + { + Point_ref p = get(vpm, v); + mat(i, 0) = p.x(); + mat(i, 1) = p.y(); + mat(i, 2) = p.z(); + ++i; + } +} + + +void test_tetrahedron(const char* fname) +{ + std::ifstream input(fname); + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + + // points in a matrix + MatrixXf points; + sm_to_matrix(mesh, points); + + MatrixXf R(3, 3); + CGAL::Optimal_bounding_box::evolution(R, points); + std:: cout << "R= " << R << std::endl; + std:: cout << "det(evolution)= " << R.determinant() << std::endl; + + // postprocessing + MatrixXf obb(8, 3); + CGAL::Optimal_bounding_box::post_processing(points, R, obb); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/OBB.off"); + + +} + + +void rotate_tetrahedron(const char* fname, const char* Rname) +{ + + std::ifstream input(fname); + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + + MatrixXf R(3, 3); + std::ifstream input_R(Rname); + double x, y, z; + std::size_t i = 0; + while (input_R >> x >> y >> z) + { + R(i, 0) = x; + R(i, 1) = y; + R(i, 2) = z; + ++i; + } + std:: cout << "det(benchmark)= " << R.determinant() << std::endl; + + + // points in a matrix + MatrixXf points; + sm_to_matrix(mesh, points); + + // just rotate once + //MatrixXf rotated_points = points * R.transpose(); + //CGAL::Optimal_bounding_box::visualize_obb(rotated_points, "data/rotated_points_benchmark.off"); + + + // postprocessing + MatrixXf obb(8, 3); + CGAL::Optimal_bounding_box::post_processing(points, R, obb); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/inverse_rotated.off"); + + +} + + + int main() { - test_population(); - test_nelder_mead(); - test_genetic_algorithm(); + //test_population(); + //test_nelder_mead(); + //test_genetic_algorithm(); + //find_obb(); - test_visualization(); + test_tetrahedron("data/random_tetra.off"); + //rotate_tetrahedron("data/random_tetra.off", "data/rotation.dat"); From 617051fbf51ba77ae81801f38c08fb77c955eb35 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 27 Apr 2018 13:50:53 +0200 Subject: [PATCH 010/150] tests --- .../Optimal_bounding_box/fitness_function.h | 1 - .../include/CGAL/Optimal_bounding_box/obb.h | 13 +- .../data/long_tetrahedron.off | 11 ++ .../data/random_unit_tetra.off | 11 ++ .../{tetra3.off => reference_tetrahedron.off} | 0 .../test_optimization_algorithms.cpp | 151 +++++++++++------- 6 files changed, 130 insertions(+), 57 deletions(-) create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/long_tetrahedron.off create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/random_unit_tetra.off rename Optimal_bounding_box/test/Optimal_bounding_box/data/{tetra3.off => reference_tetrahedron.off} (100%) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 6b2cd7b5bb5..40ceb55e45f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -94,7 +94,6 @@ struct Fitness_map // -> a free function simplex_id = i; vertex_id = j; best_fitness = fitness; - std::cout << "best fitness = " << best_fitness << std::endl; } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index cd90c110f12..bff18be74f7 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -39,9 +39,15 @@ namespace Optimal_bounding_box { template -void evolution(Matrix& R, Matrix& points) +void evolution(Matrix& R, Matrix& points, std::size_t generations) { - std::size_t generations = 7; + + CGAL_assertion(points.rows() >= 3); + CGAL_assertion(points.cols() = 3); + CGAL_assertion(R.rows() = 3); + CGAL_assertion(R.cols() = 3); + + std::size_t nelder_mead_iterations = 20; Population pop(50); @@ -71,9 +77,12 @@ void evolution(Matrix& R, Matrix& points) // debugging + /* Fitness_map fitness_map(pop, points); Matrix R_now = fitness_map.get_best(); std::cout << "det= " << R_now.determinant() << std::endl; + */ + } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/data/long_tetrahedron.off b/Optimal_bounding_box/test/Optimal_bounding_box/data/long_tetrahedron.off new file mode 100644 index 00000000000..ad966ac795e --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/data/long_tetrahedron.off @@ -0,0 +1,11 @@ +OFF +4 4 0 + +-1 -0.1 0 +-1 0.1 0 +1 0 -0.1 +1 0 0.1 +3 0 1 2 +3 2 3 0 +3 1 3 2 +3 0 3 1 \ No newline at end of file diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/data/random_unit_tetra.off b/Optimal_bounding_box/test/Optimal_bounding_box/data/random_unit_tetra.off new file mode 100644 index 00000000000..270289e2c6e --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/data/random_unit_tetra.off @@ -0,0 +1,11 @@ +OFF +4 4 0 + +0.866802 0.740808 0.895304 +0.912651 0.761565 0.160330 +0.093661 0.892578 0.737412 +0.166461 0.149912 0.364944 +3 0 1 2 +3 2 3 0 +3 1 3 2 +3 0 3 1 \ No newline at end of file diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/data/tetra3.off b/Optimal_bounding_box/test/Optimal_bounding_box/data/reference_tetrahedron.off similarity index 100% rename from Optimal_bounding_box/test/Optimal_bounding_box/data/tetra3.off rename to Optimal_bounding_box/test/Optimal_bounding_box/data/reference_tetrahedron.off diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index a29b7c092eb..0f3fca91a30 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -21,6 +21,25 @@ bool assert_doubles(double d1, double d2, double epsilon) return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; } +template +void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) +{ + typedef typename boost::property_map::const_type Vpm; + typedef typename boost::property_traits::reference Point_ref; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + Vpm vpm = get(boost::vertex_point, sm); + + mat.resize(vertices(sm).size(), 3); + std::size_t i = 0; + for(vertex_descriptor v : vertices(sm)) + { + Point_ref p = get(vpm, v); + mat(i, 0) = p.x(); + mat(i, 1) = p.y(); + mat(i, 2) = p.z(); + ++i; + } +} void test_population() { @@ -34,7 +53,6 @@ void test_population() void test_nelder_mead() { - MatrixXf data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, @@ -122,7 +140,6 @@ void test_nelder_mead() void test_genetic_algorithm() { - MatrixXf data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, @@ -134,65 +151,53 @@ void test_genetic_algorithm() CGAL_assertion(pop.size() == 5); } - - - -void find_obb() +void test_random_unit_tetra() { - - MatrixXf data_points(4, 3); // there are on the convex hull + MatrixXf data_points(4, 3); // points on their convex hull data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; + typedef CGAL::Surface_mesh Mesh; - CGAL::Optimal_bounding_box::visualize_obb(data_points, "/tmp/original.off"); + // make a mesh and export it + Mesh mesh; + Point p1(0.866802, 0.740808, 0.895304); + Point p2(0.912651, 0.761565, 0.160330); + Point p3(0.093661, 0.892578, 0.737412); + Point p4(0.166461, 0.149912, 0.364944); + CGAL::make_tetrahedron(p1, p2, p3, p4, mesh); + std::ofstream out("data/random_unit_tetra.off"); + out << mesh; + out.close(); + MatrixXf R(3, 3); + std::size_t generations = 10; + CGAL::Optimal_bounding_box::evolution(R, data_points, generations); - MatrixXf rotation(3, 3); - CGAL::Optimal_bounding_box::evolution(rotation, data_points); - - // rotate - MatrixXf rotated_points(4, 3); - rotated_points = data_points * rotation.transpose(); - - CGAL_assertion(rotated_points.cols() == data_points.cols()); - CGAL_assertion(rotated_points.rows() == data_points.rows()); - - std::cout << "rotation matrix= \n" << rotation << std::endl << std::endl; - std::cout << "rotated_points= \n" << rotated_points << std::endl; - - CGAL::Optimal_bounding_box::visualize_obb(rotated_points, "/tmp/rotated.off"); + std::cout << R << std::endl; + double epsilon = 1e-5; + CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); + CGAL_assertion(assert_doubles(R(0,0), -0.25791, epsilon)); + CGAL_assertion(assert_doubles(R(0,1), 0.796512, epsilon)); + CGAL_assertion(assert_doubles(R(0,2), -0.546855, epsilon)); + CGAL_assertion(assert_doubles(R(1,0), -0.947128, epsilon)); + CGAL_assertion(assert_doubles(R(1,1), -0.320242, epsilon)); + CGAL_assertion(assert_doubles(R(1,2), -0.0197553, epsilon)); + CGAL_assertion(assert_doubles(R(2,0), -0.190861, epsilon)); + CGAL_assertion(assert_doubles(R(2,1), 0.512847, epsilon)); + CGAL_assertion(assert_doubles(R(2,2), 0.836992, epsilon)); + MatrixXf obb(8, 3); + CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); } - - - -template -void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) -{ - typedef typename boost::property_map::const_type Vpm; - typedef typename boost::property_traits::reference Point_ref; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - Vpm vpm = get(boost::vertex_point, sm); - - mat.resize(vertices(sm).size(), 3); - std::size_t i = 0; - for(vertex_descriptor v : vertices(sm)) - { - Point_ref p = get(vpm, v); - mat(i, 0) = p.x(); - mat(i, 1) = p.y(); - mat(i, 2) = p.z(); - ++i; - } -} - - -void test_tetrahedron(const char* fname) +void test_reference_tetrahedron(const char* fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; @@ -206,18 +211,55 @@ void test_tetrahedron(const char* fname) sm_to_matrix(mesh, points); MatrixXf R(3, 3); - CGAL::Optimal_bounding_box::evolution(R, points); - std:: cout << "R= " << R << std::endl; - std:: cout << "det(evolution)= " << R.determinant() << std::endl; + std::size_t generations = 10; + CGAL::Optimal_bounding_box::evolution(R, points, generations); + double epsilon = 1e-5; + std::cout << R << std::endl; + CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); // postprocessing MatrixXf obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/OBB.off"); - } +void test_long_tetrahedron(std::string fname) +{ + std::ifstream input(fname); + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + + // points in a matrix + MatrixXf points; + sm_to_matrix(mesh, points); + + MatrixXf R(3, 3); + std::size_t generations = 10; + CGAL::Optimal_bounding_box::evolution(R, points, generations); + double epsilon = 1e-5; + std::cout << R << std::endl; + CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); + CGAL_assertion(assert_doubles(R(0,0), -1, epsilon)); + CGAL_assertion(assert_doubles(R(0,1), 0, epsilon)); + CGAL_assertion(assert_doubles(R(0,2), 0, epsilon)); + CGAL_assertion(assert_doubles(R(1,0), 0, epsilon)); + CGAL_assertion(assert_doubles(R(1,1), -0.707107, epsilon)); + CGAL_assertion(assert_doubles(R(1,2), 0.707106, epsilon) || + assert_doubles(R(1,2), -0.707106, epsilon)); + CGAL_assertion(assert_doubles(R(2,0), 0, epsilon)); + CGAL_assertion(assert_doubles(R(2,1), 0.707106, epsilon) || + assert_doubles(R(1,2), -0.707106, epsilon)); + CGAL_assertion(assert_doubles(R(2,2), 0.707107, epsilon)); + + // postprocessing + MatrixXf obb(8, 3); + CGAL::Optimal_bounding_box::post_processing(points, R, obb); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, fname + "result.off"); +} void rotate_tetrahedron(const char* fname, const char* Rname) { @@ -267,10 +309,11 @@ int main() //test_population(); //test_nelder_mead(); //test_genetic_algorithm(); - //find_obb(); + //test_random_unit_tetra(); - test_tetrahedron("data/random_tetra.off"); + test_reference_tetrahedron("data/reference_tetrahedron.off"); + //test_long_tetrahedron("data/long_tetrahedron.off"); //rotate_tetrahedron("data/random_tetra.off", "data/rotation.dat"); From 01b6ce0c579830705d7331765b36a22147a2bfe6 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 27 Apr 2018 16:47:51 +0200 Subject: [PATCH 011/150] polyhedron demo plugin --- .../include/CGAL/Optimal_bounding_box/obb.h | 54 +++++++- .../Optimal_bounding_box/maintainer | 1 + .../test_optimization_algorithms.cpp | 13 +- .../Polyhedron/Plugins/PCA/CMakeLists.txt | 3 + .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 130 ++++++++++++++++++ 5 files changed, 190 insertions(+), 11 deletions(-) create mode 100644 Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer create mode 100644 Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index bff18be74f7..3a2ac86ae5d 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -32,20 +32,24 @@ #include #include +#include + namespace CGAL { namespace Optimal_bounding_box { + + template -void evolution(Matrix& R, Matrix& points, std::size_t generations) +void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: points is const { CGAL_assertion(points.rows() >= 3); - CGAL_assertion(points.cols() = 3); - CGAL_assertion(R.rows() = 3); - CGAL_assertion(R.cols() = 3); + CGAL_assertion(points.cols() == 3); + CGAL_assertion(R.rows() == 3); + CGAL_assertion(R.cols() == 3); std::size_t nelder_mead_iterations = 20; @@ -94,6 +98,9 @@ void evolution(Matrix& R, Matrix& points, std::size_t generations) + + + template void visualize_obb(Simplex data_points, std::string filename) { @@ -213,6 +220,45 @@ void post_processing(Matrix& points, Matrix& R, Matrix& obb) } + + +template +void find_obb(std::vector& points, std::vector& obb_points) +{ + CGAL_assertion(points.size() >= 3); + CGAL_assertion(obb_points.size() == 8); + + // points: vector -> matrix + typedef Eigen::MatrixXf MatrixXf; + + MatrixXf points_mat(points.size(), 3); + for(std::size_t i = 0; i < points.size(); ++i) + { + Point p = points[i]; + points_mat(i, 0) = p.x(); + points_mat(i, 1) = p.y(); + points_mat(i, 2) = p.z(); + } + + + MatrixXf R(3, 3); + std::size_t generations = 10; + CGAL::Optimal_bounding_box::evolution(R, points_mat, generations); + + MatrixXf obb(8, 3); + CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); + + // matrix -> vector + for(std::size_t i = 0; i < 8; ++i) + { + Point p(obb(i, 0), obb(i, 1), obb(i, 2)); + obb_points[i] = p; + } + +} + + + template void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) { diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer b/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer new file mode 100644 index 00000000000..f45b28bc165 --- /dev/null +++ b/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer @@ -0,0 +1 @@ +Konstantinos Katrioplas diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 0f3fca91a30..7c5e0e23efa 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -306,15 +306,14 @@ void rotate_tetrahedron(const char* fname, const char* Rname) int main() { - //test_population(); - //test_nelder_mead(); - //test_genetic_algorithm(); - //test_random_unit_tetra(); - + test_population(); + test_nelder_mead(); + test_genetic_algorithm(); + test_random_unit_tetra(); test_reference_tetrahedron("data/reference_tetrahedron.off"); - //test_long_tetrahedron("data/long_tetrahedron.off"); - //rotate_tetrahedron("data/random_tetra.off", "data/rotation.dat"); + test_long_tetrahedron("data/long_tetrahedron.off"); + rotate_tetrahedron("data/random_tetra.off", "data/rotation.dat"); diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt index 978cbfa2c0b..9fa0fd20cae 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt @@ -20,6 +20,9 @@ target_link_libraries(clipping_box_plugin PUBLIC scene_edit_box_item ) polyhedron_demo_plugin(create_bbox_mesh_plugin Create_bbox_mesh_plugin) target_link_libraries(create_bbox_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item) +polyhedron_demo_plugin(create_obb_mesh_plugin Create_obb_mesh_plugin) +target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item) + qt5_wrap_ui( volumesUI_FILES Basic_generator_widget.ui) polyhedron_demo_plugin(basic_generator_plugin Basic_generator_plugin ${volumesUI_FILES}) target_link_libraries(basic_generator_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item scene_points_with_normal_item scene_polylines_item) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp new file mode 100644 index 00000000000..22af3fa7a0b --- /dev/null +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -0,0 +1,130 @@ +#include + +#include +#include + +#include +#include +#include + +#include "Scene_polyhedron_item.h" +#include "Scene_surface_mesh_item.h" +#include "Polyhedron_type.h" +#include + +#include +#include + +using namespace CGAL::Three; + +typedef Scene_surface_mesh_item::Face_graph FaceGraph; +typedef Polyhedron::Point_3 Point_3; + + +class Create_obb_mesh_plugin : + public QObject, + public CGAL::Three::Polyhedron_demo_plugin_interface +{ + Q_OBJECT + Q_INTERFACES(CGAL::Three::Polyhedron_demo_plugin_interface) + Q_PLUGIN_METADATA(IID "com.geometryfactory.PolyhedronDemo.PluginInterface/1.0") + +public: + void init(QMainWindow* mainWindow, Scene_interface* scene_interface, Messages_interface*); + QList actions() const; + + bool applicable(QAction*) const { + if(scene->mainSelectionIndex() != -1 + && scene->item(scene->mainSelectionIndex())->isFinite()) + return true; + return false;} + +protected: + template + void gather_mesh_points(std::vector& points); + void obb(); + +public Q_SLOTS: + void createObb() { + QApplication::setOverrideCursor(Qt::WaitCursor); + obb(); + QApplication::restoreOverrideCursor(); + } + +private: + Scene_interface* scene; + QMainWindow* mw; + QAction* actionObb; + +}; // end Create_obb_mesh_plugin class + + + +void Create_obb_mesh_plugin::init(QMainWindow* mainWindow, Scene_interface* scene_interface, Messages_interface*) +{ + scene = scene_interface; + mw = mainWindow; + actionObb = new QAction(tr("Create &Optimal Bbox Mesh"), mainWindow); + actionObb->setObjectName("createObbMeshAction"); + connect(actionObb, SIGNAL(triggered()), this, SLOT(createObb())); +} + +QList Create_obb_mesh_plugin::actions() const { + return QList() << actionObb; +} + +template +void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) +{ + const Scene_interface::Item_id index = scene->mainSelectionIndex(); + FaceGraph_item* poly_item = qobject_cast(scene->item(index)); + + if(poly_item != NULL) + { + typedef typename FaceGraph_item::Face_graph FaceGraph; + typedef typename boost::property_map::type PointPMap; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + FaceGraph& pmesh = *poly_item->polyhedron(); + PointPMap pmap = get(boost::vertex_point, pmesh); + BOOST_FOREACH(vertex_descriptor v, vertices(pmesh)) + points.push_back(get(pmap, v )); + } +} + +void Create_obb_mesh_plugin::obb() +{ + + // gather point coordinates + std::vector points; + if(mw->property("is_polyhedron_mode").toBool()) + { + gather_mesh_points(points); + } + else + { + gather_mesh_points(points); + } + + // find obb + std::vector obb_points(8); + CGAL::Optimal_bounding_box::find_obb(points, obb_points); + + Scene_item* item; + if(mw->property("is_polyhedorn_mode").toBool()){ + Polyhedron* p = new Polyhedron; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); + item = new Scene_polyhedron_item(p); + } else { + SMesh* p = new SMesh; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); + item = new Scene_surface_mesh_item(p); + } + + item->setName("Optimal bbox mesh"); + item->setRenderingMode(Wireframe); + scene->addItem(item); +} + +#include "Create_obb_mesh_plugin.moc" From 07a6d3ae4d45786bdcea37a7c2b983d36b06bf0d Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Mon, 30 Apr 2018 17:02:28 +0200 Subject: [PATCH 012/150] cleaning --- .../include/CGAL/Optimal_bounding_box/obb.h | 95 ++----------------- .../test_optimization_algorithms.cpp | 10 +- 2 files changed, 10 insertions(+), 95 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 3a2ac86ae5d..48e03ee2ece 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -97,91 +97,7 @@ void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: poin } - - - - -template -void visualize_obb(Simplex data_points, std::string filename) -{ - - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; - typedef CGAL::Surface_mesh Mesh; - - // Simplex -> std::vector - std::vector points; - - for(int i = 0; i < data_points.rows(); ++i) - { - Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); - points.push_back(p); - } - - - CGAL::Bbox_3 bbox; - bbox = bbox_3(points.begin(), points.end()); - K::Iso_cuboid_3 ic(bbox); - - Mesh mesh; - CGAL::make_hexahedron(ic[0], ic[1], ic[2], ic[3], ic[4], ic[5], ic[6], ic[7], mesh); - - std::ofstream out(filename); - out << mesh; - out.close(); - - -} - -template -void find_and_rotate_aabb(SurfaceMesh& sm, Matrix& R, Matrix& OBB) -{ - // get vector - typedef typename boost::property_map::const_type Vpm; - typedef typename boost::property_traits::value_type Point; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - Vpm vpm = get(boost::vertex_point, sm); - - std::vector points; - points.resize(vertices(sm).size()); - std::size_t i = 0; - for(vertex_descriptor v : vertices(sm)) - { - Point p = get(vpm, v); - points[i] = p; - ++i; - } - - CGAL_assertion(points.size() == vertices(sm).size()); - - - // get AABB - typedef CGAL::Simple_cartesian K; - CGAL::Bbox_3 bbox; - bbox = bbox_3(points.begin(), points.end()); - K::Iso_cuboid_3 ic(bbox); - - - - // rotate AABB -> OBB - Matrix aabb(8,3); //hexahedron - for(int i = 0; i < 8; ++i) - { - aabb(i, 0) = ic[i].x(); - aabb(i, 1) = ic[i].y(); - aabb(i, 2) = ic[i].z(); - } - - - - OBB = aabb * R.transpose(); - CGAL_assertion(OBB.cols() == aabb.cols()); - CGAL_assertion(OBB.rows() == aabb.rows()); - - //std::cout << OBB << std::endl; -} - - +// works on matrices only template void post_processing(Matrix& points, Matrix& R, Matrix& obb) { @@ -221,11 +137,15 @@ void post_processing(Matrix& points, Matrix& R, Matrix& obb) } - +/// @param points point coordinates of the input mesh +/// @param obb_points the 8 points of the obb. template void find_obb(std::vector& points, std::vector& obb_points) { CGAL_assertion(points.size() >= 3); + + if(obb_points.size() != 8) // temp sanity until the API is decided + obb_points.resize(8); CGAL_assertion(obb_points.size() == 8); // points: vector -> matrix @@ -257,8 +177,7 @@ void find_obb(std::vector& points, std::vector& obb_points) } - - +// it is called after post processing template void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) { diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 7c5e0e23efa..8e646c68479 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -275,7 +275,7 @@ void rotate_tetrahedron(const char* fname, const char* Rname) std::ifstream input_R(Rname); double x, y, z; std::size_t i = 0; - while (input_R >> x >> y >> z) + while (input_R >> x >> y >> z) // not safe, but it's going away { R(i, 0) = x; R(i, 1) = y; @@ -289,11 +289,6 @@ void rotate_tetrahedron(const char* fname, const char* Rname) MatrixXf points; sm_to_matrix(mesh, points); - // just rotate once - //MatrixXf rotated_points = points * R.transpose(); - //CGAL::Optimal_bounding_box::visualize_obb(rotated_points, "data/rotated_points_benchmark.off"); - - // postprocessing MatrixXf obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); @@ -306,6 +301,7 @@ void rotate_tetrahedron(const char* fname, const char* Rname) int main() { + test_population(); test_nelder_mead(); test_genetic_algorithm(); @@ -313,7 +309,7 @@ int main() test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); - rotate_tetrahedron("data/random_tetra.off", "data/rotation.dat"); + rotate_tetrahedron("data/random_unit_tetra.off", "data/rotation.dat"); From f2c774d3275adf72862a9cfb38c13a13b2817a56 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 2 May 2018 13:28:47 +0200 Subject: [PATCH 013/150] use convex hull --- .../include/CGAL/Optimal_bounding_box/obb.h | 48 +++++++++---- .../test_optimization_algorithms.cpp | 70 ++++++++++++++++++- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 2 +- 3 files changed, 104 insertions(+), 16 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 48e03ee2ece..fb936a53491 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -26,14 +26,17 @@ #include #include #include -#include -#include #include #include #include +#include #include +#include +#include +#include +#include namespace CGAL { namespace Optimal_bounding_box { @@ -136,11 +139,23 @@ void post_processing(Matrix& points, Matrix& R, Matrix& obb) } +template +void fill_matrix(std::vector& v_points, Matrix& points_mat) +{ + points_mat.resize(v_points.size(), 3); + for(std::size_t i = 0; i < v_points.size(); ++i) + { + Point p = v_points[i]; + points_mat(i, 0) = p.x(); + points_mat(i, 1) = p.y(); + points_mat(i, 2) = p.z(); + } +} /// @param points point coordinates of the input mesh /// @param obb_points the 8 points of the obb. template -void find_obb(std::vector& points, std::vector& obb_points) +void find_obb(std::vector& points, std::vector& obb_points, bool use_ch) { CGAL_assertion(points.size() >= 3); @@ -148,18 +163,27 @@ void find_obb(std::vector& points, std::vector& obb_points) obb_points.resize(8); CGAL_assertion(obb_points.size() == 8); - // points: vector -> matrix - typedef Eigen::MatrixXf MatrixXf; - MatrixXf points_mat(points.size(), 3); - for(std::size_t i = 0; i < points.size(); ++i) + typedef Eigen::MatrixXf MatrixXf; // using eigen internally + MatrixXf points_mat; + + // get the ch3 + if(use_ch) { - Point p = points[i]; - points_mat(i, 0) = p.x(); - points_mat(i, 1) = p.y(); - points_mat(i, 2) = p.z(); - } + // find the ch - todo: template kernel + typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel; + CGAL::Polyhedron_3 poly; + convex_hull_3(points.begin(), points.end(), poly); + std::vector ch_points(poly.points_begin(), poly.points_end()); + // points: vector -> matrix + fill_matrix(ch_points, points_mat); + } + else + { + // points: vector -> matrix + fill_matrix(points, points_mat); + } MatrixXf R(3, 3); std::size_t generations = 10; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 8e646c68479..caf02e2334c 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -41,6 +41,16 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) } } +template +void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) +{ + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::type PointPMap; + PointPMap pmap = get(boost::vertex_point, mesh); + BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) + points.push_back(get(pmap, v)); +} + void test_population() { @@ -293,7 +303,63 @@ void rotate_tetrahedron(const char* fname, const char* Rname) MatrixXf obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/inverse_rotated.off"); +} +void test_find_obb(std::string fname) +{ + std::ifstream input(fname); + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + + // get mesh points + std::vector sm_points; + gather_mesh_points(mesh, sm_points); + + std::vector obb_points; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); + + double epsilon = 1e-4; + CGAL_assertion(assert_doubles(obb_points[0].x(), 1.01752, epsilon)); + CGAL_assertion(assert_doubles(obb_points[0].y(), 0.437675, epsilon)); + CGAL_assertion(assert_doubles(obb_points[0].z(), 0.382697, epsilon)); + CGAL_assertion(assert_doubles(obb_points[1].x(), 0.912648, epsilon)); + CGAL_assertion(assert_doubles(obb_points[1].y(), 0.761563, epsilon)); + CGAL_assertion(assert_doubles(obb_points[1].z(), 0.160329, epsilon)); + CGAL_assertion(assert_doubles(obb_points[2].x(), 0.0615854, epsilon)); + CGAL_assertion(assert_doubles(obb_points[2].y(), 0.473799, epsilon)); + CGAL_assertion(assert_doubles(obb_points[2].z(), 0.142574, epsilon)); + CGAL_assertion(assert_doubles(obb_points[3].x(), 0.166461, epsilon)); + CGAL_assertion(assert_doubles(obb_points[3].y(), 0.149911, epsilon)); + CGAL_assertion(assert_doubles(obb_points[3].z(), 0.364943, epsilon)); + CGAL_assertion(assert_doubles(obb_points[4].x(), 0.0316104, epsilon)); + CGAL_assertion(assert_doubles(obb_points[4].y(), 0.512247, epsilon)); + CGAL_assertion(assert_doubles(obb_points[4].z(), 0.956296, epsilon)); + CGAL_assertion(assert_doubles(obb_points[5].x(), 0.882673, epsilon)); + CGAL_assertion(assert_doubles(obb_points[5].y(), 0.800011, epsilon)); + CGAL_assertion(assert_doubles(obb_points[5].z(), 0.97405, epsilon)); + CGAL_assertion(assert_doubles(obb_points[6].x(), 0.777797, epsilon)); + CGAL_assertion(assert_doubles(obb_points[6].y(), 1.1239, epsilon)); + CGAL_assertion(assert_doubles(obb_points[6].z(), 0.751681, epsilon)); + CGAL_assertion(assert_doubles(obb_points[7].x(), -0.0732647, epsilon)); + CGAL_assertion(assert_doubles(obb_points[7].y(), 0.836134, epsilon)); + CGAL_assertion(assert_doubles(obb_points[7].z(), 0.733927, epsilon)); + + /* debug + for(int i = 0; i < 8; ++i) + { + std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; + } + CGAL::Surface_mesh result_mesh; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); + + std::ofstream out("data/obb_result.off"); + out << result_mesh; + out.close(); + */ } @@ -306,12 +372,10 @@ int main() test_nelder_mead(); test_genetic_algorithm(); test_random_unit_tetra(); - test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); rotate_tetrahedron("data/random_unit_tetra.off", "data/rotation.dat"); - - + test_find_obb("data/random_unit_tetra.off"); diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 22af3fa7a0b..35c98a4d74f 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -107,7 +107,7 @@ void Create_obb_mesh_plugin::obb() // find obb std::vector obb_points(8); - CGAL::Optimal_bounding_box::find_obb(points, obb_points); + CGAL::Optimal_bounding_box::find_obb(points, obb_points, true); Scene_item* item; if(mw->property("is_polyhedorn_mode").toBool()){ From 7f23b19f300ebc7e04512b66cec8fd8ec70cb78f Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 3 May 2018 10:15:02 +0200 Subject: [PATCH 014/150] selection of faces on the plugin --- .../Polyhedron/Plugins/PCA/CMakeLists.txt | 2 +- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 95 ++++++++++++++----- 2 files changed, 70 insertions(+), 27 deletions(-) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt index 9fa0fd20cae..205e7a38b62 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt @@ -21,7 +21,7 @@ polyhedron_demo_plugin(create_bbox_mesh_plugin Create_bbox_mesh_plugin) target_link_libraries(create_bbox_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item) polyhedron_demo_plugin(create_obb_mesh_plugin Create_obb_mesh_plugin) -target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item) +target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item scene_polyhedron_selection_item) qt5_wrap_ui( volumesUI_FILES Basic_generator_widget.ui) polyhedron_demo_plugin(basic_generator_plugin Basic_generator_plugin ${volumesUI_FILES}) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 35c98a4d74f..8e2ff5ea293 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -7,19 +7,21 @@ #include #include -#include "Scene_polyhedron_item.h" #include "Scene_surface_mesh_item.h" #include "Polyhedron_type.h" +#include "Scene_polyhedron_item.h" #include +#include "Scene_polyhedron_selection_item.h" #include #include -using namespace CGAL::Three; +//typedef Scene_surface_mesh_item Scene_facegraph_item; +//typedef Scene_facegraph_item Scene_facegraph_item; -typedef Scene_surface_mesh_item::Face_graph FaceGraph; +typedef Scene_facegraph_item::Face_graph FaceGraph; typedef Polyhedron::Point_3 Point_3; - +using namespace CGAL::Three; class Create_obb_mesh_plugin : public QObject, @@ -34,13 +36,30 @@ public: QList actions() const; bool applicable(QAction*) const { + + if (scene->selectionIndices().size() == 1) + { + return qobject_cast(scene->item(scene->mainSelectionIndex())) + || qobject_cast(scene->item(scene->mainSelectionIndex())); + } + + Q_FOREACH(int index, scene->selectionIndices()) + { + if (qobject_cast(scene->item(index))) + return true; + } + return false; + + /* if(scene->mainSelectionIndex() != -1 && scene->item(scene->mainSelectionIndex())->isFinite()) return true; - return false;} + return false; + */ + +} protected: - template void gather_mesh_points(std::vector& points); void obb(); @@ -73,49 +92,73 @@ QList Create_obb_mesh_plugin::actions() const { return QList() << actionObb; } -template + void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) { const Scene_interface::Item_id index = scene->mainSelectionIndex(); - FaceGraph_item* poly_item = qobject_cast(scene->item(index)); - if(poly_item != NULL) + Scene_facegraph_item* poly_item = + qobject_cast(scene->item(index)); + + Scene_polyhedron_selection_item* selection_item = + qobject_cast(scene->item(index)); + + if(poly_item || selection_item) { - typedef typename FaceGraph_item::Face_graph FaceGraph; - typedef typename boost::property_map::type PointPMap; + typedef typename boost::property_map::type PointPMap; typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - FaceGraph& pmesh = *poly_item->polyhedron(); - PointPMap pmap = get(boost::vertex_point, pmesh); - BOOST_FOREACH(vertex_descriptor v, vertices(pmesh)) - points.push_back(get(pmap, v )); + typedef typename boost::graph_traits::face_descriptor face_descriptor; + + std::vector selected_vertices; + + if(poly_item != NULL) + { + FaceGraph& pmesh = *poly_item->polyhedron(); + selected_vertices.assign(vertices(pmesh).begin(), vertices(pmesh).end()); + PointPMap pmap = get(CGAL::vertex_point, pmesh); + BOOST_FOREACH(vertex_descriptor v, selected_vertices) + points.push_back(get(pmap, v )); + + } + else if(selection_item != NULL) // using selection of faces + { + FaceGraph& pmesh = *selection_item->polyhedron(); + BOOST_FOREACH(face_descriptor f, selection_item->selected_facets) + { + BOOST_FOREACH(vertex_descriptor v, vertices_around_face(halfedge(f, pmesh), pmesh)) + { + selected_vertices.push_back(v); + } + } + + PointPMap pmap = get(CGAL::vertex_point, pmesh); + BOOST_FOREACH(vertex_descriptor v, selected_vertices) + points.push_back(get(pmap, v )); + } + CGAL_assertion(points.size() >= 3); } } + void Create_obb_mesh_plugin::obb() { - // gather point coordinates std::vector points; - if(mw->property("is_polyhedron_mode").toBool()) - { - gather_mesh_points(points); - } - else - { - gather_mesh_points(points); - } + gather_mesh_points(points); // find obb std::vector obb_points(8); CGAL::Optimal_bounding_box::find_obb(points, obb_points, true); Scene_item* item; - if(mw->property("is_polyhedorn_mode").toBool()){ + if(mw->property("is_polyhedorn_mode").toBool()) + { Polyhedron* p = new Polyhedron; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); item = new Scene_polyhedron_item(p); - } else { + } + else { SMesh* p = new SMesh; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); From 319c8079ad06624b548af1fc98ef452407cf4741 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 3 May 2018 12:12:30 +0200 Subject: [PATCH 015/150] stopping criteria on generations --- .../Optimal_bounding_box/fitness_function.h | 7 ++++ .../include/CGAL/Optimal_bounding_box/obb.h | 35 ++++++++++++------- 2 files changed, 30 insertions(+), 12 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 40ceb55e45f..51a06289d99 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -106,6 +106,13 @@ struct Fitness_map // -> a free function } + double get_best_fitness_value(const Matrix& data) + { + Matrix best_mat = get_best(); + return compute_fitness(best_mat, data); + } + + const Matrix points; Population pop; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index fb936a53491..42760894665 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -46,7 +46,7 @@ namespace Optimal_bounding_box { template -void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: points is const +void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: points is const { CGAL_assertion(points.rows() >= 3); @@ -59,12 +59,12 @@ void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: poin Population pop(50); - //std::cout << "initial pop" << std::endl; - //pop.show_population(); - //std::cout << std::endl; - //std::cin.get(); + double prev_fit_value = 0; + double new_fit_value = 0; + double tolerance = 1e-2; + int stale = 0; - for(std::size_t t = 0; t < generations; ++t) + for(std::size_t t = 0; t < max_generations; ++t) { genetic_algorithm(pop, points); @@ -73,7 +73,6 @@ void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: poin // std::cout << std::endl; //std::cin.get(); - for(std::size_t s = 0; s < pop.size(); ++s) nelder_mead(pop[s], points, nelder_mead_iterations); @@ -82,7 +81,6 @@ void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: poin //std::cout << std::endl; //std::cin.get(); - // debugging /* Fitness_map fitness_map(pop, points); @@ -90,13 +88,23 @@ void evolution(Matrix& R, Matrix& points, std::size_t generations) // todo: poin std::cout << "det= " << R_now.determinant() << std::endl; */ + // stopping criteria + Fitness_map fitness_map(pop, points); + new_fit_value = fitness_map.get_best_fitness_value(points); + double difference = new_fit_value - prev_fit_value; + if(abs(difference) < tolerance * new_fit_value) + stale++; + + if(stale == 5) + break; + + prev_fit_value = new_fit_value; } // compute fitness of entire population Fitness_map fitness_map(pop, points); R = fitness_map.get_best(); - } @@ -152,8 +160,11 @@ void fill_matrix(std::vector& v_points, Matrix& points_mat) } } -/// @param points point coordinates of the input mesh +/// @param points point coordinates of the input mesh. /// @param obb_points the 8 points of the obb. +/// @param use convex hull or not. +/// +/// todo named parameters: max iterations template void find_obb(std::vector& points, std::vector& obb_points, bool use_ch) { @@ -186,8 +197,8 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u } MatrixXf R(3, 3); - std::size_t generations = 10; - CGAL::Optimal_bounding_box::evolution(R, points_mat, generations); + std::size_t max_generations = 100; + CGAL::Optimal_bounding_box::evolution(R, points_mat, max_generations); MatrixXf obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); From 37446e467265d126ad3113800bb286d59ce77c46 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 3 May 2018 12:12:51 +0200 Subject: [PATCH 016/150] cleaning --- .../Optimal_bounding_box/fitness_function.h | 9 +- .../Optimal_bounding_box/linear_algebra.h | 9 +- .../include/CGAL/Optimal_bounding_box/obb.h | 43 ++--- .../optimization_algorithms.h | 41 +---- .../CGAL/Optimal_bounding_box/population.h | 5 - .../test_optimization_algorithms.cpp | 173 ++++++++++-------- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 1 - 7 files changed, 129 insertions(+), 152 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 51a06289d99..791ab2f9279 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -79,10 +79,10 @@ struct Fitness_map // -> a free function double best_fitness = std::numeric_limits::max(); for(std::size_t i = 0; i < pop.size(); ++i) { - const std::vector simplex = pop[i]; + //const std::vector simplex = pop[i]; for(std::size_t j =0; j < 4; ++j) { - const Matrix vertex = simplex[j]; + const Matrix vertex = pop[i][j]; //std::cout << "i= "<< i << " j=" << j<<"\n vertex= " << vertex << std::endl; ++count_vertices; //std::cout << "vertex = " << vertex << std::endl; @@ -95,14 +95,13 @@ struct Fitness_map // -> a free function vertex_id = j; best_fitness = fitness; } - } } std::vector best_simplex = pop[simplex_id]; - Matrix temp = best_simplex[vertex_id]; + //Matrix temp = best_simplex[vertex_id]; - return temp; + return best_simplex[vertex_id]; } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index d78eda5fc31..e10aaa7c24b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -74,7 +74,7 @@ const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Ma } template -Matrix mean(const Matrix& m1, const Matrix& m2) // mean +Matrix mean(const Matrix& m1, const Matrix& m2) { // same API for reduction CGAL_assertion(m1.rows() == 3); @@ -100,13 +100,6 @@ const Matrix centroid(Matrix& S1, Matrix& S2, Matrix& S3) } - - - - - - - }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 42760894665..f3564144794 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -33,8 +33,8 @@ #include -#include -#include +#include // used draw mesh +#include // used to get the ch #include #include @@ -42,9 +42,6 @@ namespace CGAL { namespace Optimal_bounding_box { - - - template void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: points is const { @@ -54,10 +51,8 @@ void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: CGAL_assertion(R.rows() == 3); CGAL_assertion(R.cols() == 3); - - std::size_t nelder_mead_iterations = 20; - Population pop(50); + std::size_t nelder_mead_iterations = 20; double prev_fit_value = 0; double new_fit_value = 0; @@ -66,27 +61,32 @@ void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: for(std::size_t t = 0; t < max_generations; ++t) { + +#ifdef OBB_DEBUG + std::cout << "generation= " << t << "\n"; +#endif + genetic_algorithm(pop, points); +#ifdef OBB_DEBUG //std::cout << "pop after genetic" << std::endl; - // pop.show_population(); - // std::cout << std::endl; - //std::cin.get(); + //pop.show_population(); + //std::cout << std::endl; +#endif for(std::size_t s = 0; s < pop.size(); ++s) nelder_mead(pop[s], points, nelder_mead_iterations); +#ifdef OBB_DEBUG //std::cout << "pop after nelder mead: " << std::endl; //pop.show_population(); //std::cout << std::endl; - //std::cin.get(); // debugging - /* Fitness_map fitness_map(pop, points); Matrix R_now = fitness_map.get_best(); std::cout << "det= " << R_now.determinant() << std::endl; - */ +#endif // stopping criteria Fitness_map fitness_map(pop, points); @@ -102,7 +102,6 @@ void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: prev_fit_value = new_fit_value; } - // compute fitness of entire population Fitness_map fitness_map(pop, points); R = fitness_map.get_best(); } @@ -164,7 +163,7 @@ void fill_matrix(std::vector& v_points, Matrix& points_mat) /// @param obb_points the 8 points of the obb. /// @param use convex hull or not. /// -/// todo named parameters: max iterations +/// todo named parameters: max iterations, population size, tolerance. template void find_obb(std::vector& points, std::vector& obb_points, bool use_ch) { @@ -175,8 +174,8 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u CGAL_assertion(obb_points.size() == 8); - typedef Eigen::MatrixXf MatrixXf; // using eigen internally - MatrixXf points_mat; + typedef Eigen::MatrixXd MatrixXd; // using eigen internally + MatrixXd points_mat; // get the ch3 if(use_ch) @@ -196,11 +195,11 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u fill_matrix(points, points_mat); } - MatrixXf R(3, 3); + MatrixXd R(3, 3); std::size_t max_generations = 100; CGAL::Optimal_bounding_box::evolution(R, points_mat, max_generations); - MatrixXf obb(8, 3); + MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); // matrix -> vector @@ -209,14 +208,12 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u Point p(obb(i, 0), obb(i, 1), obb(i, 2)); obb_points[i] = p; } - } // it is called after post processing template void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) { - typedef CGAL::Simple_cartesian K; typedef K::Point_3 Point; typedef CGAL::Surface_mesh Mesh; @@ -230,7 +227,6 @@ void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) points.push_back(p); } - Mesh mesh; CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], points[6], points[7], mesh); @@ -238,7 +234,6 @@ void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) std::ofstream out(filename); out << mesh; out.close(); - } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 980b6c10491..384ab5cafcb 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -154,9 +154,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it CGAL_assertion(simplex.size() == 4); // tetrahedron - } // iterations - } struct Random_int_generator @@ -224,15 +222,12 @@ void genetic_algorithm(Population& pop, Simplex& points) for(std::size_t i = 0; i < ids4.size(); ++i) group4[i] = pop[ids4[i]]; - - - /* +#ifdef OBB_DEBUG check_det(group1); check_det(group2); check_det(group3); check_det(group4); - */ - +#endif // crossover I Population offspringsA(size_first_group); @@ -259,14 +254,11 @@ void genetic_algorithm(Population& pop, Simplex& points) offspringsA[i] = offspring; } - - /* +#ifdef OBB_DEBUG std::cout << "offspringsA: \n" ; check_det(offspringsA); std::cin.get(); - */ - - +#endif // crossover II Population offspringsB(size_second_group); @@ -294,21 +286,15 @@ void genetic_algorithm(Population& pop, Simplex& points) offspringsB[i] = offspring; } - - - - /* +#ifdef OBB_DEBUG std::cout << "offspringsB: \n" ; check_det(offspringsB); - std::cin.get(); - */ - +#endif CGAL_assertion(offspringsA.size() == size_first_group); CGAL_assertion(offspringsB.size() == size_second_group); CGAL_assertion(offspringsA.size() + offspringsB.size() == pop.size()); - // next generatrion for(std::size_t i = 0; i < size_first_group; ++i) { @@ -320,10 +306,9 @@ void genetic_algorithm(Population& pop, Simplex& points) pop[size_first_group + i] = offspringsB[i]; } - } - +#ifdef OBB_DEBUG template void check_det(Population& pop) { @@ -331,20 +316,12 @@ void check_det(Population& pop) { for(int j = 0; j < 4; ++j) { - auto A = pop[i][j]; + auto A = pop[i][j]; // Simplex std::cout << A.determinant() << std::endl; } } } - - - - - - - - - +#endif } } // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 76231016eba..6ea889b2466 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -129,11 +129,6 @@ private: } } - - - Individual somebody; //temp - - CGAL::Random random_generator; std::size_t n; std::vector pop; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index caf02e2334c..c8569c758e9 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -11,7 +11,7 @@ #include -typedef Eigen::MatrixXf MatrixXf; +typedef Eigen::MatrixXd MatrixXd; typedef CGAL::Exact_predicates_inexact_constructions_kernel K; @@ -51,43 +51,49 @@ void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) points.push_back(get(pmap, v)); } +template +double calculate_volume(std::vector points) +{ + CGAL::Bbox_3 bbox; + bbox = bbox_3(points.begin(), points.end()); + K::Iso_cuboid_3 ic(bbox); + return ic.volume(); +} + void test_population() { - - CGAL::Optimal_bounding_box::Population pop(5); - + CGAL::Optimal_bounding_box::Population pop(5); //pop.show_population(); - CGAL_assertion(pop.size() == 5); } void test_nelder_mead() { - MatrixXf data_points(4, 3); + MatrixXd data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; // one simplex - std::vector simplex(4); + std::vector simplex(4); - MatrixXf v0(3, 3); + MatrixXd v0(3, 3); v0 << -0.2192721, 0.2792986, -0.9348326, -0.7772152, -0.6292092, -0.0056861, -0.5897934, 0.7253193, 0.3550431; - MatrixXf v1(3, 3); + MatrixXd v1(3, 3); v1 << -0.588443, 0.807140, -0.047542, -0.786228, -0.584933, -0.199246, -0.188629, -0.079867, 0.978795; - MatrixXf v2(3, 3); + MatrixXd v2(3, 3); v2 << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, -0.775035, -0.293982, 0.559370; - MatrixXf v3(3, 3); + MatrixXd v3(3, 3); v3 << -0.32657, -0.60013, -0.73020, -0.20022, -0.71110, 0.67398, -0.92372, 0.36630, 0.11207; @@ -102,7 +108,7 @@ void test_nelder_mead() double epsilon = 1e-5; - MatrixXf v0_new = simplex[0]; + MatrixXd v0_new = simplex[0]; CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); @@ -113,7 +119,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - MatrixXf v1_new = simplex[1]; + MatrixXd v1_new = simplex[1]; CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); @@ -124,7 +130,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - MatrixXf v2_new = simplex[2]; + MatrixXd v2_new = simplex[2]; CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); @@ -135,7 +141,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - MatrixXf v3_new = simplex[3]; + MatrixXd v3_new = simplex[3]; CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); @@ -145,25 +151,24 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v3_new(2,0), -0.110692, epsilon)); CGAL_assertion(assert_doubles(v3_new(2,1), 0.462655, epsilon)); CGAL_assertion(assert_doubles(v3_new(2,2), 0.879601, epsilon)); - } void test_genetic_algorithm() { - MatrixXf data_points(4, 3); + MatrixXd data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; - CGAL::Optimal_bounding_box::Population pop(5); + CGAL::Optimal_bounding_box::Population pop(5); CGAL::Optimal_bounding_box::genetic_algorithm(pop, data_points); CGAL_assertion(pop.size() == 5); } void test_random_unit_tetra() { - MatrixXf data_points(4, 3); // points on their convex hull + MatrixXd data_points(4, 3); // points on their convex hull data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, @@ -180,17 +185,18 @@ void test_random_unit_tetra() Point p3(0.093661, 0.892578, 0.737412); Point p4(0.166461, 0.149912, 0.364944); CGAL::make_tetrahedron(p1, p2, p3, p4, mesh); + +#ifdef OBB_DEBUG_TEST std::ofstream out("data/random_unit_tetra.off"); out << mesh; out.close(); +#endif - MatrixXf R(3, 3); + MatrixXd R(3, 3); std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, data_points, generations); - std::cout << R << std::endl; - - double epsilon = 1e-5; + double epsilon = 1e-3; CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -0.25791, epsilon)); CGAL_assertion(assert_doubles(R(0,1), 0.796512, epsilon)); @@ -202,9 +208,12 @@ void test_random_unit_tetra() CGAL_assertion(assert_doubles(R(2,1), 0.512847, epsilon)); CGAL_assertion(assert_doubles(R(2,2), 0.836992, epsilon)); - MatrixXf obb(8, 3); +#ifdef OBB_DEBUG_TEST + // postprocessing + MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); +#endif } void test_reference_tetrahedron(const char* fname) @@ -217,21 +226,21 @@ void test_reference_tetrahedron(const char* fname) } // points in a matrix - MatrixXf points; + MatrixXd points; sm_to_matrix(mesh, points); - MatrixXf R(3, 3); + MatrixXd R(3, 3); std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, points, generations); double epsilon = 1e-5; - std::cout << R << std::endl; CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); + #ifdef OBB_DEBUG_TEST // postprocessing - MatrixXf obb(8, 3); + MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/OBB.off"); - + #endif } void test_long_tetrahedron(std::string fname) @@ -244,14 +253,13 @@ void test_long_tetrahedron(std::string fname) } // points in a matrix - MatrixXf points; + MatrixXd points; sm_to_matrix(mesh, points); - MatrixXf R(3, 3); + MatrixXd R(3, 3); std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, points, generations); - double epsilon = 1e-5; - std::cout << R << std::endl; + double epsilon = 1e-3; CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -1, epsilon)); CGAL_assertion(assert_doubles(R(0,1), 0, epsilon)); @@ -265,44 +273,12 @@ void test_long_tetrahedron(std::string fname) assert_doubles(R(1,2), -0.707106, epsilon)); CGAL_assertion(assert_doubles(R(2,2), 0.707107, epsilon)); + #ifdef OBB_DEBUG_TEST // postprocessing - MatrixXf obb(8, 3); + MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, fname + "result.off"); -} - -void rotate_tetrahedron(const char* fname, const char* Rname) -{ - - std::ifstream input(fname); - CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; - exit(1); - } - - MatrixXf R(3, 3); - std::ifstream input_R(Rname); - double x, y, z; - std::size_t i = 0; - while (input_R >> x >> y >> z) // not safe, but it's going away - { - R(i, 0) = x; - R(i, 1) = y; - R(i, 2) = z; - ++i; - } - std:: cout << "det(benchmark)= " << R.determinant() << std::endl; - - - // points in a matrix - MatrixXf points; - sm_to_matrix(mesh, points); - - // postprocessing - MatrixXf obb(8, 3); - CGAL::Optimal_bounding_box::post_processing(points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/inverse_rotated.off"); + #endif } void test_find_obb(std::string fname) @@ -321,7 +297,8 @@ void test_find_obb(std::string fname) std::vector obb_points; CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); - double epsilon = 1e-4; + double epsilon = 1e-3; + /* CGAL_assertion(assert_doubles(obb_points[0].x(), 1.01752, epsilon)); CGAL_assertion(assert_doubles(obb_points[0].y(), 0.437675, epsilon)); CGAL_assertion(assert_doubles(obb_points[0].z(), 0.382697, epsilon)); @@ -346,8 +323,12 @@ void test_find_obb(std::string fname) CGAL_assertion(assert_doubles(obb_points[7].x(), -0.0732647, epsilon)); CGAL_assertion(assert_doubles(obb_points[7].y(), 0.836134, epsilon)); CGAL_assertion(assert_doubles(obb_points[7].z(), 0.733927, epsilon)); + */ - /* debug + double vol = calculate_volume(obb_points); + CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); + + #ifdef OBB_DEBUG_TEST for(int i = 0; i < 8; ++i) { std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; @@ -359,27 +340,65 @@ void test_find_obb(std::string fname) std::ofstream out("data/obb_result.off"); out << result_mesh; out.close(); - */ + #endif +} + +void +bench(const char* fname) +{ + std::vector sm_points, obb_points; + std::ifstream in(fname); + //double x,y,z; + K::Point_3 p; + int i = 0; + while(in >> p){ + + if(i % 2 == 0) + { + sm_points.push_back(p); + } + + ++i; + } + + std::cout << "input data (points + normals)= " << i << std::endl; + std::cout << "number of points= " << sm_points.size() << std::endl; + + + std::cout.precision(17); + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); + +/* + for(int i =0; i < obb_points.size(); i ++){ + std::cout << obb_points[i] << std::endl; + } + */ + + CGAL::Surface_mesh mesh; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], + obb_points[6], obb_points[7], mesh); + + std::ofstream out("/tmp/octopus_result.off"); + out << mesh; + out.close(); } -int main() +int main(int argc, char* argv[]) { - + /* test_population(); test_nelder_mead(); test_genetic_algorithm(); test_random_unit_tetra(); test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); - rotate_tetrahedron("data/random_unit_tetra.off", "data/rotation.dat"); test_find_obb("data/random_unit_tetra.off"); + */ - - - + bench(argv[1]); return 0; } diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 8e2ff5ea293..39f9fb0fb0f 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -139,7 +139,6 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) } } - void Create_obb_mesh_plugin::obb() { // gather point coordinates From 2da405114c55c473cb0fb1b56aa1aff89ba47606 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 3 May 2018 15:52:18 +0200 Subject: [PATCH 017/150] demo plugin: works on point set data --- .../Polyhedron/Plugins/PCA/CMakeLists.txt | 2 +- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 24 ++++++++++++++++--- 2 files changed, 22 insertions(+), 4 deletions(-) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt index 205e7a38b62..cc1a8db9bf4 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt @@ -21,7 +21,7 @@ polyhedron_demo_plugin(create_bbox_mesh_plugin Create_bbox_mesh_plugin) target_link_libraries(create_bbox_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item) polyhedron_demo_plugin(create_obb_mesh_plugin Create_obb_mesh_plugin) -target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item scene_polyhedron_selection_item) +target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item scene_polyhedron_selection_item scene_points_with_normal_item) qt5_wrap_ui( volumesUI_FILES Basic_generator_widget.ui) polyhedron_demo_plugin(basic_generator_plugin Basic_generator_plugin ${volumesUI_FILES}) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 39f9fb0fb0f..e8accbf0dbd 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -12,6 +12,7 @@ #include "Scene_polyhedron_item.h" #include #include "Scene_polyhedron_selection_item.h" +#include "Scene_points_with_normal_item.h" #include #include @@ -37,6 +38,7 @@ public: bool applicable(QAction*) const { + /* if (scene->selectionIndices().size() == 1) { return qobject_cast(scene->item(scene->mainSelectionIndex())) @@ -49,13 +51,12 @@ public: return true; } return false; + */ - /* if(scene->mainSelectionIndex() != -1 && scene->item(scene->mainSelectionIndex())->isFinite()) return true; return false; - */ } @@ -103,6 +104,9 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) Scene_polyhedron_selection_item* selection_item = qobject_cast(scene->item(index)); + Scene_points_with_normal_item* point_set_item = + qobject_cast(scene->item(index)); + if(poly_item || selection_item) { typedef typename boost::property_map::type PointPMap; @@ -117,7 +121,7 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) selected_vertices.assign(vertices(pmesh).begin(), vertices(pmesh).end()); PointPMap pmap = get(CGAL::vertex_point, pmesh); BOOST_FOREACH(vertex_descriptor v, selected_vertices) - points.push_back(get(pmap, v )); + points.push_back(get(pmap, v)); } else if(selection_item != NULL) // using selection of faces @@ -137,6 +141,20 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) } CGAL_assertion(points.size() >= 3); } + + if(point_set_item) + { + Point_set* points_set = point_set_item->point_set(); + if(points_set == NULL) + return; + + std::cout << "points_set->size()= " << points_set->size() << std::endl; + BOOST_FOREACH(Point_3 p, points_set->points()) + { + points.push_back(p); + } + } + } void Create_obb_mesh_plugin::obb() From 91e49fe995ee9878439acb313fa03890822b12b1 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 4 May 2018 10:50:35 +0200 Subject: [PATCH 018/150] cleaning --- .../Optimal_bounding_box/fitness_function.h | 26 ++++---- .../include/CGAL/Optimal_bounding_box/obb.h | 46 ++++++++------- .../optimization_algorithms.h | 30 +++++----- .../CGAL/Optimal_bounding_box/population.h | 59 ++++++++----------- .../test_linear_algebra_functions.cpp | 57 +++++------------- .../test_optimization_algorithms.cpp | 49 ++++++++------- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 1 - 7 files changed, 118 insertions(+), 150 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 791ab2f9279..249ef98e069 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -30,8 +30,8 @@ namespace CGAL { namespace Optimal_bounding_box { -template -const double compute_fitness(const Matrix& R, const Matrix& data) +template +const double compute_fitness(const Vertex& R, const Matrix& data) { // R: rotation matrix @@ -42,8 +42,9 @@ const double compute_fitness(const Matrix& R, const Matrix& data) CGAL_assertion(data.rows() >= 3); // rotate points - Matrix RT = R.transpose(); - Matrix rotated_data = data * RT; + Vertex RT = R.transpose(); + Matrix rotated_data; + rotated_data = data * RT; CGAL_assertion(rotated_data.cols() == data.cols()); CGAL_assertion(rotated_data.rows() == data.rows()); @@ -64,13 +65,13 @@ const double compute_fitness(const Matrix& R, const Matrix& data) } -template +template struct Fitness_map // -> a free function { - Fitness_map(Population& p, Matrix& points) : pop(p), points(points) + Fitness_map(Population& p, Matrix& points) : pop(p), points(points) {} - Matrix get_best() + Vertex get_best() { std::size_t count_vertices = 0; @@ -79,10 +80,9 @@ struct Fitness_map // -> a free function double best_fitness = std::numeric_limits::max(); for(std::size_t i = 0; i < pop.size(); ++i) { - //const std::vector simplex = pop[i]; for(std::size_t j =0; j < 4; ++j) { - const Matrix vertex = pop[i][j]; + const Vertex vertex = pop[i][j]; //std::cout << "i= "<< i << " j=" << j<<"\n vertex= " << vertex << std::endl; ++count_vertices; //std::cout << "vertex = " << vertex << std::endl; @@ -98,7 +98,7 @@ struct Fitness_map // -> a free function } } - std::vector best_simplex = pop[simplex_id]; + std::vector best_simplex = pop[simplex_id]; //Matrix temp = best_simplex[vertex_id]; return best_simplex[vertex_id]; @@ -107,13 +107,13 @@ struct Fitness_map // -> a free function double get_best_fitness_value(const Matrix& data) { - Matrix best_mat = get_best(); + Vertex best_mat = get_best(); return compute_fitness(best_mat, data); } - const Matrix points; - Population pop; + const Matrix points; // or just a reference? + Population pop; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index f3564144794..c6b4050650e 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -42,16 +42,15 @@ namespace CGAL { namespace Optimal_bounding_box { -template -void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: points is const +template +void evolution(Vertex& R, Matrix& points, std::size_t max_generations) // todo: points is const { - CGAL_assertion(points.rows() >= 3); CGAL_assertion(points.cols() == 3); CGAL_assertion(R.rows() == 3); CGAL_assertion(R.cols() == 3); - Population pop(50); + Population pop(50); std::size_t nelder_mead_iterations = 20; double prev_fit_value = 0; @@ -89,7 +88,7 @@ void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: #endif // stopping criteria - Fitness_map fitness_map(pop, points); + Fitness_map fitness_map(pop, points); new_fit_value = fitness_map.get_best_fitness_value(points); double difference = new_fit_value - prev_fit_value; @@ -102,27 +101,30 @@ void evolution(Matrix& R, Matrix& points, std::size_t max_generations) // todo: prev_fit_value = new_fit_value; } - Fitness_map fitness_map(pop, points); + Fitness_map fitness_map(pop, points); R = fitness_map.get_best(); } // works on matrices only -template -void post_processing(Matrix& points, Matrix& R, Matrix& obb) +template +void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) { + CGAL_assertion(points.cols() == 3); + CGAL_assertion(R.rows() == 3); + CGAL_assertion(R.cols() == 3); + CGAL_assertion(obb.rows() == 8); + CGAL_assertion(obb.cols() == 3); // 1) rotate points with R - - Matrix rotated_points(points.rows(), points.cols()); + Matrix_dynamic rotated_points(points.rows(), points.cols()); rotated_points = points * R.transpose(); // 2) get AABB from rotated points - typedef CGAL::Simple_cartesian K; typedef K::Point_3 Point; std::vector v_points; // Simplex -> std::vector - for(int i = 0; i < rotated_points.rows(); ++i) + for(std::size_t i = 0; i < rotated_points.rows(); ++i) { Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); v_points.push_back(p); @@ -131,8 +133,12 @@ void post_processing(Matrix& points, Matrix& R, Matrix& obb) bbox = bbox_3(v_points.begin(), v_points.end()); K::Iso_cuboid_3 ic(bbox); - Matrix aabb(8, 3); - for(int i = 0; i < 8; ++i) + Matrix_fixed aabb; + // preallocate sanity: if Matrix is not preallocated in compile time + if(aabb.cols() != 3 && aabb.rows() != 8) + aabb.resize(8, 3); + + for(std::size_t i = 0; i < 8; ++i) { aabb(i, 0) = ic[i].x(); aabb(i, 1) = ic[i].y(); @@ -140,10 +146,7 @@ void post_processing(Matrix& points, Matrix& R, Matrix& obb) } // 3) apply inverse rotation to rotated AABB - obb = aabb * R; - - } template @@ -173,8 +176,9 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u obb_points.resize(8); CGAL_assertion(obb_points.size() == 8); - - typedef Eigen::MatrixXd MatrixXd; // using eigen internally + // using eigen internally + typedef Eigen::MatrixXd MatrixXd; // for point data + typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices MatrixXd points_mat; // get the ch3 @@ -195,11 +199,11 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u fill_matrix(points, points_mat); } - MatrixXd R(3, 3); + Matrix3d R; std::size_t max_generations = 100; CGAL::Optimal_bounding_box::evolution(R, points_mat, max_generations); - MatrixXd obb(8, 3); + Eigen::Matrix obb; CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); // matrix -> vector diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 384ab5cafcb..7fbaff60052 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -37,7 +37,6 @@ namespace CGAL { namespace Optimal_bounding_box { -template struct Comparator { Comparator(std::vector in) : fitness(in) {} @@ -54,8 +53,8 @@ struct Comparator // points: point coords // simplex: 4 roation matrices are its vertices -template -void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_iterations) +template +void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_iterations) { CGAL_assertion(simplex.size() == 4); // tetrahedron @@ -68,7 +67,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it for(std::size_t t = 0; t < nb_iterations; ++t) { - for(int i = 0; i < 4; ++i) + for(std::size_t i = 0; i < 4; ++i) { fitness[i] = compute_fitness(simplex[i], points); } @@ -82,7 +81,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it // get indices of sorted sequence - Comparator compare_indices(fitness); + Comparator compare_indices(fitness); std::sort(indices.begin(), indices.end(), compare_indices); @@ -98,7 +97,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it // new sorted simplex & fitness - std::vector s_simplex(4); + std::vector s_simplex(4); std::vector s_fitness(4); for(int i = 0; i < 4; ++i) { @@ -110,11 +109,11 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it fitness = s_fitness; // centroid - const Matrix v_centroid = centroid(simplex[0], simplex[1], simplex[2]); + const Vertex v_centroid = centroid(simplex[0], simplex[1], simplex[2]); // find worst's vertex reflection - const Matrix v_worst = simplex[3]; - const Matrix v_refl = reflection(v_centroid, v_worst); + const Vertex v_worst = simplex[3]; + const Vertex v_refl = reflection(v_centroid, v_worst); const double f_refl = compute_fitness(v_refl, points); if(f_refl < fitness[2]) @@ -127,7 +126,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it else { // expansion - const Matrix v_expand = expansion(v_centroid, v_worst, v_refl); + const Vertex v_expand = expansion(v_centroid, v_worst, v_refl); const double f_expand = compute_fitness(v_expand, points); if(f_expand < f_refl) simplex[3] = v_expand; @@ -137,7 +136,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it } else // if reflected vertex is not better { - const Matrix v_mean = mean(v_centroid, v_worst); + const Vertex v_mean = mean(v_centroid, v_worst); const double f_mean = compute_fitness(v_mean, points); if(f_mean <= fitness[3]) // contraction of worst @@ -145,9 +144,9 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it else { // reduction: move all vertices towards the best - for(int i=1; i < 4; ++i) + for(std::size_t i=1; i < 4; ++i) { - simplex[i] = mean(simplex[i], simplex[0]); // todo: test order of addition + simplex[i] = mean(simplex[i], simplex[0]); } } } @@ -172,8 +171,8 @@ struct Random_int_generator }; -template -void genetic_algorithm(Population& pop, Simplex& points) +template +void genetic_algorithm(Population& pop, Matrix& points) { // random permutations std::size_t m = pop.size(); @@ -206,7 +205,6 @@ void genetic_algorithm(Population& pop, Simplex& points) [&rng, &m] () { return rng.get_int(0, m); }); - Population group1(m/2), group2(m/2); Population group3(m - m/2), group4(m - m/2); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 6ea889b2466..af3450df557 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -24,54 +24,47 @@ #include #include - #include #include namespace CGAL { - namespace Optimal_bounding_box { - template class Population { - - typedef std::vector Individual; + typedef std::vector Simplex; public: - Population(std::size_t size) : n(size), random_generator(CGAL::Random(1)) + Population(std::size_t size) : n(size), random_generator(CGAL::Random()) { - //std::cout << "seed= " << random_generator.get_seed() << std::endl; - // reserve pop space pop.reserve(n); - // create individuals + // create simplices for(std::size_t i = 0 ; i < n; ++i) { - Individual member(4); - create_individual(member); - CGAL_assertion(member.size() == 4); - pop.push_back(member); + Simplex simplex(4); + create_simplex(simplex); + CGAL_assertion(simplex.size() == 4); + pop.push_back(simplex); } } void show_population() { std::size_t id = 0; - for(const Individual i : pop) + for(const Simplex i : pop) { CGAL_assertion(i.size() == 4); - std:: cout << "Individual: "<< id++ << std::endl; + std:: cout << "Simplex: "<< id++ << std::endl; for(const Matrix R : i) { std::cout << R; // eigen out std::cout << "\n\n"; } - std:: cout << std:: endl; } } @@ -81,15 +74,14 @@ public: return n; } - // access simplex - Individual& operator[](std::size_t i) + Simplex& operator[](std::size_t i) { CGAL_assertion(i < n); return pop[i]; } - const Individual& operator[](std::size_t i) const + const Simplex& operator[](std::size_t i) const { CGAL_assertion(i < n); return pop[i]; @@ -98,24 +90,26 @@ public: private: // create random population - void create_individual(Individual& member) + void create_simplex(Simplex& simplex) { - CGAL_assertion(member.size() == 4); - + CGAL_assertion(simplex.size() == 4); for(std::size_t i = 0; i < 4; ++i) { - // create matrix - Matrix R(3,3); - create_simplex(R); - Matrix Q; - qr_factorization(R, Q); - member[i] = Q; - } + Matrix R; + // R may be preallocated, if Vertex is Matrix3d, + // but Vertex may not, if Vertex is MatrixXd and R is constructed with MatrixXd R(3,3) + if(R.cols() == 0 || R.rows() == 0) + R.resize(3, 3); - CGAL_assertion(member.size() == 4); + create_vertex(R); + Matrix Q; // no allocation + qr_factorization(R, Q); + simplex[i] = Q; + } + CGAL_assertion(simplex.size() == 4); } - void create_simplex(Matrix& R) + void create_vertex(Matrix& R) { CGAL_assertion(R.rows() == 3); CGAL_assertion(R.cols() == 3); @@ -131,8 +125,7 @@ private: CGAL::Random random_generator; std::size_t n; - std::vector pop; - + std::vector pop; }; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index bfb618d7731..a36313eacce 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -1,36 +1,26 @@ -#include -#include - #include #include #include - #include #include - #include -//typedef CGAL::Exact_predicates_inexact_constructions_kernel K; -//typedef CGAL::Surface_mesh Surface_mesh; - -typedef Eigen::MatrixXf MatrixXf; +typedef Eigen::Matrix3d Matrix3d; bool assert_doubles(double d1, double d2, double epsilon) { return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; } - void test_qr_factorization() { - - MatrixXf A(3, 3); + Matrix3d A(3, 3); A << 0.3011944, 0.9932761, 0.5483701, 0.5149142, 0.5973263, 0.5162336, 0.0039213, 0.0202949, 0.9240308; - MatrixXf Q; + Matrix3d Q; CGAL::Optimal_bounding_box::qr_factorization(A, Q); double epsilon = 1e-6; @@ -43,20 +33,17 @@ void test_qr_factorization() CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); - - } - void test_fitness_function() { - MatrixXf data_points(4, 3); + Eigen::Matrix data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; - MatrixXf rotation(3, 3); + Matrix3d rotation(3, 3); rotation << -0.809204, 0.124296, 0.574230, -0.574694, 0.035719, -0.817589, -0.122134, -0.991602, 0.042528; @@ -66,20 +53,19 @@ void test_fitness_function() } - void test_simplex_operations() { - MatrixXf Sc(3, 3); + Matrix3d Sc(3, 3); Sc << -0.809204, 0.124296, 0.574230, -0.574694, 0.035719, -0.817589, -0.122134, -0.991602, 0.042528; - MatrixXf S_worst(3, 3); + Matrix3d S_worst(3, 3); S_worst << -0.45070, -0.32769, -0.83035, -0.13619, -0.89406, 0.42675, -0.88222, 0.30543, 0.35833; - MatrixXf Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + Matrix3d Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); double epsilon = 1e-5; CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); @@ -91,7 +77,7 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); - MatrixXf Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + Matrix3d Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); @@ -102,17 +88,17 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); - MatrixXf S_a(3, 3); + Matrix3d S_a(3, 3); S_a << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, -0.775035, -0.293982, 0.559370; - MatrixXf S_b(3, 3); + Matrix3d S_b(3, 3); S_b << -0.419979, 0.301765, -0.855894, -0.653011, -0.755415, 0.054087, -0.630234, 0.581624, 0.514314; - MatrixXf S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); + Matrix3d S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); @@ -122,28 +108,26 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(S_c(2,0), -0.70693, epsilon)); CGAL_assertion(assert_doubles(S_c(2,1), 0.12405, epsilon)); CGAL_assertion(assert_doubles(S_c(2,2), 0.69632, epsilon)); - } void test_centroid() { - MatrixXf S_a(3, 3); + Matrix3d S_a(3, 3); S_a << -0.588443, 0.807140, -0.047542, -0.786228, -0.584933, -0.199246, -0.188629, -0.079867, 0.978795; - MatrixXf S_b(3, 3); + Matrix3d S_b(3, 3); S_b << -0.2192721, 0.2792986, -0.9348326, -0.7772152, -0.6292092, -0.0056861, -0.5897934, 0.7253193, 0.3550431; - MatrixXf S_c(3, 3); + Matrix3d S_c(3, 3); S_c << -0.32657, -0.60013, -0.73020, -0.20022, -0.71110, 0.67398, -0.92372, 0.36630, 0.11207; - - MatrixXf S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); + Matrix3d S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); double epsilon = 1e-5; CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); @@ -154,23 +138,14 @@ void test_centroid() CGAL_assertion(assert_doubles(S_centroid(2,0), -0.630234, epsilon)); CGAL_assertion(assert_doubles(S_centroid(2,1), 0.581624, epsilon)); CGAL_assertion(assert_doubles(S_centroid(2,2), 0.514314, epsilon)); - } - - - - - int main() { - test_qr_factorization(); test_fitness_function(); test_simplex_operations(); test_centroid(); - - return 0; } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index c8569c758e9..e2d555d6403 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -1,17 +1,15 @@ #include #include - #include #include #include - #include #include - #include typedef Eigen::MatrixXd MatrixXd; +typedef Eigen::Matrix3d Matrix3d; typedef CGAL::Exact_predicates_inexact_constructions_kernel K; @@ -62,38 +60,38 @@ double calculate_volume(std::vector points) void test_population() { - CGAL::Optimal_bounding_box::Population pop(5); + CGAL::Optimal_bounding_box::Population pop(5); //pop.show_population(); CGAL_assertion(pop.size() == 5); } void test_nelder_mead() { - MatrixXd data_points(4, 3); + Eigen::Matrix data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; // one simplex - std::vector simplex(4); + std::vector simplex(4); - MatrixXd v0(3, 3); + Matrix3d v0; v0 << -0.2192721, 0.2792986, -0.9348326, -0.7772152, -0.6292092, -0.0056861, -0.5897934, 0.7253193, 0.3550431; - MatrixXd v1(3, 3); + Matrix3d v1; v1 << -0.588443, 0.807140, -0.047542, -0.786228, -0.584933, -0.199246, -0.188629, -0.079867, 0.978795; - MatrixXd v2(3, 3); + Matrix3d v2; v2 << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, -0.775035, -0.293982, 0.559370; - MatrixXd v3(3, 3); + Matrix3d v3; v3 << -0.32657, -0.60013, -0.73020, -0.20022, -0.71110, 0.67398, -0.92372, 0.36630, 0.11207; @@ -108,7 +106,7 @@ void test_nelder_mead() double epsilon = 1e-5; - MatrixXd v0_new = simplex[0]; + Matrix3d v0_new = simplex[0]; CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); @@ -119,7 +117,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - MatrixXd v1_new = simplex[1]; + Matrix3d v1_new = simplex[1]; CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); @@ -130,7 +128,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - MatrixXd v2_new = simplex[2]; + Matrix3d v2_new = simplex[2]; CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); @@ -141,7 +139,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - MatrixXd v3_new = simplex[3]; + Matrix3d v3_new = simplex[3]; CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); @@ -155,20 +153,20 @@ void test_nelder_mead() void test_genetic_algorithm() { - MatrixXd data_points(4, 3); + Eigen::Matrix data_points(4, 3); data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; - CGAL::Optimal_bounding_box::Population pop(5); + CGAL::Optimal_bounding_box::Population pop(5); CGAL::Optimal_bounding_box::genetic_algorithm(pop, data_points); CGAL_assertion(pop.size() == 5); } void test_random_unit_tetra() { - MatrixXd data_points(4, 3); // points on their convex hull + Eigen::Matrix data_points(4, 3); // points on their convex hull data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, @@ -192,7 +190,7 @@ void test_random_unit_tetra() out.close(); #endif - MatrixXd R(3, 3); + Matrix3d R; std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, data_points, generations); @@ -229,7 +227,7 @@ void test_reference_tetrahedron(const char* fname) MatrixXd points; sm_to_matrix(mesh, points); - MatrixXd R(3, 3); + Matrix3d R(3, 3); std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, points, generations); double epsilon = 1e-5; @@ -256,7 +254,7 @@ void test_long_tetrahedron(std::string fname) MatrixXd points; sm_to_matrix(mesh, points); - MatrixXd R(3, 3); + MatrixXd R(3, 3); // test with dynamic size std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, points, generations); double epsilon = 1e-3; @@ -348,7 +346,6 @@ bench(const char* fname) { std::vector sm_points, obb_points; std::ifstream in(fname); - //double x,y,z; K::Point_3 p; int i = 0; while(in >> p){ @@ -365,20 +362,20 @@ bench(const char* fname) std::cout << "number of points= " << sm_points.size() << std::endl; - std::cout.precision(17); CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); -/* + /* + std::cout.precision(17); for(int i =0; i < obb_points.size(); i ++){ std::cout << obb_points[i] << std::endl; } - */ + */ CGAL::Surface_mesh mesh; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], obb_points[6], obb_points[7], mesh); - std::ofstream out("/tmp/octopus_result.off"); + std::ofstream out("/tmp/result_obb.off"); out << mesh; out.close(); @@ -388,6 +385,7 @@ bench(const char* fname) int main(int argc, char* argv[]) { + /* test_population(); test_nelder_mead(); @@ -398,6 +396,7 @@ int main(int argc, char* argv[]) test_find_obb("data/random_unit_tetra.off"); */ + bench(argv[1]); return 0; diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index e8accbf0dbd..6c158b9e8a8 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -1,5 +1,4 @@ #include - #include #include From eb9cb4b8ebdae475c735c63e8289dc123f3648c4 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Fri, 4 May 2018 11:23:40 +0100 Subject: [PATCH 019/150] VC++ has a problem accessing matrix entries with operator() --- .../include/CGAL/Optimal_bounding_box/obb.h | 16 ++++++++-------- .../CGAL/Optimal_bounding_box/population.h | 2 +- .../test_optimization_algorithms.cpp | 6 +++--- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index c6b4050650e..c0a295638d3 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -126,7 +126,7 @@ void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) std::vector v_points; // Simplex -> std::vector for(std::size_t i = 0; i < rotated_points.rows(); ++i) { - Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); + Point p(rotated_points.coeff(i, 0), rotated_points.coeff(i, 1), rotated_points.coeff(i, 2)); v_points.push_back(p); } CGAL::Bbox_3 bbox; @@ -140,9 +140,9 @@ void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) for(std::size_t i = 0; i < 8; ++i) { - aabb(i, 0) = ic[i].x(); - aabb(i, 1) = ic[i].y(); - aabb(i, 2) = ic[i].z(); + aabb.coeffRef(i, 0) = ic[i].x(); + aabb.coeffRef(i, 1) = ic[i].y(); + aabb.coeffRef(i, 2) = ic[i].z(); } // 3) apply inverse rotation to rotated AABB @@ -156,9 +156,9 @@ void fill_matrix(std::vector& v_points, Matrix& points_mat) for(std::size_t i = 0; i < v_points.size(); ++i) { Point p = v_points[i]; - points_mat(i, 0) = p.x(); - points_mat(i, 1) = p.y(); - points_mat(i, 2) = p.z(); + points_mat.coeffRef(i, 0) = p.x(); + points_mat.coeffRef(i, 1) = p.y(); + points_mat.coeffRef(i, 2) = p.z(); } } @@ -209,7 +209,7 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u // matrix -> vector for(std::size_t i = 0; i < 8; ++i) { - Point p(obb(i, 0), obb(i, 1), obb(i, 2)); + Point p(obb.coeff(i, 0), obb.coeff(i, 1), obb.coeff(i, 2)); obb_points[i] = p; } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index af3450df557..ab5e27299c8 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -118,7 +118,7 @@ private: { for(std::size_t j = 0; j < 3; ++j) { - R(i, j) = random_generator.get_double(); + R.coeffRef(i, j) = random_generator.get_double(); } } } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index e2d555d6403..ef3a076aba5 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -32,9 +32,9 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) for(vertex_descriptor v : vertices(sm)) { Point_ref p = get(vpm, v); - mat(i, 0) = p.x(); - mat(i, 1) = p.y(); - mat(i, 2) = p.z(); + mat.coeffRef(i, 0) = p.x(); + mat.coeffRef(i, 1) = p.y(); + mat.coeffRef(i, 2) = p.z(); ++i; } } From 0fef43ef0344566c87ee89bb78e3ff8b3dd4e624 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Fri, 4 May 2018 13:53:30 +0100 Subject: [PATCH 020/150] Do not do a matrix-matrix multiplication, but do N matrix-vector multiplications as we only want min and max --- .../Optimal_bounding_box/fitness_function.h | 25 ++++++++++++++++++- .../test_optimization_algorithms.cpp | 8 +++--- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 249ef98e069..a9592dde168 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -42,6 +42,27 @@ const double compute_fitness(const Vertex& R, const Matrix& data) CGAL_assertion(data.rows() >= 3); // rotate points + +#if 1 + double xmin, xmax, ymin, ymax, zmin, zmax; + for(int i = 0; i < data.rows(); i++){ + Eigen::Vector3d vec = data.row(i); + vec = R * vec; + if(i == 0){ + xmin = xmax = vec.coeff(0); + ymin = ymax = vec.coeff(1); + zmin = zmax = vec.coeff(2); + }else { + if(vec.coeff(0) < xmin) xmin = vec.coeff(0); + if(vec.coeff(1) < ymin) ymin = vec.coeff(1); + if(vec.coeff(2) < zmin) zmin = vec.coeff(2); + if(vec.coeff(0) > xmax) xmax = vec.coeff(0); + if(vec.coeff(1) > ymax) ymax = vec.coeff(1); + if(vec.coeff(2) > zmax) zmax = vec.coeff(2); + } + } + +#else Vertex RT = R.transpose(); Matrix rotated_data; rotated_data = data * RT; @@ -55,7 +76,9 @@ const double compute_fitness(const Vertex& R, const Matrix& data) double ymax = rotated_data.col(1).maxCoeff(); double zmin = rotated_data.col(2).minCoeff(); double zmax = rotated_data.col(2).maxCoeff(); - + +#endif + double x_dim = abs(xmax - xmin); // abs needed? double y_dim = abs(ymax - ymin); double z_dim = abs(zmax - zmin); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index ef3a076aba5..27e05b709a7 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -362,14 +362,14 @@ bench(const char* fname) std::cout << "number of points= " << sm_points.size() << std::endl; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, false); - /* + std::cout.precision(17); for(int i =0; i < obb_points.size(); i ++){ std::cout << obb_points[i] << std::endl; } - */ + /* CGAL::Surface_mesh mesh; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], @@ -378,7 +378,7 @@ bench(const char* fname) std::ofstream out("/tmp/result_obb.off"); out << mesh; out.close(); - + */ } From 7b79685c275709d6e3ffa68daaf81f2cc4e1af8e Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 4 May 2018 15:47:42 +0200 Subject: [PATCH 021/150] cleaning --- .../Optimal_bounding_box/fitness_function.h | 67 ++------- .../include/CGAL/Optimal_bounding_box/obb.h | 55 ++++---- .../optimization_algorithms.h | 29 +--- .../test_optimization_algorithms.cpp | 127 +++++++----------- 4 files changed, 94 insertions(+), 184 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index a9592dde168..96146b6cb58 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -30,10 +30,9 @@ namespace CGAL { namespace Optimal_bounding_box { -template +template const double compute_fitness(const Vertex& R, const Matrix& data) { - // R: rotation matrix CGAL_assertion(R.cols() == 3); CGAL_assertion(R.rows() == 3); @@ -41,13 +40,12 @@ const double compute_fitness(const Vertex& R, const Matrix& data) CGAL_assertion(data.cols() == 3); CGAL_assertion(data.rows() >= 3); - // rotate points - -#if 1 double xmin, xmax, ymin, ymax, zmin, zmax; for(int i = 0; i < data.rows(); i++){ + Eigen::Vector3d vec = data.row(i); vec = R * vec; + if(i == 0){ xmin = xmax = vec.coeff(0); ymin = ymax = vec.coeff(1); @@ -62,56 +60,30 @@ const double compute_fitness(const Vertex& R, const Matrix& data) } } -#else - Vertex RT = R.transpose(); - Matrix rotated_data; - rotated_data = data * RT; - CGAL_assertion(rotated_data.cols() == data.cols()); - CGAL_assertion(rotated_data.rows() == data.rows()); - - // AABB: take mins and maxs - double xmin = rotated_data.col(0).minCoeff(); - double xmax = rotated_data.col(0).maxCoeff(); - double ymin = rotated_data.col(1).minCoeff(); - double ymax = rotated_data.col(1).maxCoeff(); - double zmin = rotated_data.col(2).minCoeff(); - double zmax = rotated_data.col(2).maxCoeff(); - -#endif - - double x_dim = abs(xmax - xmin); // abs needed? - double y_dim = abs(ymax - ymin); - double z_dim = abs(zmax - zmin); + CGAL_assertion(xmax > xmin); + CGAL_assertion(ymax > ymin); + CGAL_assertion(zmax > zmin); // volume - return (x_dim * y_dim * z_dim); - + return ((xmax - xmin) * (ymax - ymin) * (zmax - zmin)); } template -struct Fitness_map // -> a free function +struct Fitness_map { Fitness_map(Population& p, Matrix& points) : pop(p), points(points) {} - Vertex get_best() + const Vertex get_best() { - std::size_t count_vertices = 0; - - std::size_t simplex_id; - std::size_t vertex_id; + std::size_t simplex_id, vertex_id; double best_fitness = std::numeric_limits::max(); for(std::size_t i = 0; i < pop.size(); ++i) { for(std::size_t j =0; j < 4; ++j) { const Vertex vertex = pop[i][j]; - //std::cout << "i= "<< i << " j=" << j<<"\n vertex= " << vertex << std::endl; - ++count_vertices; - //std::cout << "vertex = " << vertex << std::endl; - const double fitness = compute_fitness(vertex, points); - //std::cout << "fitness = " << fitness << std::endl; if (fitness < best_fitness) { simplex_id = i; @@ -121,30 +93,19 @@ struct Fitness_map // -> a free function } } - std::vector best_simplex = pop[simplex_id]; - //Matrix temp = best_simplex[vertex_id]; - - return best_simplex[vertex_id]; + return pop[simplex_id][vertex_id]; } - - double get_best_fitness_value(const Matrix& data) + const double get_best_fitness_value(const Matrix& data) { Vertex best_mat = get_best(); return compute_fitness(best_mat, data); } - - const Matrix points; // or just a reference? - Population pop; + const Matrix& points; + Population& pop; }; - - - - - - }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index c0a295638d3..c58a5c2adfb 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -30,14 +30,13 @@ #include #include #include - -#include - -#include // used draw mesh #include // used to get the ch #include #include +#include + + namespace CGAL { namespace Optimal_bounding_box { @@ -105,7 +104,6 @@ void evolution(Vertex& R, Matrix& points, std::size_t max_generations) // todo: R = fitness_map.get_best(); } - // works on matrices only template void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) @@ -179,6 +177,7 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u // using eigen internally typedef Eigen::MatrixXd MatrixXd; // for point data typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices + MatrixXd points_mat; // get the ch3 @@ -214,35 +213,41 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u } } -// it is called after post processing -template -void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) +/// @param pmesh the input mesh. +/// @param obbmesh the obb in a hexahedron pmesh. +/// @param use convex hull or not. +/// +/// todo named parameters: max iterations, population size, tolerance. +template +void find_obb(PolygonMesh& pmesh , PolygonMesh& obbmesh, bool use_ch) { - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; - typedef CGAL::Surface_mesh Mesh; + CGAL_assertion(vertices(pmesh).size() >= 3); - // Simplex -> std::vector - std::vector points; - - for(int i = 0; i < data_points.rows(); ++i) + if(vertices(pmesh).size() <= 3) { - Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); - points.push_back(p); + std::cerr << "Not enough points in the mesh!\n"; + return; } - Mesh mesh; - CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], - points[6], points[7], mesh); + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::type Vpm; + typedef typename boost::property_traits::value_type Point; + //typedef typename Kernel_traits::Kernel Kernel; - std::ofstream out(filename); - out << mesh; - out.close(); + std::vector points; + Vpm pmap = get(boost::vertex_point, pmesh); + BOOST_FOREACH(vertex_descriptor v, vertices(pmesh)) + points.push_back(get(pmap, v)); + + std::vector obb_points; + find_obb(points, obb_points, use_ch); + + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], + obb_points[6], obb_points[7], obbmesh); } - - }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 7fbaff60052..3e7b45ddd11 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -49,12 +49,10 @@ struct Comparator std::vector fitness; }; - - // points: point coords -// simplex: 4 roation matrices are its vertices +// simplex: 4 rotation matrices are its vertices template -void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_iterations) +void nelder_mead(std::vector& simplex, const Matrix& points, std::size_t nb_iterations) { CGAL_assertion(simplex.size() == 4); // tetrahedron @@ -63,39 +61,20 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it std::vector indices( boost::counting_iterator( 0 ), boost::counting_iterator( simplex.size() ) ); - for(std::size_t t = 0; t < nb_iterations; ++t) { - for(std::size_t i = 0; i < 4; ++i) { fitness[i] = compute_fitness(simplex[i], points); } - /* - for(const Matrix& v : simplex) - fitness.push_back(compute_fitness(v, points)); - */ CGAL_assertion(fitness.size() == 4); CGAL_assertion(indices.size() == 4); - // get indices of sorted sequence Comparator compare_indices(fitness); std::sort(indices.begin(), indices.end(), compare_indices); - - /* - for(int i =0 ; i < 4; ++i) - { - std::cout << simplex[i] << "\n"; - std::cout << "fitness= " << fitness[i] << "\n"; - std::cout << "index= " << indices[i] << "\n\n"; - } - std::cout << std::endl; - */ - - // new sorted simplex & fitness std::vector s_simplex(4); std::vector s_fitness(4); @@ -105,7 +84,7 @@ void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_it s_fitness[i] = fitness[indices[i]]; } - simplex = s_simplex; // swap? + simplex = s_simplex; fitness = s_fitness; // centroid @@ -172,7 +151,7 @@ struct Random_int_generator template -void genetic_algorithm(Population& pop, Matrix& points) +void genetic_algorithm(Population& pop, const Matrix& points) { // random permutations std::size_t m = pop.size(); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 27e05b709a7..bb72757c76f 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -7,7 +7,6 @@ #include #include - typedef Eigen::MatrixXd MatrixXd; typedef Eigen::Matrix3d Matrix3d; @@ -39,14 +38,30 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) } } -template -void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) +// it is called after post processing +template +void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) { - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::type PointPMap; - PointPMap pmap = get(boost::vertex_point, mesh); - BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) - points.push_back(get(pmap, v)); + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; + typedef CGAL::Surface_mesh Mesh; + + // Simplex -> std::vector + std::vector points; + + for(int i = 0; i < data_points.rows(); ++i) + { + Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); + points.push_back(p); + } + + Mesh mesh; + CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], + points[6], points[7], mesh); + + std::ofstream out(filename); + out << mesh; + out.close(); } template @@ -210,7 +225,7 @@ void test_random_unit_tetra() // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); + matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); #endif } @@ -237,7 +252,7 @@ void test_reference_tetrahedron(const char* fname) // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/OBB.off"); + matrix_to_mesh_and_draw(obb, "data/OBB.off"); #endif } @@ -275,14 +290,15 @@ void test_long_tetrahedron(std::string fname) // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, fname + "result.off"); + matrix_to_mesh_and_draw(obb, fname + "result.off"); #endif } void test_find_obb(std::string fname) { std::ifstream input(fname); - CGAL::Surface_mesh mesh; + typedef CGAL::Surface_mesh SMesh; + SMesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; exit(1); @@ -290,39 +306,16 @@ void test_find_obb(std::string fname) // get mesh points std::vector sm_points; - gather_mesh_points(mesh, sm_points); + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::const_type PointPMap; + PointPMap pmap = get(boost::vertex_point, mesh); + BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) + sm_points.push_back(get(pmap, v)); std::vector obb_points; CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); double epsilon = 1e-3; - /* - CGAL_assertion(assert_doubles(obb_points[0].x(), 1.01752, epsilon)); - CGAL_assertion(assert_doubles(obb_points[0].y(), 0.437675, epsilon)); - CGAL_assertion(assert_doubles(obb_points[0].z(), 0.382697, epsilon)); - CGAL_assertion(assert_doubles(obb_points[1].x(), 0.912648, epsilon)); - CGAL_assertion(assert_doubles(obb_points[1].y(), 0.761563, epsilon)); - CGAL_assertion(assert_doubles(obb_points[1].z(), 0.160329, epsilon)); - CGAL_assertion(assert_doubles(obb_points[2].x(), 0.0615854, epsilon)); - CGAL_assertion(assert_doubles(obb_points[2].y(), 0.473799, epsilon)); - CGAL_assertion(assert_doubles(obb_points[2].z(), 0.142574, epsilon)); - CGAL_assertion(assert_doubles(obb_points[3].x(), 0.166461, epsilon)); - CGAL_assertion(assert_doubles(obb_points[3].y(), 0.149911, epsilon)); - CGAL_assertion(assert_doubles(obb_points[3].z(), 0.364943, epsilon)); - CGAL_assertion(assert_doubles(obb_points[4].x(), 0.0316104, epsilon)); - CGAL_assertion(assert_doubles(obb_points[4].y(), 0.512247, epsilon)); - CGAL_assertion(assert_doubles(obb_points[4].z(), 0.956296, epsilon)); - CGAL_assertion(assert_doubles(obb_points[5].x(), 0.882673, epsilon)); - CGAL_assertion(assert_doubles(obb_points[5].y(), 0.800011, epsilon)); - CGAL_assertion(assert_doubles(obb_points[5].z(), 0.97405, epsilon)); - CGAL_assertion(assert_doubles(obb_points[6].x(), 0.777797, epsilon)); - CGAL_assertion(assert_doubles(obb_points[6].y(), 1.1239, epsilon)); - CGAL_assertion(assert_doubles(obb_points[6].z(), 0.751681, epsilon)); - CGAL_assertion(assert_doubles(obb_points[7].x(), -0.0732647, epsilon)); - CGAL_assertion(assert_doubles(obb_points[7].y(), 0.836134, epsilon)); - CGAL_assertion(assert_doubles(obb_points[7].z(), 0.733927, epsilon)); - */ - double vol = calculate_volume(obb_points); CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); @@ -341,52 +334,27 @@ void test_find_obb(std::string fname) #endif } -void -bench(const char* fname) +void test_find_obb_mesh(std::string fname) { - std::vector sm_points, obb_points; - std::ifstream in(fname); - K::Point_3 p; - int i = 0; - while(in >> p){ - - if(i % 2 == 0) - { - sm_points.push_back(p); - } - - ++i; + std::ifstream input(fname); + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); } - std::cout << "input data (points + normals)= " << i << std::endl; - std::cout << "number of points= " << sm_points.size() << std::endl; + CGAL::Surface_mesh obbmesh; + CGAL::Optimal_bounding_box::find_obb(mesh, obbmesh, true); - - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, false); - - - std::cout.precision(17); - for(int i =0; i < obb_points.size(); i ++){ - std::cout << obb_points[i] << std::endl; - } - /* - - CGAL::Surface_mesh mesh; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], - obb_points[6], obb_points[7], mesh); - - std::ofstream out("/tmp/result_obb.off"); - out << mesh; + #ifdef OBB_DEBUG_TEST + std::ofstream out("/tmp/result_elephant.off"); + out << obbmesh; out.close(); - */ + #endif } - - int main(int argc, char* argv[]) { - - /* test_population(); test_nelder_mead(); test_genetic_algorithm(); @@ -394,10 +362,7 @@ int main(int argc, char* argv[]) test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); test_find_obb("data/random_unit_tetra.off"); - */ - - - bench(argv[1]); + test_find_obb_mesh("data/elephant.off"); return 0; } From 8f497d664f1cebdce589339c5350411eeac359bd Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Mon, 7 May 2018 14:33:31 +0200 Subject: [PATCH 022/150] benchmarks --- .../Optimal_bounding_box/CMakeLists.txt | 61 + .../Optimal_bounding_box/bench_custom.cpp | 64 + .../Optimal_bounding_box/bench_obb.cpp | 138 + .../Optimal_bounding_box/bench_perfomance.cpp | 78 + .../Optimal_bounding_box/data/elephant.off | 8337 +++++++++++++++++ .../Optimal_bounding_box/data/sphere_1k.xyz | 1050 +++ .../Optimal_bounding_box/data/elephant.off | 8337 +++++++++++++++++ 7 files changed, 18065 insertions(+) create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/data/elephant.off create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/data/sphere_1k.xyz create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/elephant.off diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt new file mode 100644 index 00000000000..dd9fbe32d76 --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt @@ -0,0 +1,61 @@ +# Created by the script cgal_create_CMakeLists +# This is the CMake script for compiling a set of CGAL applications. + +project( Optimal_bounding_box_Benchmark ) + + +cmake_minimum_required(VERSION 2.6.2) +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" VERSION_GREATER 2.6) + if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}" VERSION_GREATER 2.8.3) + cmake_policy(VERSION 2.8.4) + else() + cmake_policy(VERSION 2.6) + endif() +endif() + + +# CGAL and its components +find_package( CGAL QUIET COMPONENTS ) + +if ( NOT CGAL_FOUND ) + + message(STATUS "This project requires the CGAL library, and will not be compiled.") + return() + +endif() + +# include helper file +include( ${CGAL_USE_FILE} ) + + +# Boost and its components +find_package( Boost REQUIRED ) + +if ( NOT Boost_FOUND ) + + message(STATUS "This project requires the Boost library, and will not be compiled.") + + return() + +endif() + +# include for local directory + +# include for local package +include_directories( BEFORE ../../include ) + +find_package(Eigen3 3.2.0) #(requires 3.2.0 or greater) + +find_package( TBB ) + +include( CGAL_CreateSingleSourceCGALProgram ) +if (EIGEN3_FOUND) + include( ${EIGEN3_USE_FILE} ) + + create_single_source_cgal_program("bench_obb.cpp") + create_single_source_cgal_program("bench_perfomance.cpp") + create_single_source_cgal_program("bench_custom.cpp") + +endif(EIGEN3_FOUND) + + diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp new file mode 100644 index 00000000000..38d9413ca8c --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp @@ -0,0 +1,64 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +//#define OBB_DEBUG_BENCHMARK + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + +void +bench(const char* fname) +{ + std::vector sm_points, obb_points; + std::ifstream in(fname); + + K::Point_3 p; + int i = 0; + while(in >> p){ + + if(i % 2 == 0) // avoid normals + { + sm_points.push_back(p); + } + ++i; + } + + std::cout << "input data (points + normals)= " << i << std::endl; + std::cout << "number of points= " << sm_points.size() << std::endl; + + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, false); + + std::cout << "done" << '\n'; + +#ifdef OBB_DEBUG_BENCHMARK + std::cout.precision(17); + for(int i =0; i < obb_points.size(); i++) + { + std::cout << obb_points[i] << std::endl; + } + + CGAL::Surface_mesh mesh; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], + obb_points[6], obb_points[7], mesh); + + std::ofstream out("/tmp/result_obb.off"); + out << mesh; + out.close(); +#endif + +} + +int main(int argc, char* argv[]) +{ + bench(argv[1]); + + return 0; +} diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp new file mode 100644 index 00000000000..d4ad8de002a --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp @@ -0,0 +1,138 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +//#define OBB_DEBUG_BENCHMARK + + +typedef Eigen::MatrixXd MatrixXd; +typedef Eigen::Matrix3d Matrix3d; + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + + +bool assert_doubles(double d1, double d2, double epsilon) +{ + return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; +} + +/* +template +void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) +{ + typedef typename boost::property_map::const_type Vpm; + typedef typename boost::property_traits::reference Point_ref; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + Vpm vpm = get(boost::vertex_point, sm); + + mat.resize(vertices(sm).size(), 3); + std::size_t i = 0; + for(vertex_descriptor v : vertices(sm)) + { + Point_ref p = get(vpm, v); + mat(i, 0) = p.x(); + mat(i, 1) = p.y(); + mat(i, 2) = p.z(); + ++i; + } +} +*/ + +template +void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) +{ + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::type PointPMap; + PointPMap pmap = get(boost::vertex_point, mesh); + BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) + points.push_back(get(pmap, v)); +} + +template +double calculate_volume(std::vector points) +{ + CGAL::Bbox_3 bbox; + bbox = bbox_3(points.begin(), points.end()); + K::Iso_cuboid_3 ic(bbox); + return ic.volume(); +} + +void bench_finding_obb(std::string fname) +{ + std::ifstream input(fname); + + std::vector sm_points; + + // import a mesh + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + // get mesh points + gather_mesh_points(mesh, sm_points); + + CGAL::Timer timer; + timer.start(); + + // 1) using convex hull + std::vector obb_points1; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points1, true); + + timer.stop(); + std::cout << "found obb with convex hull: " << timer.time() << " seconds\n"; + + timer.reset(); + timer.start(); + + // 2) without convex hull + std::vector obb_points2; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points2, false); + + timer.stop(); + + std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; + timer.reset(); + + + double epsilon = 1e-3; + double vol1 = calculate_volume(obb_points1); + double vol2 = calculate_volume(obb_points2); + //std::cout << "vol1= " << vol1 << " -- " << "vol2= " << vol2 << std::endl; + + +#ifdef OBB_DEBUG_BENCHMARK + CGAL::Surface_mesh result_mesh1; + CGAL::make_hexahedron(obb_points1[0], obb_points1[1], obb_points1[2], obb_points1[3], + obb_points1[4], obb_points1[5], obb_points1[6], obb_points1[7], + result_mesh1); + + + CGAL::Surface_mesh result_mesh2; + CGAL::make_hexahedron(obb_points2[0], obb_points2[1], obb_points2[2], obb_points2[3], + obb_points2[4], obb_points2[5], obb_points2[6], obb_points2[7], + result_mesh2); + + std::ofstream out1("data/obb_result1.off"); + out1 << result_mesh1; + out1.close(); + + std::ofstream out2("data/obb_result2.off"); + out2 << result_mesh2; + out2.close(); +#endif +} + +int main(int argc, char* argv[]) +{ + bench_finding_obb("data/elephant.off"); + + return 0; +} diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp new file mode 100644 index 00000000000..71b8b86be7c --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp @@ -0,0 +1,78 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +//#define OBB_DEBUG_BENCHMARK + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + +void bench_finding_obb(std::string fname) +{ + std::ifstream input(fname); + + // import a mesh + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + + CGAL::Timer timer; + std::size_t measurements = 4; + + for (std::size_t t = 0; t < measurements; ++t) + { + std::cout << "#vertices= " << vertices(mesh).size() << " |"; + + timer.start(); + + // 1) using convex hull + CGAL::Surface_mesh obb_mesh1; + CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh1, true); + + timer.stop(); + std::cout << " with ch: " << timer.time() << " s |"; + + timer.reset(); + timer.start(); + + // 2) without convex hull + CGAL::Surface_mesh obb_mesh2; + CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh2, false); + + timer.stop(); + + std::cout << " without ch: " << timer.time() << " s\n"; + timer.reset(); + + // 3) subdivision + CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, + CGAL::parameters::number_of_iterations(1)); + } + + +#ifdef OBB_DEBUG_BENCHMARK + std::ofstream out1("data/obb_result1.off"); + out1 << obb_points1; + out1.close(); + + std::ofstream out2("data/obb_result2.off"); + out2 << obb_points2; + out2.close(); +#endif +} + +int main(int argc, char* argv[]) +{ + bench_finding_obb("data/elephant.off"); + + return 0; +} diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/elephant.off 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506 2610 +3 2602 2604 1573 +3 974 549 968 +3 1572 2605 1574 +3 2602 1573 2603 +3 2612 2613 2614 +3 2613 1578 2614 +3 79 552 234 +3 852 79 234 +3 2605 515 2606 +3 2609 2603 1573 +3 2609 2610 2603 +3 515 498 2606 +3 2603 2610 503 +3 2616 1593 2608 +3 2612 2611 504 +3 2612 2615 2611 +3 1952 2619 1951 +3 2607 1572 2616 +3 1576 515 1575 +3 1576 1575 2601 +3 2613 2612 504 +3 2612 1577 2615 +3 1577 1994 2615 +3 1577 1579 1994 +3 1769 1579 1577 +3 1573 2607 2618 +3 2619 1953 290 +3 2616 2617 1593 +3 1572 2617 2616 +3 2617 1572 1588 +3 2620 1413 10 +3 2621 2620 10 +3 1429 2621 10 +3 10 2529 1429 +3 2529 1428 1429 +3 441 1413 2623 +3 585 2626 2625 +3 1642 1641 2624 +3 1648 1642 2624 +3 585 2625 2627 +3 608 1644 1643 +3 2625 1649 1648 +3 708 709 581 +3 398 2634 2631 +3 2635 2631 1638 +3 2629 2627 709 +3 2630 2628 2629 +3 2627 2624 709 +3 2627 2625 2624 +3 1648 2624 2625 +3 2629 708 2630 +3 2635 1638 577 +3 2628 2630 580 +3 398 803 802 +3 2633 2634 585 +3 2633 585 2632 +3 398 2631 2635 +3 2632 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1592 512 514 +3 397 803 804 +3 2012 2010 699 +3 2668 578 2673 +3 1640 2671 2667 +3 2012 699 2673 +3 578 1725 2673 +3 2760 2756 2222 +3 1638 2628 2675 +3 2675 2628 580 +3 580 2674 2675 +3 398 2636 804 +3 398 2635 2636 +3 1637 2675 2674 +3 2674 1640 1637 +3 1645 583 579 +3 1120 2677 1117 +3 2756 2760 2221 +3 1957 1115 1958 +3 1117 2677 960 +3 2682 243 2127 +3 832 2680 2679 +3 2392 374 2683 +3 371 2392 2683 +3 53 2683 1269 +3 367 1269 1268 +3 1269 374 1268 +3 374 1269 2683 +3 867 978 2685 +3 1054 2686 866 +3 1054 2294 2686 +3 905 904 2688 +3 905 322 904 +3 146 2696 363 +3 2691 111 905 +3 2690 2693 2694 +3 896 145 2699 +3 2690 300 2693 +3 2690 22 300 +3 363 2695 898 +3 2690 2696 22 +3 2692 304 111 +3 2699 898 2698 +3 2698 897 2699 +3 1501 22 2696 +3 359 145 896 +3 2700 2699 897 +3 899 2700 897 +3 302 2700 899 +3 2702 1774 1773 +3 1785 2702 1773 +3 2702 1785 519 +3 435 444 436 +3 2713 1440 437 +3 521 1771 1770 +3 527 1355 1354 +3 2715 467 2716 +3 2710 839 2711 +3 1800 2751 2336 +3 957 2705 411 +3 2707 2661 2706 +3 417 957 955 +3 2705 2712 785 +3 2708 415 1435 +3 415 838 1435 +3 1795 1780 2746 +3 2711 2708 418 +3 2710 2711 418 +3 492 1449 1661 +3 839 415 2711 +3 191 1435 2715 +3 2715 1435 2714 +3 1431 2719 1430 +3 1430 2719 1419 +3 1431 2718 2719 +3 2718 1431 1432 +3 2718 437 2719 +3 1701 1419 2719 +3 753 755 309 +3 14 306 308 +3 1017 2395 161 +3 308 307 153 +3 539 2729 2730 +3 2732 2731 537 +3 239 2731 2732 +3 2735 185 1887 +3 532 185 2735 +3 2733 522 239 +3 2733 239 2732 +3 97 2742 274 +3 2742 97 1168 +3 2741 573 1206 +3 1207 2737 2741 +3 939 2748 2749 +3 2753 1778 939 +3 2749 2747 1710 +3 1782 571 2755 +3 1779 2755 2754 +3 2541 2762 2540 +3 2196 2758 2757 +3 1007 2758 2196 +3 2758 1007 2759 +3 2759 1112 1961 +3 2225 2761 2757 +3 2756 2757 2761 +3 387 2764 1470 +3 2766 824 826 +3 825 824 2768 +3 1703 1585 2771 +3 1042 875 2769 + From 2571c7719e393f8cf5af89454f560f0cb145469c Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 9 May 2018 15:26:56 +0200 Subject: [PATCH 023/150] abstract interface for eigen dense matrix --- .../Optimal_bounding_box/bench_custom.cpp | 1 - .../Optimal_bounding_box/bench_obb.cpp | 4 - .../Optimal_bounding_box/bench_perfomance.cpp | 1 - .../Optimal_bounding_box/fitness_function.h | 2 +- .../Optimal_bounding_box/linear_algebra.h | 15 +- .../include/CGAL/Optimal_bounding_box/obb.h | 41 ++- .../optimization_algorithms.h | 4 +- .../CGAL/Optimal_bounding_box/population.h | 6 +- .../test_linear_algebra_functions.cpp | 260 ++++++++++++++++-- .../test_optimization_algorithms.cpp | 158 +++++++++-- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 2 +- .../CGAL/Eigen_linear_algebra_traits.h | 158 +++++++++++ 12 files changed, 593 insertions(+), 59 deletions(-) create mode 100644 Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp index 38d9413ca8c..aad2ef10026 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp @@ -5,7 +5,6 @@ #include #include #include -#include #include #include diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp index d4ad8de002a..ae604898449 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp @@ -5,16 +5,12 @@ #include #include #include -#include #include //#define OBB_DEBUG_BENCHMARK -typedef Eigen::MatrixXd MatrixXd; -typedef Eigen::Matrix3d Matrix3d; - typedef CGAL::Exact_predicates_inexact_constructions_kernel K; diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp index 71b8b86be7c..a35fc86bf13 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp @@ -5,7 +5,6 @@ #include #include #include -#include #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 96146b6cb58..0c214432083 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -43,7 +43,7 @@ const double compute_fitness(const Vertex& R, const Matrix& data) double xmin, xmax, ymin, ymax, zmin, zmax; for(int i = 0; i < data.rows(); i++){ - Eigen::Vector3d vec = data.row(i); + Matrix vec = data.row(i); vec = R * vec; if(i == 0){ diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index e10aaa7c24b..5d7e1ffbc75 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -82,19 +82,26 @@ Matrix mean(const Matrix& m1, const Matrix& m2) CGAL_assertion(m2.cols() == 3); CGAL_assertion(m2.cols() == 3); - Matrix contract = 0.5 * m1 + 0.5 * m2; + Matrix reduction = 0.5 * m1 + 0.5 * m2; Matrix Q; - qr_factorization(contract, Q); + //qr_factorization(contract, Q); + + reduction.qr_factorization(Q); + double det = Q.determinant(); return Q / det; } template -const Matrix centroid(Matrix& S1, Matrix& S2, Matrix& S3) +const Matrix centroid(Matrix& S1, Matrix& S2, Matrix& S3) // const? { Matrix mean = (S1 + S2 + S3) / 3.0; Matrix Q; - qr_factorization(mean, Q); + //qr_factorization(mean, Q); + + mean.qr_factorization(Q); + + double det = Q.determinant(); return Q / det; } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index c58a5c2adfb..870b122f621 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -34,7 +34,8 @@ #include #include -#include +//#include +#include namespace CGAL { @@ -124,7 +125,8 @@ void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) std::vector v_points; // Simplex -> std::vector for(std::size_t i = 0; i < rotated_points.rows(); ++i) { - Point p(rotated_points.coeff(i, 0), rotated_points.coeff(i, 1), rotated_points.coeff(i, 2)); + //Point p(rotated_points.coeff(i, 0), rotated_points.coeff(i, 1), rotated_points.coeff(i, 2)); + Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); v_points.push_back(p); } CGAL::Bbox_3 bbox; @@ -138,9 +140,17 @@ void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) for(std::size_t i = 0; i < 8; ++i) { + /* aabb.coeffRef(i, 0) = ic[i].x(); aabb.coeffRef(i, 1) = ic[i].y(); aabb.coeffRef(i, 2) = ic[i].z(); + */ + + aabb.set_coef(i, 0, ic[i].x()); + aabb.set_coef(i, 1, ic[i].y()); + aabb.set_coef(i, 2, ic[i].z()); + + } // 3) apply inverse rotation to rotated AABB @@ -154,9 +164,16 @@ void fill_matrix(std::vector& v_points, Matrix& points_mat) for(std::size_t i = 0; i < v_points.size(); ++i) { Point p = v_points[i]; + /* points_mat.coeffRef(i, 0) = p.x(); points_mat.coeffRef(i, 1) = p.y(); points_mat.coeffRef(i, 2) = p.z(); + */ + + points_mat.set_coef(i, 0, p.x()); + points_mat.set_coef(i, 1, p.y()); + points_mat.set_coef(i, 2, p.z()); + } } @@ -175,8 +192,12 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u CGAL_assertion(obb_points.size() == 8); // using eigen internally - typedef Eigen::MatrixXd MatrixXd; // for point data - typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices + //typedef Eigen::MatrixXd MatrixXd; // for point data + //typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices + + // todo: sort out typedefs + typedef CGAL::Eigen_dense_matrix MatrixXd; // for point data + typedef CGAL::Eigen_dense_matrix Matrix3d; // for matrices in simplices MatrixXd points_mat; @@ -198,17 +219,23 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u fill_matrix(points, points_mat); } - Matrix3d R; + //Matrix3d R; // todo: sort out preallocation + Matrix3d R(3, 3); std::size_t max_generations = 100; CGAL::Optimal_bounding_box::evolution(R, points_mat, max_generations); - Eigen::Matrix obb; + //Eigen::Matrix obb; + + CGAL::Eigen_dense_matrix obb; // compile time preallocation?? + obb.resize(8, 3); + CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); // matrix -> vector for(std::size_t i = 0; i < 8; ++i) { - Point p(obb.coeff(i, 0), obb.coeff(i, 1), obb.coeff(i, 2)); + //Point p(obb.coeff(i, 0), obb.coeff(i, 1), obb.coeff(i, 2)); + Point p(obb(i, 0), obb(i, 1), obb(i, 2)); obb_points[i] = p; } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 3e7b45ddd11..598d75c6192 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -259,7 +259,9 @@ void genetic_algorithm(Population& pop, const Matrix& points) } // qr factorization of the offspring - qr_factorization(offspring); + qr_factorization(offspring); + + offspringsB[i] = offspring; } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index ab5e27299c8..b86a5101ab4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -103,7 +103,8 @@ private: create_vertex(R); Matrix Q; // no allocation - qr_factorization(R, Q); + //qr_factorization(R, Q); + R.qr_factorization(Q); simplex[i] = Q; } CGAL_assertion(simplex.size() == 4); @@ -118,7 +119,8 @@ private: { for(std::size_t j = 0; j < 3; ++j) { - R.coeffRef(i, j) = random_generator.get_double(); + //R.coeffRef(i, j) = random_generator.get_double(); + R.set_coef(i, j, random_generator.get_double()); } } } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index a36313eacce..7565df7e56f 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -5,6 +5,7 @@ #include #include +#include typedef Eigen::Matrix3d Matrix3d; @@ -15,13 +16,29 @@ bool assert_doubles(double d1, double d2, double epsilon) void test_qr_factorization() { - Matrix3d A(3, 3); + CGAL::Eigen_dense_matrix A(3, 3); + /* A << 0.3011944, 0.9932761, 0.5483701, 0.5149142, 0.5973263, 0.5162336, 0.0039213, 0.0202949, 0.9240308; + */ + + A.set_coef(0, 0, 0.3011944); + A.set_coef(0, 1, 0.9932761); + A.set_coef(0, 2, 0.5483701); + A.set_coef(1, 0, 0.5149142); + A.set_coef(1, 1, 0.5973263); + A.set_coef(1, 2, 0.5162336); + A.set_coef(2, 0, 0.0039213); + A.set_coef(2, 1, 0.0202949); + A.set_coef(2, 2, 0.9240308); + + CGAL::Eigen_dense_matrix Q; + //CGAL::Optimal_bounding_box::qr_factorization(A, Q); + + A.qr_factorization(Q); + - Matrix3d Q; - CGAL::Optimal_bounding_box::qr_factorization(A, Q); double epsilon = 1e-6; CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); @@ -37,16 +54,52 @@ void test_qr_factorization() void test_fitness_function() { - Eigen::Matrix data_points(4, 3); + //Eigen::Matrix data_points(4, 3); + CGAL::Eigen_dense_matrix data_points(4, 3); + + /* data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; + */ - Matrix3d rotation(3, 3); + data_points.set_coef(0, 0, 0.866802); + data_points.set_coef(0, 1, 0.740808); + data_points.set_coef(0, 2, 0.895304); + + data_points.set_coef(1, 0, 0.912651); + data_points.set_coef(1, 1, 0.761565); + data_points.set_coef(1, 2, 0.160330); + + data_points.set_coef(2, 0, 0.093661); + data_points.set_coef(2, 1, 0.892578); + data_points.set_coef(2, 2, 0.737412); + + data_points.set_coef(3, 0, 0.166461); + data_points.set_coef(3, 1, 0.149912); + data_points.set_coef(3, 2, 0.364944); + + + + //Matrix3d rotation(3, 3); + CGAL::Eigen_dense_matrix rotation(3, 3); + /* rotation << -0.809204, 0.124296, 0.574230, -0.574694, 0.035719, -0.817589, -0.122134, -0.991602, 0.042528; + */ + + + rotation.set_coef(0, 0, -0.809204); + rotation.set_coef(0, 1, 0.124296); + rotation.set_coef(0, 2, 0.574230); + rotation.set_coef(1, 0, -0.574694); + rotation.set_coef(1, 1, 0.035719); + rotation.set_coef(1, 2, -0.817589); + rotation.set_coef(2, 0, -0.122134); + rotation.set_coef(2, 1, -0.991602); + rotation.set_coef(2, 2, 0.042528); double fitness = CGAL::Optimal_bounding_box::compute_fitness(rotation, data_points); CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); @@ -55,17 +108,46 @@ void test_fitness_function() void test_simplex_operations() { - Matrix3d Sc(3, 3); + //Matrix3d Sc(3, 3); + CGAL::Eigen_dense_matrix Sc(3, 3); + /* Sc << -0.809204, 0.124296, 0.574230, -0.574694, 0.035719, -0.817589, -0.122134, -0.991602, 0.042528; + */ - Matrix3d S_worst(3, 3); + Sc.set_coef(0, 0, -0.809204); + Sc.set_coef(0, 1, 0.124296); + Sc.set_coef(0, 2, 0.574230); + Sc.set_coef(1, 0, -0.574694); + Sc.set_coef(1, 1, 0.035719); + Sc.set_coef(1, 2, -0.817589); + Sc.set_coef(2, 0, -0.122134); + Sc.set_coef(2, 1, -0.991602); + Sc.set_coef(2, 2, 0.042528); + + + + CGAL::Eigen_dense_matrix S_worst(3, 3); + /* S_worst << -0.45070, -0.32769, -0.83035, -0.13619, -0.89406, 0.42675, -0.88222, 0.30543, 0.35833; + */ - Matrix3d Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + + S_worst.set_coef(0, 0, -0.45070); + S_worst.set_coef(0, 1, -0.32769); + S_worst.set_coef(0, 2, -0.83035); + S_worst.set_coef(1, 0, -0.13619); + S_worst.set_coef(1, 1, -0.89406); + S_worst.set_coef(1, 2, 0.42675); + S_worst.set_coef(2, 0, -0.88222); + S_worst.set_coef(2, 1, 0.30543); + S_worst.set_coef(2, 2, 0.35833); + + + CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); double epsilon = 1e-5; CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); @@ -77,7 +159,7 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); - Matrix3d Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + CGAL::Eigen_dense_matrix Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); @@ -88,17 +170,45 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); - Matrix3d S_a(3, 3); + CGAL::Eigen_dense_matrix S_a(3, 3); + /* S_a << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, -0.775035, -0.293982, 0.559370; + */ - Matrix3d S_b(3, 3); + + S_a.set_coef(0, 0, -0.277970); + S_a.set_coef(0, 1, 0.953559); + S_a.set_coef(0, 2, 0.116010); + S_a.set_coef(1, 0, -0.567497); + S_a.set_coef(1, 1, -0.065576); + S_a.set_coef(1, 2, -0.820760); + S_a.set_coef(2, 0, -0.775035); + S_a.set_coef(2, 1, -0.293982); + S_a.set_coef(2, 2, 0.559370); + + + CGAL::Eigen_dense_matrix S_b(3, 3); + /* S_b << -0.419979, 0.301765, -0.855894, -0.653011, -0.755415, 0.054087, -0.630234, 0.581624, 0.514314; + */ - Matrix3d S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); + + S_b.set_coef(0, 0, -0.419979); + S_b.set_coef(0, 1, 0.301765); + S_b.set_coef(0, 2, -0.8558940); + S_b.set_coef(1, 0, -0.653011); + S_b.set_coef(1, 1, -0.755415); + S_b.set_coef(1, 2, 0.054087); + S_b.set_coef(2, 0, -0.630234); + S_b.set_coef(2, 1, 0.581624); + S_b.set_coef(2, 2, 0.514314); + + + CGAL::Eigen_dense_matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); @@ -112,22 +222,61 @@ void test_simplex_operations() void test_centroid() { - Matrix3d S_a(3, 3); + CGAL::Eigen_dense_matrix S_a(3, 3); + /* S_a << -0.588443, 0.807140, -0.047542, -0.786228, -0.584933, -0.199246, -0.188629, -0.079867, 0.978795; + */ - Matrix3d S_b(3, 3); + S_a.set_coef(0, 0, -0.588443); + S_a.set_coef(0, 1, 0.807140); + S_a.set_coef(0, 2, -0.047542); + S_a.set_coef(1, 0, -0.786228); + S_a.set_coef(1, 1, -0.584933); + S_a.set_coef(1, 2, -0.199246); + S_a.set_coef(2, 0, -0.188629); + S_a.set_coef(2, 1, -0.079867); + S_a.set_coef(2, 2, 0.978795); + + CGAL::Eigen_dense_matrix S_b(3, 3); + /* S_b << -0.2192721, 0.2792986, -0.9348326, -0.7772152, -0.6292092, -0.0056861, -0.5897934, 0.7253193, 0.3550431; + */ - Matrix3d S_c(3, 3); + S_b.set_coef(0, 0, -0.2192721); + S_b.set_coef(0, 1, 0.2792986); + S_b.set_coef(0, 2, -0.9348326); + S_b.set_coef(1, 0, -0.7772152); + S_b.set_coef(1, 1, -0.6292092); + S_b.set_coef(1, 2, -0.005686); + S_b.set_coef(2, 0, -0.5897934); + S_b.set_coef(2, 1, 0.7253193); + S_b.set_coef(2, 2, 0.3550431); + + CGAL::Eigen_dense_matrix S_c(3, 3); + /* S_c << -0.32657, -0.60013, -0.73020, -0.20022, -0.71110, 0.67398, -0.92372, 0.36630, 0.11207; + */ - Matrix3d S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); + S_c.set_coef(0, 0, -0.32657); + S_c.set_coef(0, 1, -0.60013); + S_c.set_coef(0, 2, -0.730206); + S_c.set_coef(1, 0, -0.20022); + S_c.set_coef(1, 1, -0.71110); + S_c.set_coef(1, 2, 0.67398); + S_c.set_coef(2, 0, -0.92372); + S_c.set_coef(2, 1, 0.36630); + S_c.set_coef(2, 2, 0.11207); + + + + + CGAL::Eigen_dense_matrix S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); double epsilon = 1e-5; CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); @@ -140,12 +289,91 @@ void test_centroid() CGAL_assertion(assert_doubles(S_centroid(2,2), 0.514314, epsilon)); } + +void test_eigen_matrix_interface() +{ + CGAL::Eigen_dense_matrix A(3, 3); + A.set_coef(0, 0, 0.1); + A.set_coef(0, 1, 0.2); + A.set_coef(0, 2, 0.3); + A.set_coef(1, 0, 0.4); + A.set_coef(1, 1, 0.5); + A.set_coef(1, 2, 0.6); + A.set_coef(2, 0, 0.7); + A.set_coef(2, 1, 0.8); + A.set_coef(2, 2, 0.9); + CGAL::Eigen_dense_matrix B = A.transpose(); + + CGAL::Eigen_dense_matrix S = 0.5 * A; + + CGAL::Eigen_dense_matrix C(3,3); + C.set_coef(0, 0, 0.3011944); + C.set_coef(0, 1, 0.9932761); + C.set_coef(0, 2, 0.5483701); + C.set_coef(1, 0, 0.5149142); + C.set_coef(1, 1, 0.5973263); + C.set_coef(1, 2, 0.5162336); + C.set_coef(2, 0, 0.0039213); + C.set_coef(2, 1, 0.0202949); + C.set_coef(2, 2, 0.9240308); + + CGAL::Eigen_dense_matrix Q(3,3); + C.qr_factorization(Q); + + double epsilon = 1e-5; + CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); + CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); + CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); + CGAL_assertion(assert_doubles(Q(1,0), -0.863156, epsilon)); + CGAL_assertion(assert_doubles(Q(1,1), -0.504894, epsilon)); + CGAL_assertion(assert_doubles(Q(1,2), 0.006687, epsilon)); + CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); + CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); + CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); + + CGAL::Eigen_dense_matrix D(3,3); + D.set_coef(0, 0, -0.809204); + D.set_coef(0, 1, 0.124296); + D.set_coef(0, 2, 0.574230); + D.set_coef(1, 0, -0.574694); + D.set_coef(1, 1, 0.035719); + D.set_coef(1, 2, -0.817589); + D.set_coef(2, 0, -0.122134); + D.set_coef(2, 1, -0.991602); + D.set_coef(2, 2, 0.042528); + + CGAL::Eigen_dense_matrix E(3,3); + E.set_coef(0, 0, -0.45070); + E.set_coef(0, 1, -0.32769); + E.set_coef(0, 2, -0.83035); + E.set_coef(1, 0, -0.13619); + E.set_coef(1, 1, -0.89406); + E.set_coef(1, 2, 0.42675); + E.set_coef(2, 0, -0.88222); + E.set_coef(2, 1, 0.30543); + E.set_coef(2, 2, 0.35833); + + CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E); + CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); + CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); + CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,0), -0.60307, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,1), -0.11875, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,2), 0.78880, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,0), -0.78642, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); +} + int main() { test_qr_factorization(); test_fitness_function(); + test_simplex_operations(); + test_centroid(); + test_eigen_matrix_interface(); return 0; } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index bb72757c76f..8515ee37534 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -5,10 +5,16 @@ #include #include #include -#include -typedef Eigen::MatrixXd MatrixXd; -typedef Eigen::Matrix3d Matrix3d; +#include +#include + +//typedef Eigen::MatrixXd MatrixXd; +//typedef Eigen::Matrix3d Matrix3d; + +// todo: sort this out +typedef CGAL::Eigen_dense_matrix MatrixXd; +typedef CGAL::Eigen_dense_matrix Matrix3d; typedef CGAL::Exact_predicates_inexact_constructions_kernel K; @@ -31,9 +37,16 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) for(vertex_descriptor v : vertices(sm)) { Point_ref p = get(vpm, v); + /* mat.coeffRef(i, 0) = p.x(); mat.coeffRef(i, 1) = p.y(); mat.coeffRef(i, 2) = p.z(); + */ + + mat.set_coef(i, 0, p.x()); + mat.set_coef(i, 1, p.y()); + mat.set_coef(i, 2, p.z()); + ++i; } } @@ -82,34 +95,109 @@ void test_population() void test_nelder_mead() { - Eigen::Matrix data_points(4, 3); + //Eigen::Matrix data_points(4, 3); + + CGAL::Eigen_dense_matrix data_points(4,3); + + /* data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; + */ + + data_points(0,0) = 0.866802; + data_points(0,1) = 0.740808, + data_points(0,2) = 0.895304, + data_points(1,0) = 0.912651; + data_points(1,1) = 0.761565; + data_points(1,2) = 0.160330; + data_points(2,0) = 0.093661; + data_points(2,1) = 0.892578; + data_points(2,2) = 0.737412; + data_points(3,0) = 0.166461; + data_points(3,1) = 0.149912, + data_points(3,2) = 0.364944; // one simplex - std::vector simplex(4); + //std::vector simplex(4); + std::vector> simplex(4); - Matrix3d v0; + + + //Matrix3d v0; + CGAL::Eigen_dense_matrix v0(3,3); + + /* v0 << -0.2192721, 0.2792986, -0.9348326, -0.7772152, -0.6292092, -0.0056861, -0.5897934, 0.7253193, 0.3550431; + */ - Matrix3d v1; + v0(0,0) = -0.2192721; + v0(0,1) = 0.2792986, + v0(0,2) = -0.9348326, + v0(1,0) = -0.7772152; + v0(1,1) = -0.6292092; + v0(1,2) = -0.0056861; + v0(2,0) = -0.5897934; + v0(2,1) = 0.7253193; + v0(2,2) = 0.3550431; + + + //Matrix3d v1; + //Matrix3d v2; + //Matrix3d v3; + + CGAL::Eigen_dense_matrix v1(3,3); + CGAL::Eigen_dense_matrix v2(3,3); + CGAL::Eigen_dense_matrix v3(3,3); + + + /* v1 << -0.588443, 0.807140, -0.047542, -0.786228, -0.584933, -0.199246, -0.188629, -0.079867, 0.978795; - Matrix3d v2; v2 << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, -0.775035, -0.293982, 0.559370; - Matrix3d v3; v3 << -0.32657, -0.60013, -0.73020, -0.20022, -0.71110, 0.67398, -0.92372, 0.36630, 0.11207; + */ + + v1(0,0) = -0.588443; + v1(0,1) = 0.807140; + v1(0,2) = -0.047542; + v1(1,0) = -0.786228; + v1(1,1) = -0.584933; + v1(1,2) = -0.199246; + v1(2,0) = -0.188629; + v1(2,1) = -0.079867; + v1(2,2) = 0.978795; + + v2(0,0) = -0.277970; + v2(0,1) = 0.953559; + v2(0,2) = 0.116010; + v2(1,0) = -0.567497; + v2(1,1) = -0.065576; + v2(1,2) = -0.820760; + v2(2,0) = -0.775035; + v2(2,1) = -0.293982; + v2(2,2) = 0.559370; + + v3(0,0) = -0.32657; + v3(0,1) = -0.60013; + v3(0,2) = -0.73020; + v3(1,0) = -0.20022; + v3(1,1) = -0.71110; + v3(1,2) = 0.67398; + v3(2,0) = -0.92372; + v3(2,1) = 0.36630; + v3(2,2) = 0.11207; + simplex[0] = v0; simplex[1] = v1; @@ -121,7 +209,7 @@ void test_nelder_mead() double epsilon = 1e-5; - Matrix3d v0_new = simplex[0]; + CGAL::Eigen_dense_matrix v0_new = simplex[0]; CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); @@ -132,7 +220,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - Matrix3d v1_new = simplex[1]; + CGAL::Eigen_dense_matrix v1_new = simplex[1]; CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); @@ -143,7 +231,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - Matrix3d v2_new = simplex[2]; + CGAL::Eigen_dense_matrix v2_new = simplex[2]; CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); @@ -154,7 +242,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - Matrix3d v3_new = simplex[3]; + CGAL::Eigen_dense_matrix v3_new = simplex[3]; CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); @@ -168,11 +256,27 @@ void test_nelder_mead() void test_genetic_algorithm() { - Eigen::Matrix data_points(4, 3); + //Eigen::Matrix data_points(4, 3); + CGAL::Eigen_dense_matrix data_points(4, 3); + /* data_points << 0.866802, 0.740808, 0.895304, 0.912651, 0.761565, 0.160330, 0.093661, 0.892578, 0.737412, 0.166461, 0.149912, 0.364944; + */ + + data_points(0,0) = 0.866802; + data_points(0,1) = 0.740808, + data_points(0,2) = 0.895304, + data_points(1,0) = 0.912651; + data_points(1,1) = 0.761565; + data_points(1,2) = 0.160330; + data_points(2,0) = 0.093661; + data_points(2,1) = 0.892578; + data_points(2,2) = 0.737412; + data_points(3,0) = 0.166461; + data_points(3,1) = 0.149912, + data_points(3,2) = 0.364944; CGAL::Optimal_bounding_box::Population pop(5); CGAL::Optimal_bounding_box::genetic_algorithm(pop, data_points); @@ -181,11 +285,21 @@ void test_genetic_algorithm() void test_random_unit_tetra() { - Eigen::Matrix data_points(4, 3); // points on their convex hull - data_points << 0.866802, 0.740808, 0.895304, - 0.912651, 0.761565, 0.160330, - 0.093661, 0.892578, 0.737412, - 0.166461, 0.149912, 0.364944; + CGAL::Eigen_dense_matrix data_points(4, 3); // points on their convex hull + + data_points(0,0) = 0.866802; + data_points(0,1) = 0.740808, + data_points(0,2) = 0.895304, + data_points(1,0) = 0.912651; + data_points(1,1) = 0.761565; + data_points(1,2) = 0.160330; + data_points(2,0) = 0.093661; + data_points(2,1) = 0.892578; + data_points(2,2) = 0.737412; + data_points(3,0) = 0.166461; + data_points(3,1) = 0.149912, + data_points(3,2) = 0.364944; + typedef CGAL::Simple_cartesian K; typedef K::Point_3 Point; @@ -205,7 +319,9 @@ void test_random_unit_tetra() out.close(); #endif - Matrix3d R; + //Matrix3d R; // have to sort this out - preallocation + Matrix3d R(3, 3); + std::size_t generations = 10; CGAL::Optimal_bounding_box::evolution(R, data_points, generations); @@ -334,7 +450,7 @@ void test_find_obb(std::string fname) #endif } -void test_find_obb_mesh(std::string fname) +void test_find_obb_mesh(std::string fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 6c158b9e8a8..70b8f765731 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -136,7 +136,7 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) PointPMap pmap = get(CGAL::vertex_point, pmesh); BOOST_FOREACH(vertex_descriptor v, selected_vertices) - points.push_back(get(pmap, v )); + points.push_back(get(pmap, v)); } CGAL_assertion(points.size() >= 3); } diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h new file mode 100644 index 00000000000..51d776f97ce --- /dev/null +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -0,0 +1,158 @@ + +//license + +#ifndef CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H +#define CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H + +#include +#include +#include + + +namespace CGAL { + + +template +class Eigen_dense_matrix +{ + +public: + + typedef Eigen::Matrix EigenType; + typedef Eigen::Vector3d VectorType; + + Eigen_dense_matrix(std::size_t nrows, std::size_t ncols) + : m_matrix(static_cast(nrows), static_cast(ncols)) + { + CGAL_assertion(m_matrix.rows() > 0); + CGAL_assertion(m_matrix.cols() > 0); + } + + Eigen_dense_matrix(int nrows, int ncols) + : m_matrix(nrows, ncols) + { + CGAL_assertion(m_matrix.rows() > 0); + CGAL_assertion(m_matrix.cols() > 0); + } + + Eigen_dense_matrix(const EigenType& eigen_mat) + : m_matrix(eigen_mat) {} + + Eigen_dense_matrix() : m_matrix() {} + + ~Eigen_dense_matrix() {} + + T& operator() (int i_, int j_) + { + return m_matrix(i_, j_); + } + + void set_coef(std::size_t i_, std::size_t j_, T val) + { + int i = static_cast(i_); + int j = static_cast(j_); + CGAL_precondition(i < m_matrix.rows()); + CGAL_precondition(j < m_matrix.cols()); + + m_matrix.coeffRef(i,j) = val; + } + + std::size_t rows() const {return m_matrix.rows();} + std::size_t cols() const {return m_matrix.cols();} + + void resize(int i_, int j_) { m_matrix.resize(i_, j_);} + + const Eigen_dense_matrix row(int i_) const + { + VectorType row = m_matrix.row(i_); + Eigen_dense_matrix r(row); + return r; + } + + const T& coeff(int i_) const + { + return m_matrix.coeff(i_); + } + + const Eigen_dense_matrix transpose() const + { + Eigen_dense_matrix dm(m_matrix.transpose()); + return dm; + //return Eigen_dense_matrix(m_matrix.transpose()); + } + + const double determinant() const + { + return m_matrix.determinant(); + } + + void qr_factorization(Eigen_dense_matrix& Q) + { + Q.resize(m_matrix.rows(), m_matrix.cols()); + Eigen::HouseholderQR qr(m_matrix); + Eigen_dense_matrix qr_mat(qr.householderQ()); + Q = qr_mat; + } + + friend void qr_factorization(std::vector& simplex) + { + for(int i = 0; i < simplex.size(); ++i) + { + Eigen::HouseholderQR qr(simplex[i].m_matrix); + Eigen_dense_matrix Q(qr.householderQ()); + simplex[i] = Q; + } + } + + friend const Eigen_dense_matrix operator* (const Eigen_dense_matrix& A, + const Eigen_dense_matrix& B) + { + const Eigen_dense_matrix product(A.m_matrix * B.m_matrix); + return product; + } + + friend const Eigen_dense_matrix operator* (const T& scalar, + const Eigen_dense_matrix& B) + { + const Eigen_dense_matrix product(scalar * B.m_matrix); + return product; + } + + friend const Eigen_dense_matrix operator+ (const Eigen_dense_matrix& A, + const Eigen_dense_matrix& B) + { + const Eigen_dense_matrix sum_result(A.m_matrix + B.m_matrix); + return sum_result; + } + + friend const Eigen_dense_matrix operator/ (const Eigen_dense_matrix& A, + const double& scalar) + { + const Eigen_dense_matrix product(A.m_matrix / scalar); + return product; + } + + friend const Eigen_dense_matrix operator/ (const double& scalar , + const Eigen_dense_matrix& A) + { + const Eigen_dense_matrix product(scalar / A.m_matrix); + return product; + } + + + +private: + mutable EigenType m_matrix; +}; + + + + + + + +} // end namespace + + + +#endif // CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H From 5380ebac1b0414a626321c15bfc318879fcaad5e Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Mon, 14 May 2018 16:06:52 +0200 Subject: [PATCH 024/150] eigen linear algebra traits --- .../CGAL/Optimal_bounding_box/evolution.h | 375 ++++++++++++++++++ .../Optimal_bounding_box/fitness_function.h | 25 +- .../include/CGAL/Optimal_bounding_box/obb.h | 94 ++++- .../optimization_algorithms.h | 22 +- .../test_linear_algebra_functions.cpp | 79 ++-- .../test_optimization_algorithms.cpp | 207 +++++----- .../CGAL/Eigen_linear_algebra_traits.h | 92 ++++- 7 files changed, 701 insertions(+), 193 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h new file mode 100644 index 00000000000..fe672b5ffb2 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -0,0 +1,375 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + + +#ifndef CGAL_EVOLUTION_H +#define CGAL_EVOLUTION_H + +#include +#include + + +namespace CGAL { +namespace Optimal_bounding_box { + + +template +class Evolution +{ + + typedef typename Linear_algebra_traits::MatrixXd MatrixXd; + typedef typename Linear_algebra_traits::Matrix3d Matrix3d; + typedef typename Linear_algebra_traits::Vector3d Vector3d; + +public: + Evolution(Population& pop, MatrixXd& points) : + population(pop), + point_data(points) + {} + + // simplex: 4 rotation matrices are its vertices + void nelder_mead(std::vector& simplex, std::size_t nelder_mead_iterations) + { + CGAL_assertion(simplex.size() == 4); // tetrahedron + + std::vector fitness(4); + std::vector indices( boost::counting_iterator( 0 ), + boost::counting_iterator( simplex.size() ) ); + + for(std::size_t t = 0; t < nelder_mead_iterations; ++t) + { + for(std::size_t i = 0; i < 4; ++i) + { + fitness[i] = compute_fitness(simplex[i], point_data); + } + + CGAL_assertion(fitness.size() == 4); + CGAL_assertion(indices.size() == 4); + + // get indices of sorted sequence + Comparator compare_indices(fitness); + std::sort(indices.begin(), indices.end(), compare_indices); + + // new sorted simplex & fitness + std::vector s_simplex(4); + std::vector s_fitness(4); + for(int i = 0; i < 4; ++i) + { + s_simplex[i] = simplex[indices[i]]; + s_fitness[i] = fitness[indices[i]]; + } + + simplex = s_simplex; + fitness = s_fitness; + + // centroid + const Matrix3d v_centroid = centroid(simplex[0], simplex[1], simplex[2]); + + // find worst's vertex reflection + const Matrix3d v_worst = simplex[3]; + const Matrix3d v_refl = reflection(v_centroid, v_worst); + const double f_refl = compute_fitness(v_refl, point_data); + + if(f_refl < fitness[2]) + { + if(f_refl >= fitness[0]) // if reflected point is not better than the best + { + // do reflection + simplex[3] = v_refl; + } + else + { + // expansion + const Matrix3d v_expand = expansion(v_centroid, v_worst, v_refl); + const double f_expand = compute_fitness(v_expand, point_data); + if(f_expand < f_refl) + simplex[3] = v_expand; + else + simplex[3] = v_refl; + } + } + else // if reflected vertex is not better + { + const Matrix3d v_mean = mean(v_centroid, v_worst); + const double f_mean = compute_fitness(v_mean, point_data); + if(f_mean <= fitness[3]) + // contraction of worst + simplex[3] = v_mean; + else + { + // reduction: move all vertices towards the best + for(std::size_t i=1; i < 4; ++i) + { + simplex[i] = mean(simplex[i], simplex[0]); + } + } + } + + CGAL_assertion(simplex.size() == 4); // tetrahedron + + } // iterations + } + + + void genetic_algorithm() + { + // random permutations + std::size_t m = population.size(); + + //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored + std::size_t size_first_group = m/2; + std::size_t size_second_group = m - m/2; + + std::vector ids1(m/2), ids2(m/2); + std::vector ids3(m - m/2), ids4(m - m/2); + + CGAL::Random rng; + std::generate(ids1.begin(), ids1.end(), + [&rng, &m] () { return rng.get_int(0, m); }); + std::generate(ids2.begin(), ids2.end(), + [&rng, &m] () { return rng.get_int(0, m); }); + std::generate(ids3.begin(), ids3.end(), + [&rng, &m] () { return rng.get_int(0, m); }); + std::generate(ids4.begin(), ids4.end(), + [&rng, &m] () { return rng.get_int(0, m); }); + + Population group1(m/2), group2(m/2); + Population group3(m - m/2), group4(m - m/2); + + for(std::size_t i = 0; i < ids1.size(); ++i) + group1[i] = population[ids1[i]]; + + for(std::size_t i = 0; i < ids2.size(); ++i) + group2[i] = population[ids2[i]]; + + for(std::size_t i = 0; i < ids3.size(); ++i) + group3[i] = population[ids3[i]]; + + for(std::size_t i = 0; i < ids4.size(); ++i) + group4[i] = population[ids4[i]]; + + #ifdef OBB_DEBUG + check_det(group1); + check_det(group2); + check_det(group3); + check_det(group4); + #endif + + // crossover I + Population offspringsA(size_first_group); + double bias = 0.1; + + for(int i = 0; i < size_first_group; ++i) + { + std::vector offspring(4); + for(int j = 0; j < 4; ++j) + { + double r = rng.get_double(); + double fitnessA = compute_fitness(group1[i][j], point_data); + double fitnessB = compute_fitness(group2[i][j], point_data); + double threshold; + if(fitnessA < fitnessB) + threshold = 0.5 + bias; + else + threshold = 0.5 - bias; + if(r < threshold) // choose A + offspring[j] = group1[i][j]; + else // choose B + offspring[j] = group2[i][j]; + } + offspringsA[i] = offspring; + } + + #ifdef OBB_DEBUG + std::cout << "offspringsA: \n" ; + check_det(offspringsA); + std::cin.get(); + #endif + + // crossover II + Population offspringsB(size_second_group); + bias = 0.1; + + for(int i = 0; i < size_second_group; ++i) + { + std::vector offspring(4); + for(int j = 0; j < 4; ++j) + { + double fitnessA = compute_fitness(group3[i][j], point_data); + double fitnessB = compute_fitness(group4[i][j], point_data); + double lambda; + if(fitnessA < fitnessB) + lambda = 0.5 + bias; + else + lambda = 0.5 - bias; + // combine information from A and B + offspring[j] = lambda * group3[i][j] + lambda * group4[i][j]; + + } + + // qr factorization of the offspring + qr_factorization(offspring); + + + offspringsB[i] = offspring; + } + + #ifdef OBB_DEBUG + std::cout << "offspringsB: \n" ; + check_det(offspringsB); + #endif + + CGAL_assertion(offspringsA.size() == size_first_group); + CGAL_assertion(offspringsB.size() == size_second_group); + CGAL_assertion(offspringsA.size() + offspringsB.size() == population.size()); + + // next generatrion + for(std::size_t i = 0; i < size_first_group; ++i) + { + population[i] = offspringsA[i]; + } + + for(std::size_t i = 0; i < size_second_group; ++i) + { + population[size_first_group + i] = offspringsB[i]; + } + } + + + void evolve(std::size_t generations) + { + + // hardcoded nelder_mead_iterations + std::size_t nelder_mead_iterations = 20; + + // stopping criteria prameters + double prev_fit_value = 0; + double new_fit_value = 0; + double tolerance = 1e-2; + int stale = 0; + + // evolve here + for(std::size_t t = 0; t < generations; ++t) + { + + #ifdef OBB_DEBUG + std::cout << "generation= " << t << "\n"; + #endif + + genetic_algorithm(); + + #ifdef OBB_DEBUG + //std::cout << "pop after genetic" << std::endl; + //pop.show_population(); + //std::cout << std::endl; + #endif + + for(std::size_t s = 0; s < population.size(); ++s) + nelder_mead(population[s], nelder_mead_iterations); + + #ifdef OBB_DEBUG + //std::cout << "pop after nelder mead: " << std::endl; + //pop.show_population(); + //std::cout << std::endl; + + // debugging + Fitness_map fitness_map(pop, point_data); + Matrix R_now = fitness_map.get_best(); + std::cout << "det= " << R_now.determinant() << std::endl; + #endif + + // stopping criteria + Fitness_map fitness_map(population, point_data); + new_fit_value = fitness_map.get_best_fitness_value(point_data); + + double difference = new_fit_value - prev_fit_value; + if(abs(difference) < tolerance * new_fit_value) + stale++; + + if(stale == 5) + break; + + prev_fit_value = new_fit_value; + } + } + + const Matrix3d get_best() // reference ?? + { + Fitness_map fitness_map(population, point_data); + return fitness_map.get_best(); + } + + +private: + + // needed in genetic algorithm + struct Comparator + { + Comparator(std::vector in) : fitness(in) {} + + inline bool operator() (std::size_t& i, std::size_t& j) + { + return fitness[i] < fitness[j]; + } + + std::vector fitness; + }; + + + + // data + Population population; + MatrixXd point_data; + + +}; + + +#ifdef OBB_DEBUG +template +void check_det(Population& pop) +{ + for(int i = 0; i < pop.size(); ++i) + { + for(int j = 0; j < 4; ++j) + { + auto A = pop[i][j]; // Simplex + std::cout << A.determinant() << std::endl; + } + } +} +#endif + + + +}} // end namespaces + + + + + + + + + + + +#endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 0c214432083..5c75819ad43 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -27,11 +27,14 @@ #include #include +#include + namespace CGAL { namespace Optimal_bounding_box { -template -const double compute_fitness(const Vertex& R, const Matrix& data) +template +const double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, + typename Linear_algebra_traits::MatrixXd& data) { // R: rotation matrix CGAL_assertion(R.cols() == 3); @@ -40,10 +43,12 @@ const double compute_fitness(const Vertex& R, const Matrix& data) CGAL_assertion(data.cols() == 3); CGAL_assertion(data.rows() >= 3); + typedef typename Linear_algebra_traits::Vector3d Vector3d; + double xmin, xmax, ymin, ymax, zmin, zmax; for(int i = 0; i < data.rows(); i++){ - Matrix vec = data.row(i); + Vector3d vec = data.row(i); vec = R * vec; if(i == 0){ @@ -59,7 +64,7 @@ const double compute_fitness(const Vertex& R, const Matrix& data) if(vec.coeff(2) > zmax) zmax = vec.coeff(2); } } - + CGAL_assertion(xmax > xmin); CGAL_assertion(ymax > ymin); CGAL_assertion(zmax > zmin); @@ -71,6 +76,8 @@ const double compute_fitness(const Vertex& R, const Matrix& data) template struct Fitness_map { + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; // to be added as a parameter + Fitness_map(Population& p, Matrix& points) : pop(p), points(points) {} @@ -83,7 +90,7 @@ struct Fitness_map for(std::size_t j =0; j < 4; ++j) { const Vertex vertex = pop[i][j]; - const double fitness = compute_fitness(vertex, points); + const double fitness = compute_fitness(vertex, points); if (fitness < best_fitness) { simplex_id = i; @@ -96,13 +103,13 @@ struct Fitness_map return pop[simplex_id][vertex_id]; } - const double get_best_fitness_value(const Matrix& data) + const double get_best_fitness_value(Matrix& data) { - Vertex best_mat = get_best(); - return compute_fitness(best_mat, data); + const Vertex best_mat = get_best(); + return compute_fitness(best_mat, data); } - const Matrix& points; + Matrix& points; Population& pop; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 870b122f621..ad12d735b3b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -24,6 +24,7 @@ #include #include +#include #include #include #include @@ -34,9 +35,9 @@ #include #include -//#include +#if defined(CGAL_EIGEN3_ENABLED) #include - +#endif namespace CGAL { namespace Optimal_bounding_box { @@ -107,7 +108,7 @@ void evolution(Vertex& R, Matrix& points, std::size_t max_generations) // todo: // works on matrices only template -void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) +void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) { CGAL_assertion(points.cols() == 3); CGAL_assertion(R.rows() == 3); @@ -157,6 +158,8 @@ void post_processing(Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) obb = aabb * R; } + +// to be moved into a helper template void fill_matrix(std::vector& v_points, Matrix& points_mat) { @@ -177,11 +180,8 @@ void fill_matrix(std::vector& v_points, Matrix& points_mat) } } -/// @param points point coordinates of the input mesh. -/// @param obb_points the 8 points of the obb. -/// @param use convex hull or not. -/// -/// todo named parameters: max iterations, population size, tolerance. + +// with linear algebra traits template void find_obb(std::vector& points, std::vector& obb_points, bool use_ch) { @@ -191,13 +191,73 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u obb_points.resize(8); CGAL_assertion(obb_points.size() == 8); - // using eigen internally - //typedef Eigen::MatrixXd MatrixXd; // for point data - //typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices + // could be used from a t. parameter + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef typename Linear_algebra_traits::MatrixXd MatrixXd; + typedef typename Linear_algebra_traits::Matrix3d Matrix3d; - // todo: sort out typedefs - typedef CGAL::Eigen_dense_matrix MatrixXd; // for point data - typedef CGAL::Eigen_dense_matrix Matrix3d; // for matrices in simplices + MatrixXd points_mat; + + // get the ch3 + if(use_ch) + { + // find the ch - todo: template kernel + typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel; + CGAL::Polyhedron_3 poly; + convex_hull_3(points.begin(), points.end(), poly); + std::vector ch_points(poly.points_begin(), poly.points_end()); + + // points: vector -> matrix + fill_matrix(ch_points, points_mat); + } + else + { + // points: vector -> matrix + fill_matrix(points, points_mat); + } + + std::size_t max_generations = 100; + Population pop(50); + CGAL::Optimal_bounding_box::Evolution + search_solution(pop, points_mat); + search_solution.evolve(max_generations); + Matrix3d rotation = search_solution.get_best(); + + MatrixXd obb; // could be preallocated at compile time + obb.resize(8, 3); + + post_processing(points_mat, rotation, obb); + + // matrix -> vector + for(std::size_t i = 0; i < 8; ++i) + { + Point p(obb(i, 0), obb(i, 1), obb(i, 2)); + obb_points[i] = p; + } + +} + + +/* + //USES ::EVOLUTION + +/// @param points point coordinates of the input mesh. +/// @param obb_points the 8 points of the obb. +/// @param use convex hull or not. +/// +/// todo named parameters: max iterations, population size, tolerance. +template +void find_obb(std::vector& points, std::vector& obb_points, bool use_ch, bool use_eigen) +{ + CGAL_assertion(points.size() >= 3); + + if(obb_points.size() != 8) // temp sanity until the API is decided + obb_points.resize(8); + CGAL_assertion(obb_points.size() == 8); + + // using eigen internally + typedef Eigen::MatrixXd MatrixXd; // for point data + typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices MatrixXd points_mat; @@ -226,7 +286,7 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u //Eigen::Matrix obb; - CGAL::Eigen_dense_matrix obb; // compile time preallocation?? + MatrixXd obb; // compile time preallocation?? obb.resize(8, 3); CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); @@ -240,13 +300,15 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u } } +*/ + /// @param pmesh the input mesh. /// @param obbmesh the obb in a hexahedron pmesh. /// @param use convex hull or not. /// /// todo named parameters: max iterations, population size, tolerance. template -void find_obb(PolygonMesh& pmesh , PolygonMesh& obbmesh, bool use_ch) +void find_obb(PolygonMesh& pmesh, PolygonMesh& obbmesh, bool use_ch) { CGAL_assertion(vertices(pmesh).size() >= 3); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 598d75c6192..2466ebeb657 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -36,7 +36,7 @@ namespace CGAL { namespace Optimal_bounding_box { - +/* struct Comparator { Comparator(std::vector in) : fitness(in) {} @@ -52,7 +52,7 @@ struct Comparator // points: point coords // simplex: 4 rotation matrices are its vertices template -void nelder_mead(std::vector& simplex, const Matrix& points, std::size_t nb_iterations) +void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_iterations) { CGAL_assertion(simplex.size() == 4); // tetrahedron @@ -65,7 +65,7 @@ void nelder_mead(std::vector& simplex, const Matrix& points, std::size_t { for(std::size_t i = 0; i < 4; ++i) { - fitness[i] = compute_fitness(simplex[i], points); + fitness[i] = compute_fitness_old(simplex[i], points); } CGAL_assertion(fitness.size() == 4); @@ -93,7 +93,7 @@ void nelder_mead(std::vector& simplex, const Matrix& points, std::size_t // find worst's vertex reflection const Vertex v_worst = simplex[3]; const Vertex v_refl = reflection(v_centroid, v_worst); - const double f_refl = compute_fitness(v_refl, points); + const double f_refl = compute_fitness_old(v_refl, points); if(f_refl < fitness[2]) { @@ -106,7 +106,7 @@ void nelder_mead(std::vector& simplex, const Matrix& points, std::size_t { // expansion const Vertex v_expand = expansion(v_centroid, v_worst, v_refl); - const double f_expand = compute_fitness(v_expand, points); + const double f_expand = compute_fitness_old(v_expand, points); if(f_expand < f_refl) simplex[3] = v_expand; else @@ -116,7 +116,7 @@ void nelder_mead(std::vector& simplex, const Matrix& points, std::size_t else // if reflected vertex is not better { const Vertex v_mean = mean(v_centroid, v_worst); - const double f_mean = compute_fitness(v_mean, points); + const double f_mean = compute_fitness_old(v_mean, points); if(f_mean <= fitness[3]) // contraction of worst simplex[3] = v_mean; @@ -216,8 +216,8 @@ void genetic_algorithm(Population& pop, const Matrix& points) for(int j = 0; j < 4; ++j) { double r = rng.get_double(); - double fitnessA = compute_fitness(group1[i][j], points); - double fitnessB = compute_fitness(group2[i][j], points); + double fitnessA = compute_fitness_old(group1[i][j], points); + double fitnessB = compute_fitness_old(group2[i][j], points); double threshold; if(fitnessA < fitnessB) threshold = 0.5 + bias; @@ -246,8 +246,8 @@ void genetic_algorithm(Population& pop, const Matrix& points) std::vector offspring(4); for(int j = 0; j < 4; ++j) { - double fitnessA = compute_fitness(group3[i][j], points); - double fitnessB = compute_fitness(group4[i][j], points); + double fitnessA = compute_fitness_old(group3[i][j], points); + double fitnessB = compute_fitness_old(group4[i][j], points); double lambda; if(fitnessA < fitnessB) lambda = 0.5 + bias; @@ -286,6 +286,7 @@ void genetic_algorithm(Population& pop, const Matrix& points) } } +*/ #ifdef OBB_DEBUG template @@ -302,6 +303,7 @@ void check_det(Population& pop) } #endif + } } // end namespaces diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 7565df7e56f..291f377ea16 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -3,7 +3,6 @@ #include #include #include -#include #include @@ -16,7 +15,7 @@ bool assert_doubles(double d1, double d2, double epsilon) void test_qr_factorization() { - CGAL::Eigen_dense_matrix A(3, 3); + CGAL::Eigen_dense_matrix A(3, 3); /* A << 0.3011944, 0.9932761, 0.5483701, 0.5149142, 0.5973263, 0.5162336, @@ -33,9 +32,9 @@ void test_qr_factorization() A.set_coef(2, 1, 0.0202949); A.set_coef(2, 2, 0.9240308); - CGAL::Eigen_dense_matrix Q; - //CGAL::Optimal_bounding_box::qr_factorization(A, Q); + CGAL::Eigen_dense_matrix Q; + //CGAL::Optimal_bounding_box::qr_factorization(A, Q); A.qr_factorization(Q); @@ -54,15 +53,9 @@ void test_qr_factorization() void test_fitness_function() { - //Eigen::Matrix data_points(4, 3); - CGAL::Eigen_dense_matrix data_points(4, 3); - /* - data_points << 0.866802, 0.740808, 0.895304, - 0.912651, 0.761565, 0.160330, - 0.093661, 0.892578, 0.737412, - 0.166461, 0.149912, 0.364944; - */ + typedef typename CGAL::Eigen_linear_algebra_traits::MatrixXd MatrixXd; + MatrixXd data_points(4, 3); data_points.set_coef(0, 0, 0.866802); data_points.set_coef(0, 1, 0.740808); @@ -81,16 +74,8 @@ void test_fitness_function() data_points.set_coef(3, 2, 0.364944); - - //Matrix3d rotation(3, 3); - CGAL::Eigen_dense_matrix rotation(3, 3); - /* - rotation << -0.809204, 0.124296, 0.574230, - -0.574694, 0.035719, -0.817589, - -0.122134, -0.991602, 0.042528; - */ - - + typedef typename CGAL::Eigen_linear_algebra_traits::Matrix3d Matrix3d; + Matrix3d rotation; rotation.set_coef(0, 0, -0.809204); rotation.set_coef(0, 1, 0.124296); rotation.set_coef(0, 2, 0.574230); @@ -101,15 +86,16 @@ void test_fitness_function() rotation.set_coef(2, 1, -0.991602); rotation.set_coef(2, 2, 0.042528); - double fitness = CGAL::Optimal_bounding_box::compute_fitness(rotation, data_points); - CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + double fitness = CGAL::Optimal_bounding_box::compute_fitness (rotation, data_points); + CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); } void test_simplex_operations() { //Matrix3d Sc(3, 3); - CGAL::Eigen_dense_matrix Sc(3, 3); + CGAL::Eigen_dense_matrix Sc(3, 3); /* Sc << -0.809204, 0.124296, 0.574230, -0.574694, 0.035719, -0.817589, @@ -128,7 +114,7 @@ void test_simplex_operations() - CGAL::Eigen_dense_matrix S_worst(3, 3); + CGAL::Eigen_dense_matrix S_worst(3, 3); /* S_worst << -0.45070, -0.32769, -0.83035, -0.13619, -0.89406, 0.42675, @@ -147,7 +133,7 @@ void test_simplex_operations() S_worst.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); double epsilon = 1e-5; CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); @@ -159,7 +145,7 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); - CGAL::Eigen_dense_matrix Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + CGAL::Eigen_dense_matrix Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); @@ -170,7 +156,7 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); - CGAL::Eigen_dense_matrix S_a(3, 3); + CGAL::Eigen_dense_matrix S_a(3, 3); /* S_a << -0.277970, 0.953559, 0.116010, -0.567497, -0.065576, -0.820760, @@ -189,7 +175,7 @@ void test_simplex_operations() S_a.set_coef(2, 2, 0.559370); - CGAL::Eigen_dense_matrix S_b(3, 3); + CGAL::Eigen_dense_matrix S_b(3, 3); /* S_b << -0.419979, 0.301765, -0.855894, -0.653011, -0.755415, 0.054087, @@ -208,7 +194,7 @@ void test_simplex_operations() S_b.set_coef(2, 2, 0.514314); - CGAL::Eigen_dense_matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); + CGAL::Eigen_dense_matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); @@ -222,7 +208,7 @@ void test_simplex_operations() void test_centroid() { - CGAL::Eigen_dense_matrix S_a(3, 3); + CGAL::Eigen_dense_matrix S_a; /* S_a << -0.588443, 0.807140, -0.047542, -0.786228, -0.584933, -0.199246, @@ -239,7 +225,7 @@ void test_centroid() S_a.set_coef(2, 1, -0.079867); S_a.set_coef(2, 2, 0.978795); - CGAL::Eigen_dense_matrix S_b(3, 3); + CGAL::Eigen_dense_matrix S_b(3, 3); /* S_b << -0.2192721, 0.2792986, -0.9348326, -0.7772152, -0.6292092, -0.0056861, @@ -256,7 +242,7 @@ void test_centroid() S_b.set_coef(2, 1, 0.7253193); S_b.set_coef(2, 2, 0.3550431); - CGAL::Eigen_dense_matrix S_c(3, 3); + CGAL::Eigen_dense_matrix S_c(3, 3); /* S_c << -0.32657, -0.60013, -0.73020, -0.20022, -0.71110, 0.67398, @@ -273,10 +259,8 @@ void test_centroid() S_c.set_coef(2, 1, 0.36630); S_c.set_coef(2, 2, 0.11207); - - - - CGAL::Eigen_dense_matrix S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); + CGAL::Eigen_dense_matrix S_centroid = + CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); double epsilon = 1e-5; CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); @@ -292,7 +276,7 @@ void test_centroid() void test_eigen_matrix_interface() { - CGAL::Eigen_dense_matrix A(3, 3); + CGAL::Eigen_dense_matrix A(3, 3); A.set_coef(0, 0, 0.1); A.set_coef(0, 1, 0.2); A.set_coef(0, 2, 0.3); @@ -302,11 +286,11 @@ void test_eigen_matrix_interface() A.set_coef(2, 0, 0.7); A.set_coef(2, 1, 0.8); A.set_coef(2, 2, 0.9); - CGAL::Eigen_dense_matrix B = A.transpose(); + CGAL::Eigen_dense_matrix B = A.transpose(); - CGAL::Eigen_dense_matrix S = 0.5 * A; + CGAL::Eigen_dense_matrix S = 0.5 * A; - CGAL::Eigen_dense_matrix C(3,3); + CGAL::Eigen_dense_matrix C(3,3); C.set_coef(0, 0, 0.3011944); C.set_coef(0, 1, 0.9932761); C.set_coef(0, 2, 0.5483701); @@ -317,7 +301,7 @@ void test_eigen_matrix_interface() C.set_coef(2, 1, 0.0202949); C.set_coef(2, 2, 0.9240308); - CGAL::Eigen_dense_matrix Q(3,3); + CGAL::Eigen_dense_matrix Q(3,3); C.qr_factorization(Q); double epsilon = 1e-5; @@ -331,7 +315,7 @@ void test_eigen_matrix_interface() CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); - CGAL::Eigen_dense_matrix D(3,3); + CGAL::Eigen_dense_matrix D(3,3); D.set_coef(0, 0, -0.809204); D.set_coef(0, 1, 0.124296); D.set_coef(0, 2, 0.574230); @@ -342,7 +326,7 @@ void test_eigen_matrix_interface() D.set_coef(2, 1, -0.991602); D.set_coef(2, 2, 0.042528); - CGAL::Eigen_dense_matrix E(3,3); + CGAL::Eigen_dense_matrix E(3,3); E.set_coef(0, 0, -0.45070); E.set_coef(0, 1, -0.32769); E.set_coef(0, 2, -0.83035); @@ -353,7 +337,7 @@ void test_eigen_matrix_interface() E.set_coef(2, 1, 0.30543); E.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E); + CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); @@ -367,11 +351,10 @@ void test_eigen_matrix_interface() int main() { + test_qr_factorization(); test_fitness_function(); - test_simplex_operations(); - test_centroid(); test_eigen_matrix_interface(); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 8515ee37534..a7ed6864373 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -6,19 +6,11 @@ #include #include -#include #include -//typedef Eigen::MatrixXd MatrixXd; -//typedef Eigen::Matrix3d Matrix3d; - -// todo: sort this out -typedef CGAL::Eigen_dense_matrix MatrixXd; -typedef CGAL::Eigen_dense_matrix Matrix3d; typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - bool assert_doubles(double d1, double d2, double epsilon) { return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; @@ -37,16 +29,9 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) for(vertex_descriptor v : vertices(sm)) { Point_ref p = get(vpm, v); - /* - mat.coeffRef(i, 0) = p.x(); - mat.coeffRef(i, 1) = p.y(); - mat.coeffRef(i, 2) = p.z(); - */ - mat.set_coef(i, 0, p.x()); mat.set_coef(i, 1, p.y()); mat.set_coef(i, 2, p.z()); - ++i; } } @@ -86,26 +71,14 @@ double calculate_volume(std::vector points) return ic.volume(); } -void test_population() -{ - CGAL::Optimal_bounding_box::Population pop(5); - //pop.show_population(); - CGAL_assertion(pop.size() == 5); -} void test_nelder_mead() { - //Eigen::Matrix data_points(4, 3); - - CGAL::Eigen_dense_matrix data_points(4,3); - - /* - data_points << 0.866802, 0.740808, 0.895304, - 0.912651, 0.761565, 0.160330, - 0.093661, 0.892578, 0.737412, - 0.166461, 0.149912, 0.364944; - */ + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::Matrix3d Matrix3d; + typedef Linear_algebra_traits::MatrixXd MatrixXd; + MatrixXd data_points(4,3); data_points(0,0) = 0.866802; data_points(0,1) = 0.740808, data_points(0,2) = 0.895304, @@ -120,20 +93,13 @@ void test_nelder_mead() data_points(3,2) = 0.364944; // one simplex - //std::vector simplex(4); - std::vector> simplex(4); + std::vector simplex(4); + Matrix3d v0(3,3); + Matrix3d v1(3,3); + Matrix3d v2(3,3); + Matrix3d v3(3,3); - - //Matrix3d v0; - CGAL::Eigen_dense_matrix v0(3,3); - - /* - v0 << -0.2192721, 0.2792986, -0.9348326, - -0.7772152, -0.6292092, -0.0056861, - -0.5897934, 0.7253193, 0.3550431; - */ - v0(0,0) = -0.2192721; v0(0,1) = 0.2792986, v0(0,2) = -0.9348326, @@ -144,30 +110,6 @@ void test_nelder_mead() v0(2,1) = 0.7253193; v0(2,2) = 0.3550431; - - //Matrix3d v1; - //Matrix3d v2; - //Matrix3d v3; - - CGAL::Eigen_dense_matrix v1(3,3); - CGAL::Eigen_dense_matrix v2(3,3); - CGAL::Eigen_dense_matrix v3(3,3); - - - /* - v1 << -0.588443, 0.807140, -0.047542, - -0.786228, -0.584933, -0.199246, - -0.188629, -0.079867, 0.978795; - - v2 << -0.277970, 0.953559, 0.116010, - -0.567497, -0.065576, -0.820760, - -0.775035, -0.293982, 0.559370; - - v3 << -0.32657, -0.60013, -0.73020, - -0.20022, -0.71110, 0.67398, - -0.92372, 0.36630, 0.11207; - */ - v1(0,0) = -0.588443; v1(0,1) = 0.807140; v1(0,2) = -0.047542; @@ -198,18 +140,20 @@ void test_nelder_mead() v3(2,1) = 0.36630; v3(2,2) = 0.11207; - simplex[0] = v0; simplex[1] = v1; simplex[2] = v2; simplex[3] = v3; - std::size_t iterations = 19; - CGAL::Optimal_bounding_box::nelder_mead(simplex, data_points, iterations); + CGAL::Optimal_bounding_box::Population pop(1); + std::size_t nm_iterations = 19; + + CGAL::Optimal_bounding_box::Evolution + evolution(pop, data_points); + evolution.nelder_mead(simplex, nm_iterations); double epsilon = 1e-5; - - CGAL::Eigen_dense_matrix v0_new = simplex[0]; + Matrix3d v0_new = simplex[0]; CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); @@ -220,7 +164,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - CGAL::Eigen_dense_matrix v1_new = simplex[1]; + Matrix3d v1_new = simplex[1]; CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); @@ -231,7 +175,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - CGAL::Eigen_dense_matrix v2_new = simplex[2]; + Matrix3d v2_new = simplex[2]; CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); @@ -242,7 +186,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - CGAL::Eigen_dense_matrix v3_new = simplex[3]; + Matrix3d v3_new = simplex[3]; CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); @@ -256,15 +200,7 @@ void test_nelder_mead() void test_genetic_algorithm() { - //Eigen::Matrix data_points(4, 3); CGAL::Eigen_dense_matrix data_points(4, 3); - /* - data_points << 0.866802, 0.740808, 0.895304, - 0.912651, 0.761565, 0.160330, - 0.093661, 0.892578, 0.737412, - 0.166461, 0.149912, 0.364944; - */ - data_points(0,0) = 0.866802; data_points(0,1) = 0.740808, data_points(0,2) = 0.895304, @@ -278,13 +214,19 @@ void test_genetic_algorithm() data_points(3,1) = 0.149912, data_points(3,2) = 0.364944; + typedef CGAL::Eigen_dense_matrix Matrix3d; CGAL::Optimal_bounding_box::Population pop(5); - CGAL::Optimal_bounding_box::genetic_algorithm(pop, data_points); + + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); + evolution.genetic_algorithm(); + CGAL_assertion(pop.size() == 5); } void test_random_unit_tetra() { + // this is dynamic at run times CGAL::Eigen_dense_matrix data_points(4, 3); // points on their convex hull data_points(0,0) = 0.866802; @@ -319,11 +261,18 @@ void test_random_unit_tetra() out.close(); #endif - //Matrix3d R; // have to sort this out - preallocation - Matrix3d R(3, 3); + + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::Matrix3d Matrix3d; std::size_t generations = 10; - CGAL::Optimal_bounding_box::evolution(R, data_points, generations); + + CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); + evolution.evolve(generations); + + Matrix3d R = evolution.get_best(); + double epsilon = 1e-3; CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); @@ -339,12 +288,13 @@ void test_random_unit_tetra() #ifdef OBB_DEBUG_TEST // postprocessing - MatrixXd obb(8, 3); + CGAL::Eigen_dense_matrix obb(8, 3); CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); #endif } + void test_reference_tetrahedron(const char* fname) { std::ifstream input(fname); @@ -354,13 +304,21 @@ void test_reference_tetrahedron(const char* fname) exit(1); } + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::MatrixXd MatrixXd; + typedef Linear_algebra_traits::Matrix3d Matrix3d; + // points in a matrix MatrixXd points; sm_to_matrix(mesh, points); - Matrix3d R(3, 3); std::size_t generations = 10; - CGAL::Optimal_bounding_box::evolution(R, points, generations); + CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Evolution experiment(pop, points); + experiment.evolve(generations); + + Matrix3d R = experiment.get_best(); + double epsilon = 1e-5; CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); @@ -381,13 +339,21 @@ void test_long_tetrahedron(std::string fname) exit(1); } + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::MatrixXd MatrixXd; + typedef Linear_algebra_traits::Matrix3d Matrix3d; + // points in a matrix MatrixXd points; sm_to_matrix(mesh, points); - MatrixXd R(3, 3); // test with dynamic size - std::size_t generations = 10; - CGAL::Optimal_bounding_box::evolution(R, points, generations); + std::size_t max_generations = 10; + CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Evolution experiment(pop, points); + experiment.evolve(max_generations); + + Matrix3d R = experiment.get_best(); + double epsilon = 1e-3; CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -1, epsilon)); @@ -410,6 +376,7 @@ void test_long_tetrahedron(std::string fname) #endif } +/* void test_find_obb(std::string fname) { std::ifstream input(fname); @@ -429,7 +396,7 @@ void test_find_obb(std::string fname) sm_points.push_back(get(pmap, v)); std::vector obb_points; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true, true); double epsilon = 1e-3; double vol = calculate_volume(obb_points); @@ -437,9 +404,48 @@ void test_find_obb(std::string fname) #ifdef OBB_DEBUG_TEST for(int i = 0; i < 8; ++i) - { std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; + CGAL::Surface_mesh result_mesh; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); + + std::ofstream out("data/obb_result.off"); + out << result_mesh; + out.close(); + #endif +} +*/ + + +void test_find_obb_evolution(std::string fname) +{ + std::ifstream input(fname); + typedef CGAL::Surface_mesh SMesh; + SMesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); } + // get mesh points + std::vector sm_points; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::const_type PointPMap; + PointPMap pmap = get(boost::vertex_point, mesh); + BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) + sm_points.push_back(get(pmap, v)); + + std::vector obb_points; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); // maybe use algebra parameter here + + double epsilon = 1e-3; + double vol = calculate_volume(obb_points); + CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); + + #ifdef OBB_DEBUG_TEST + /* + for(int i = 0; i < 8; ++i) + std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; + */ CGAL::Surface_mesh result_mesh; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); @@ -450,7 +456,7 @@ void test_find_obb(std::string fname) #endif } -void test_find_obb_mesh(std::string fname) +void test_find_obb_mesh(std::string fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; @@ -469,16 +475,21 @@ void test_find_obb_mesh(std::string fname) #endif } + + int main(int argc, char* argv[]) { - test_population(); + // test_population(); test_nelder_mead(); test_genetic_algorithm(); test_random_unit_tetra(); test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); - test_find_obb("data/random_unit_tetra.off"); + //test_find_obb("data/random_unit_tetra.off"); + + test_find_obb_evolution("data/random_unit_tetra.off"); test_find_obb_mesh("data/elephant.off"); + return 0; } diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index 51d776f97ce..dbbbff09db9 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -13,13 +13,15 @@ namespace CGAL { template +class Eigen_dense_vector; + +template class Eigen_dense_matrix { - public: - - typedef Eigen::Matrix EigenType; - typedef Eigen::Vector3d VectorType; + typedef Eigen::Matrix EigenType; + typedef Eigen::Matrix EigenType3; + typedef Eigen_dense_vector Eigen_dense_vector_type; Eigen_dense_matrix(std::size_t nrows, std::size_t ncols) : m_matrix(static_cast(nrows), static_cast(ncols)) @@ -62,11 +64,11 @@ public: void resize(int i_, int j_) { m_matrix.resize(i_, j_);} - const Eigen_dense_matrix row(int i_) const + Eigen_dense_vector_type row(int i_) { - VectorType row = m_matrix.row(i_); - Eigen_dense_matrix r(row); - return r; + Eigen::Vector3d row = m_matrix.row(i_); + Eigen_dense_vector_type row_vector(row); + return row_vector; } const T& coeff(int i_) const @@ -139,19 +141,85 @@ public: return product; } - - -private: mutable EigenType m_matrix; }; +template // should it be a template of its size? +class Eigen_dense_vector +{ +private: + typedef Eigen::Vector3d EigenType; + typedef Eigen_dense_matrix Eigen_dense_matrix_type; + +public: + Eigen_dense_vector(T& v0, T& v1, T& v2) + { + m_vector[0] = v0; + m_vector[1] = v1; + m_vector[2] = v2; + } + + Eigen_dense_vector(EigenType& vec) : m_vector(vec) {} + + + const T& coeff(std::size_t i) + { + CGAL_assertion(i >= 0); + CGAL_assertion(i < 3); + return m_vector.coeff(i); + } + + friend const Eigen_dense_vector operator* (const Eigen_dense_matrix_type& A, Eigen_dense_vector& V) + { + EigenType eigen_vec = A.m_matrix * V.m_vector; + Eigen_dense_vector product_vec(eigen_vec); + return product_vec; + } + + mutable EigenType m_vector; +}; + + +class Eigen_linear_algebra_traits +{ +public: + typedef double NT; + + typedef CGAL::Eigen_dense_matrix MatrixXd; // dynamic size at run time + typedef CGAL::Eigen_dense_matrix Matrix3d; // fixed at compile time + typedef CGAL::Eigen_dense_vector Vector3d; // fixed at compile time + + + /* + friend inline const MatrixXd operator* (const MatrixXd& A, + const Matrix3d& B) + { + const MatrixXd product(A.m_matrix * B.m_matrix); + return product; + } + */ + +}; + +typedef CGAL::Eigen_dense_matrix MatrixXd; // dynamic size at run time +typedef CGAL::Eigen_dense_matrix Matrix3d; // fixed at compile time +typedef CGAL::Eigen_dense_vector Vector3d; // fixed at compile time + + +const MatrixXd operator* (const MatrixXd& A, + const Matrix3d& B) +{ + const MatrixXd product(A.m_matrix * B.m_matrix); + return product; +} -} // end namespace +} +// end namespace From 63e1a1292458051edc1f146f5e04eb6efae1140a Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 16 May 2018 12:02:08 +0200 Subject: [PATCH 025/150] clear warnings & clean eigen eigen linear algrebra traits --- .../Optimal_bounding_box/bench_obb.cpp | 7 +- .../Optimal_bounding_box/bench_perfomance.cpp | 2 +- .../CGAL/Optimal_bounding_box/evolution.h | 13 +- .../Optimal_bounding_box/fitness_function.h | 11 +- .../Optimal_bounding_box/linear_algebra.h | 36 +-- .../include/CGAL/Optimal_bounding_box/obb.h | 12 +- .../optimization_algorithms.h | 3 +- .../CGAL/Optimal_bounding_box/population.h | 21 +- .../test_linear_algebra_functions.cpp | 28 +- .../test_optimization_algorithms.cpp | 22 +- .../CGAL/Eigen_linear_algebra_traits.h | 239 +++++++++--------- 11 files changed, 221 insertions(+), 173 deletions(-) diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp index ae604898449..12df347ea8a 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp @@ -98,9 +98,8 @@ void bench_finding_obb(std::string fname) timer.reset(); - double epsilon = 1e-3; - double vol1 = calculate_volume(obb_points1); - double vol2 = calculate_volume(obb_points2); + //double vol1 = calculate_volume(obb_points1); + // double vol2 = calculate_volume(obb_points2); //std::cout << "vol1= " << vol1 << " -- " << "vol2= " << vol2 << std::endl; @@ -126,7 +125,7 @@ void bench_finding_obb(std::string fname) #endif } -int main(int argc, char* argv[]) +int main() { bench_finding_obb("data/elephant.off"); diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp index a35fc86bf13..dddbcf791cb 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp @@ -69,7 +69,7 @@ void bench_finding_obb(std::string fname) #endif } -int main(int argc, char* argv[]) +int main() { bench_finding_obb("data/elephant.off"); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index fe672b5ffb2..56d0f0db5ea 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -177,7 +177,7 @@ public: Population offspringsA(size_first_group); double bias = 0.1; - for(int i = 0; i < size_first_group; ++i) + for(std::size_t i = 0; i < size_first_group; ++i) { std::vector offspring(4); for(int j = 0; j < 4; ++j) @@ -208,7 +208,7 @@ public: Population offspringsB(size_second_group); bias = 0.1; - for(int i = 0; i < size_second_group; ++i) + for(std::size_t i = 0; i < size_second_group; ++i) { std::vector offspring(4); for(int j = 0; j < 4; ++j) @@ -226,7 +226,8 @@ public: } // qr factorization of the offspring - qr_factorization(offspring); + //qr_factorization(offspring); + Linear_algebra_traits::qr_factorization(offspring); offspringsB[i] = offspring; @@ -293,7 +294,8 @@ public: // debugging Fitness_map fitness_map(pop, point_data); Matrix R_now = fitness_map.get_best(); - std::cout << "det= " << R_now.determinant() << std::endl; + //std::cout << "det= " << R_now.determinant() << std::endl; + std::cout << "det= " << determinant(R_now) << std::endl; #endif // stopping criteria @@ -352,7 +354,8 @@ void check_det(Population& pop) for(int j = 0; j < 4; ++j) { auto A = pop[i][j]; // Simplex - std::cout << A.determinant() << std::endl; + //std::cout << A.determinant() << std::endl; + std::cout << determinant(A) << std::endl; } } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 5c75819ad43..1632282cb55 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -33,7 +33,7 @@ namespace CGAL { namespace Optimal_bounding_box { template -const double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, +double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, typename Linear_algebra_traits::MatrixXd& data) { // R: rotation matrix @@ -46,9 +46,10 @@ const double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, typedef typename Linear_algebra_traits::Vector3d Vector3d; double xmin, xmax, ymin, ymax, zmin, zmax; - for(int i = 0; i < data.rows(); i++){ + for(std::size_t i = 0; i < data.rows(); i++){ - Vector3d vec = data.row(i); + Vector3d vec = Linear_algebra_traits::row(data, i); + //Vector3d vec = data.row(i); vec = R * vec; if(i == 0){ @@ -103,14 +104,14 @@ struct Fitness_map return pop[simplex_id][vertex_id]; } - const double get_best_fitness_value(Matrix& data) + double get_best_fitness_value(Matrix& data) { const Vertex best_mat = get_best(); return compute_fitness(best_mat, data); } - Matrix& points; Population& pop; + Matrix& points; }; }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 5d7e1ffbc75..1f9dedff815 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -23,14 +23,22 @@ #define CGAL_OPTIMAL_BOUNDING_BOX_H #include -#include #include +#if defined(CGAL_EIGEN3_ENABLED) +#include +#endif + + namespace CGAL { namespace Optimal_bounding_box { +#if defined(CGAL_EIGEN3_ENABLED) +typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; +#endif +/* template void qr_factorization(Matrix& A, Matrix& Q) { @@ -48,6 +56,7 @@ void qr_factorization(std::vector& Simplex) Simplex[i] = Q; } } +*/ template const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) @@ -57,7 +66,7 @@ const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) CGAL_assertion(S_worst.cols() == 3); CGAL_assertion(S_worst.cols() == 3); - return S_centroid * S_worst.transpose() * S_centroid; + return S_centroid * Linear_algebra_traits::transpose(S_worst) * S_centroid; } template @@ -70,7 +79,7 @@ const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Ma CGAL_assertion(S_reflection.cols() == 3); CGAL_assertion(S_reflection.cols() == 3); - return S_centroid * S_worst.transpose() * S_reflection; + return S_centroid * Linear_algebra_traits::transpose(S_worst) * S_reflection; } template @@ -83,12 +92,10 @@ Matrix mean(const Matrix& m1, const Matrix& m2) CGAL_assertion(m2.cols() == 3); Matrix reduction = 0.5 * m1 + 0.5 * m2; - Matrix Q; - //qr_factorization(contract, Q); - - reduction.qr_factorization(Q); - - double det = Q.determinant(); + //Matrix Q; + //reduction.qr_factorization(Q); + Matrix Q = Linear_algebra_traits::qr_factorization(reduction); + double det = Linear_algebra_traits::determinant(Q); return Q / det; } @@ -96,13 +103,10 @@ template const Matrix centroid(Matrix& S1, Matrix& S2, Matrix& S3) // const? { Matrix mean = (S1 + S2 + S3) / 3.0; - Matrix Q; - //qr_factorization(mean, Q); - - mean.qr_factorization(Q); - - - double det = Q.determinant(); + //Matrix Q; + //mean.qr_factorization(Q); + Matrix Q = Linear_algebra_traits::qr_factorization(mean); + double det = Linear_algebra_traits::determinant(Q); return Q / det; } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index ad12d735b3b..ef9450ddd17 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -31,7 +31,7 @@ #include #include #include -#include // used to get the ch +#include #include #include @@ -43,6 +43,11 @@ namespace CGAL { namespace Optimal_bounding_box { +#if defined(CGAL_EIGEN3_ENABLED) +typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; +#endif + + template void evolution(Vertex& R, Matrix& points, std::size_t max_generations) // todo: points is const { @@ -85,7 +90,8 @@ void evolution(Vertex& R, Matrix& points, std::size_t max_generations) // todo: // debugging Fitness_map fitness_map(pop, points); Matrix R_now = fitness_map.get_best(); - std::cout << "det= " << R_now.determinant() << std::endl; + //std::cout << "det= " << R_now.determinant() << std::endl; + std::cout << "det= " << determinant(R_now) << std::endl; #endif // stopping criteria @@ -118,7 +124,7 @@ void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) // 1) rotate points with R Matrix_dynamic rotated_points(points.rows(), points.cols()); - rotated_points = points * R.transpose(); + rotated_points = points * Linear_algebra_traits::transpose(R); // 2) get AABB from rotated points typedef CGAL::Simple_cartesian K; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h index 2466ebeb657..f20df496031 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h @@ -297,7 +297,8 @@ void check_det(Population& pop) for(int j = 0; j < 4; ++j) { auto A = pop[i][j]; // Simplex - std::cout << A.determinant() << std::endl; + //std::cout << A.determinant() << std::endl; + std::cout << determinant(A) << std::endl; } } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index b86a5101ab4..a68d4639b21 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -28,13 +28,26 @@ #include +#if defined(CGAL_EIGEN3_ENABLED) +#include +#endif + + + namespace CGAL { namespace Optimal_bounding_box { + + template class Population { + +#if defined(CGAL_EIGEN3_ENABLED) + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; +#endif + typedef std::vector Simplex; public: @@ -102,9 +115,11 @@ private: R.resize(3, 3); create_vertex(R); - Matrix Q; // no allocation + //Matrix Q; // no allocation //qr_factorization(R, Q); - R.qr_factorization(Q); + //R.qr_factorization(Q); + Matrix Q = Linear_algebra_traits::qr_factorization(R); + simplex[i] = Q; } CGAL_assertion(simplex.size() == 4); @@ -125,8 +140,8 @@ private: } } - CGAL::Random random_generator; std::size_t n; + CGAL::Random random_generator; std::vector pop; }; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 291f377ea16..a7834453d2c 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -32,14 +32,16 @@ void test_qr_factorization() A.set_coef(2, 1, 0.0202949); A.set_coef(2, 2, 0.9240308); - CGAL::Eigen_dense_matrix Q; + //CGAL::Eigen_dense_matrix Q; //CGAL::Optimal_bounding_box::qr_factorization(A, Q); - A.qr_factorization(Q); + //A.qr_factorization(Q); + CGAL::Eigen_dense_matrix Q = + CGAL::Eigen_linear_algebra_traits::qr_factorization(A); - double epsilon = 1e-6; + CGAL_assertion_code(double epsilon = 1e-6); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); @@ -86,8 +88,9 @@ void test_fitness_function() rotation.set_coef(2, 1, -0.991602); rotation.set_coef(2, 2, 0.042528); - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - double fitness = CGAL::Optimal_bounding_box::compute_fitness (rotation, data_points); + CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); + CGAL_assertion_code(double fitness = CGAL::Optimal_bounding_box:: + compute_fitness (rotation, data_points)); CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); } @@ -134,7 +137,7 @@ void test_simplex_operations() CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); - double epsilon = 1e-5; + CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); @@ -261,7 +264,7 @@ void test_centroid() CGAL::Eigen_dense_matrix S_centroid = CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); - double epsilon = 1e-5; + CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,2), -0.855894, epsilon)); @@ -286,7 +289,8 @@ void test_eigen_matrix_interface() A.set_coef(2, 0, 0.7); A.set_coef(2, 1, 0.8); A.set_coef(2, 2, 0.9); - CGAL::Eigen_dense_matrix B = A.transpose(); + //CGAL::Eigen_dense_matrix B = A.transpose(); + CGAL::Eigen_dense_matrix B = CGAL::Eigen_linear_algebra_traits::transpose(A); CGAL::Eigen_dense_matrix S = 0.5 * A; @@ -301,10 +305,12 @@ void test_eigen_matrix_interface() C.set_coef(2, 1, 0.0202949); C.set_coef(2, 2, 0.9240308); - CGAL::Eigen_dense_matrix Q(3,3); - C.qr_factorization(Q); + //C.qr_factorization(Q); - double epsilon = 1e-5; + CGAL::Eigen_dense_matrix Q = + CGAL::Eigen_linear_algebra_traits::qr_factorization(C); + + CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index a7ed6864373..7094c249154 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -152,7 +152,7 @@ void test_nelder_mead() evolution(pop, data_points); evolution.nelder_mead(simplex, nm_iterations); - double epsilon = 1e-5; + CGAL_assertion_code(double epsilon = 1e-5); Matrix3d v0_new = simplex[0]; CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); @@ -274,8 +274,8 @@ void test_random_unit_tetra() Matrix3d R = evolution.get_best(); - double epsilon = 1e-3; - CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); + CGAL_assertion_code(double epsilon = 1e-3); + CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -0.25791, epsilon)); CGAL_assertion(assert_doubles(R(0,1), 0.796512, epsilon)); CGAL_assertion(assert_doubles(R(0,2), -0.546855, epsilon)); @@ -319,8 +319,8 @@ void test_reference_tetrahedron(const char* fname) Matrix3d R = experiment.get_best(); - double epsilon = 1e-5; - CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); + CGAL_assertion_code(double epsilon = 1e-5); + CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); #ifdef OBB_DEBUG_TEST // postprocessing @@ -354,8 +354,8 @@ void test_long_tetrahedron(std::string fname) Matrix3d R = experiment.get_best(); - double epsilon = 1e-3; - CGAL_assertion(assert_doubles(R.determinant(), 1, epsilon)); + CGAL_assertion_code(double epsilon = 1e-3); + CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -1, epsilon)); CGAL_assertion(assert_doubles(R(0,1), 0, epsilon)); CGAL_assertion(assert_doubles(R(0,2), 0, epsilon)); @@ -437,8 +437,8 @@ void test_find_obb_evolution(std::string fname) std::vector obb_points; CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); // maybe use algebra parameter here - double epsilon = 1e-3; - double vol = calculate_volume(obb_points); + CGAL_assertion_code(double epsilon = 1e-3); + CGAL_assertion_code(double vol = calculate_volume(obb_points)); CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); #ifdef OBB_DEBUG_TEST @@ -465,7 +465,7 @@ void test_find_obb_mesh(std::string fname) exit(1); } - CGAL::Surface_mesh obbmesh; + CGAL::Surface_mesh< K::Point_3> obbmesh; CGAL::Optimal_bounding_box::find_obb(mesh, obbmesh, true); #ifdef OBB_DEBUG_TEST @@ -477,7 +477,7 @@ void test_find_obb_mesh(std::string fname) -int main(int argc, char* argv[]) +int main() { // test_population(); test_nelder_mead(); diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index dbbbff09db9..5da5e294e22 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -1,5 +1,23 @@ - -//license +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas #ifndef CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H #define CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H @@ -12,7 +30,7 @@ namespace CGAL { -template +template class Eigen_dense_vector; template @@ -21,7 +39,6 @@ class Eigen_dense_matrix public: typedef Eigen::Matrix EigenType; typedef Eigen::Matrix EigenType3; - typedef Eigen_dense_vector Eigen_dense_vector_type; Eigen_dense_matrix(std::size_t nrows, std::size_t ncols) : m_matrix(static_cast(nrows), static_cast(ncols)) @@ -64,119 +81,32 @@ public: void resize(int i_, int j_) { m_matrix.resize(i_, j_);} - Eigen_dense_vector_type row(int i_) - { - Eigen::Vector3d row = m_matrix.row(i_); - Eigen_dense_vector_type row_vector(row); - return row_vector; - } - const T& coeff(int i_) const { return m_matrix.coeff(i_); } - const Eigen_dense_matrix transpose() const - { - Eigen_dense_matrix dm(m_matrix.transpose()); - return dm; - //return Eigen_dense_matrix(m_matrix.transpose()); - } - - const double determinant() const - { - return m_matrix.determinant(); - } - - void qr_factorization(Eigen_dense_matrix& Q) - { - Q.resize(m_matrix.rows(), m_matrix.cols()); - Eigen::HouseholderQR qr(m_matrix); - Eigen_dense_matrix qr_mat(qr.householderQ()); - Q = qr_mat; - } - - friend void qr_factorization(std::vector& simplex) - { - for(int i = 0; i < simplex.size(); ++i) - { - Eigen::HouseholderQR qr(simplex[i].m_matrix); - Eigen_dense_matrix Q(qr.householderQ()); - simplex[i] = Q; - } - } - - friend const Eigen_dense_matrix operator* (const Eigen_dense_matrix& A, - const Eigen_dense_matrix& B) - { - const Eigen_dense_matrix product(A.m_matrix * B.m_matrix); - return product; - } - - friend const Eigen_dense_matrix operator* (const T& scalar, - const Eigen_dense_matrix& B) - { - const Eigen_dense_matrix product(scalar * B.m_matrix); - return product; - } - - friend const Eigen_dense_matrix operator+ (const Eigen_dense_matrix& A, - const Eigen_dense_matrix& B) - { - const Eigen_dense_matrix sum_result(A.m_matrix + B.m_matrix); - return sum_result; - } - - friend const Eigen_dense_matrix operator/ (const Eigen_dense_matrix& A, - const double& scalar) - { - const Eigen_dense_matrix product(A.m_matrix / scalar); - return product; - } - - friend const Eigen_dense_matrix operator/ (const double& scalar , - const Eigen_dense_matrix& A) - { - const Eigen_dense_matrix product(scalar / A.m_matrix); - return product; - } - mutable EigenType m_matrix; }; -template // should it be a template of its size? +template class Eigen_dense_vector { private: - typedef Eigen::Vector3d EigenType; - typedef Eigen_dense_matrix Eigen_dense_matrix_type; + //typedef Eigen::Vector3d EigenType; + typedef Eigen::Matrix EigenType; public: - Eigen_dense_vector(T& v0, T& v1, T& v2) - { - m_vector[0] = v0; - m_vector[1] = v1; - m_vector[2] = v2; - } - - Eigen_dense_vector(EigenType& vec) : m_vector(vec) {} - + Eigen_dense_vector(const EigenType& vec) : m_vector(vec) {} const T& coeff(std::size_t i) { CGAL_assertion(i >= 0); - CGAL_assertion(i < 3); + CGAL_assertion(i < static_cast(D)); return m_vector.coeff(i); } - friend const Eigen_dense_vector operator* (const Eigen_dense_matrix_type& A, Eigen_dense_vector& V) - { - EigenType eigen_vec = A.m_matrix * V.m_vector; - Eigen_dense_vector product_vec(eigen_vec); - return product_vec; - } - mutable EigenType m_vector; }; @@ -186,35 +116,118 @@ class Eigen_linear_algebra_traits public: typedef double NT; - typedef CGAL::Eigen_dense_matrix MatrixXd; // dynamic size at run time - typedef CGAL::Eigen_dense_matrix Matrix3d; // fixed at compile time - typedef CGAL::Eigen_dense_vector Vector3d; // fixed at compile time + // dynamic size at run time + typedef CGAL::Eigen_dense_matrix MatrixXd; + // fixed at compile time + typedef CGAL::Eigen_dense_matrix Matrix3d; - /* - friend inline const MatrixXd operator* (const MatrixXd& A, - const Matrix3d& B) + // fixed at compile time + typedef CGAL::Eigen_dense_vector Vector3d; + + template + static Matrix transpose(const Matrix& mat) { - const MatrixXd product(A.m_matrix * B.m_matrix); - return product; + return Matrix(mat.m_matrix.transpose()); + } + + template + static NT determinant(const Matrix& mat) + { + return mat.m_matrix.determinant(); + } + + template + static CGAL::Eigen_dense_matrix qr_factorization(const CGAL::Eigen_dense_matrix& A) + { + Eigen::HouseholderQR > qr(A.m_matrix); + return CGAL::Eigen_dense_matrix(qr.householderQ()); + } + + template + static void qr_factorization(std::vector& simplex) + { + for(std::size_t i = 0; i < simplex.size(); ++i) + { + Matrix mat = simplex[i].m_matrix; + simplex[i] = qr_factorization(mat); + } + } + + template + static CGAL::Eigen_dense_vector row(CGAL::Eigen_dense_matrix& A, int i_) + { + return CGAL::Eigen_dense_vector(A.m_matrix.row(i_)); } - */ }; -typedef CGAL::Eigen_dense_matrix MatrixXd; // dynamic size at run time -typedef CGAL::Eigen_dense_matrix Matrix3d; // fixed at compile time -typedef CGAL::Eigen_dense_vector Vector3d; // fixed at compile time - -const MatrixXd operator* (const MatrixXd& A, - const Matrix3d& B) +// matrix multiplication +template +const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, + const CGAL::Eigen_dense_matrix& B) { - const MatrixXd product(A.m_matrix * B.m_matrix); - return product; + return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); } +template +const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, + const CGAL::Eigen_dense_matrix& B) +{ + return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); +} +template +const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, + const CGAL::Eigen_dense_matrix& B) +{ + return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); +} + +// scalar - matrix multiplication +template +const CGAL::Eigen_dense_matrix operator* (const NT& scalar, + const CGAL::Eigen_dense_matrix& B) +{ + return CGAL::Eigen_dense_matrix(scalar * B.m_matrix); +} + +template +const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, + const NT& scalar) +{ + return CGAL::Eigen_dense_matrix(A.m_matrix * scalar); +} + +template +const CGAL::Eigen_dense_matrix operator/ (const CGAL::Eigen_dense_matrix& A, + const double& scalar) +{ + return CGAL::Eigen_dense_matrix(A.m_matrix / scalar); +} + +template +const CGAL::Eigen_dense_matrix operator/ (const double& scalar, + const CGAL::Eigen_dense_matrix & A) +{ + return CGAL::Eigen_dense_matrix (scalar / A.m_matrix); +} + +// addition - subtraction +template +const CGAL::Eigen_dense_matrix operator+ (const CGAL::Eigen_dense_matrix & A, + const CGAL::Eigen_dense_matrix & B) +{ + return CGAL::Eigen_dense_matrix (A.m_matrix + B.m_matrix); +} + +// vector - matrix multiplication +template +const Eigen_dense_vector operator* (const CGAL::Eigen_dense_matrix& A, CGAL::Eigen_dense_vector& V) +{ + return Eigen_dense_vector(A.m_matrix * V.m_vector); +} From 62327b28f0f469b692ded0631745e02ad0f7fe4f Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 16 May 2018 13:12:42 +0200 Subject: [PATCH 026/150] cleaning --- .../Optimal_bounding_box/bench_obb.cpp | 22 -- .../CGAL/Optimal_bounding_box/evolution.h | 38 +-- .../Optimal_bounding_box/fitness_function.h | 3 +- .../CGAL/Optimal_bounding_box/helper.h | 109 ++++++ .../include/CGAL/Optimal_bounding_box/obb.h | 171 +--------- .../optimization_algorithms.h | 316 ------------------ .../CGAL/Optimal_bounding_box/population.h | 56 ++-- .../test_linear_algebra_functions.cpp | 75 ----- .../test_optimization_algorithms.cpp | 126 +------ 9 files changed, 155 insertions(+), 761 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h delete mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp index 12df347ea8a..a3daafffb5a 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp @@ -19,28 +19,6 @@ bool assert_doubles(double d1, double d2, double epsilon) return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; } -/* -template -void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) -{ - typedef typename boost::property_map::const_type Vpm; - typedef typename boost::property_traits::reference Point_ref; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - Vpm vpm = get(boost::vertex_point, sm); - - mat.resize(vertices(sm).size(), 3); - std::size_t i = 0; - for(vertex_descriptor v : vertices(sm)) - { - Point_ref p = get(vpm, v); - mat(i, 0) = p.x(); - mat(i, 1) = p.y(); - mat(i, 2) = p.z(); - ++i; - } -} -*/ - template void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) { diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 56d0f0db5ea..30cd901b912 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -25,7 +25,7 @@ #include #include - +#include namespace CGAL { namespace Optimal_bounding_box { @@ -34,7 +34,6 @@ namespace Optimal_bounding_box { template class Evolution { - typedef typename Linear_algebra_traits::MatrixXd MatrixXd; typedef typename Linear_algebra_traits::Matrix3d Matrix3d; typedef typename Linear_algebra_traits::Vector3d Vector3d; @@ -124,11 +123,9 @@ public: } CGAL_assertion(simplex.size() == 4); // tetrahedron - } // iterations } - void genetic_algorithm() { // random permutations @@ -222,14 +219,10 @@ public: lambda = 0.5 - bias; // combine information from A and B offspring[j] = lambda * group3[i][j] + lambda * group4[i][j]; - } // qr factorization of the offspring - //qr_factorization(offspring); Linear_algebra_traits::qr_factorization(offspring); - - offspringsB[i] = offspring; } @@ -254,10 +247,8 @@ public: } } - void evolve(std::size_t generations) { - // hardcoded nelder_mead_iterations std::size_t nelder_mead_iterations = 20; @@ -267,7 +258,6 @@ public: double tolerance = 1e-2; int stale = 0; - // evolve here for(std::size_t t = 0; t < generations; ++t) { @@ -290,18 +280,14 @@ public: //std::cout << "pop after nelder mead: " << std::endl; //pop.show_population(); //std::cout << std::endl; - - // debugging - Fitness_map fitness_map(pop, point_data); - Matrix R_now = fitness_map.get_best(); - //std::cout << "det= " << R_now.determinant() << std::endl; - std::cout << "det= " << determinant(R_now) << std::endl; + Fitness_map fitness_map_debug(population, point_data); + Matrix3d R_now = fitness_map_debug.get_best(); + std::cout << "det= " << Linear_algebra_traits::determinant(R_now) << std::endl; #endif // stopping criteria Fitness_map fitness_map(population, point_data); new_fit_value = fitness_map.get_best_fitness_value(point_data); - double difference = new_fit_value - prev_fit_value; if(abs(difference) < tolerance * new_fit_value) stale++; @@ -313,15 +299,13 @@ public: } } - const Matrix3d get_best() // reference ?? + const Matrix3d get_best() { Fitness_map fitness_map(population, point_data); return fitness_map.get_best(); } - private: - // needed in genetic algorithm struct Comparator { @@ -331,17 +315,12 @@ private: { return fitness[i] < fitness[j]; } - std::vector fitness; }; - - // data Population population; MatrixXd point_data; - - }; @@ -349,13 +328,12 @@ private: template void check_det(Population& pop) { - for(int i = 0; i < pop.size(); ++i) + for(std::size_t i = 0; i < pop.size(); ++i) { - for(int j = 0; j < 4; ++j) + for(std::size_t j = 0; j < 4; ++j) { auto A = pop[i][j]; // Simplex - //std::cout << A.determinant() << std::endl; - std::cout << determinant(A) << std::endl; + std::cout << Linear_algebra_traits::determinant(A) << std::endl; } } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 1632282cb55..8f00286f0ed 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -34,7 +34,7 @@ namespace Optimal_bounding_box { template double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, - typename Linear_algebra_traits::MatrixXd& data) + typename Linear_algebra_traits::MatrixXd& data) { // R: rotation matrix CGAL_assertion(R.cols() == 3); @@ -49,7 +49,6 @@ double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, for(std::size_t i = 0; i < data.rows(); i++){ Vector3d vec = Linear_algebra_traits::row(data, i); - //Vector3d vec = data.row(i); vec = R * vec; if(i == 0){ diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h new file mode 100644 index 00000000000..5c4de4bac0f --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -0,0 +1,109 @@ +// Copyright (c) 2018 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// You can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, +// either version 3 of the License, or (at your option) any later version. +// +// Licensees holding a valid commercial license may use this file in +// accordance with the commercial license agreement provided with the software. +// +// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE +// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0+ +// +// +// Author(s) : Konstantinos Katrioplas + +#ifndef CGAL_HELPER_H +#define CGAL_HELPER_H + +#include +#include +#include +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + + +namespace CGAL { +namespace Optimal_bounding_box { + + +template +void fill_matrix(std::vector& v_points, Matrix& points_mat) +{ + points_mat.resize(v_points.size(), 3); + for(std::size_t i = 0; i < v_points.size(); ++i) + { + Point p = v_points[i]; + points_mat.set_coef(i, 0, p.x()); + points_mat.set_coef(i, 1, p.y()); + points_mat.set_coef(i, 2, p.z()); + } +} + +template +void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) +{ + typedef typename boost::property_map::const_type Vpm; + typedef typename boost::property_traits::reference Point_ref; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + Vpm vpm = get(boost::vertex_point, sm); + + mat.resize(vertices(sm).size(), 3); + std::size_t i = 0; + for(vertex_descriptor v : vertices(sm)) + { + Point_ref p = get(vpm, v); + mat.set_coef(i, 0, p.x()); + mat.set_coef(i, 1, p.y()); + mat.set_coef(i, 2, p.z()); + ++i; + } +} + +template +double calculate_volume(std::vector points) +{ + CGAL::Bbox_3 bbox; + bbox = bbox_3(points.begin(), points.end()); + K::Iso_cuboid_3 ic(bbox); + return ic.volume(); +} + +// it is called after post processing in debug only +template +void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) +{ + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; + typedef CGAL::Surface_mesh Mesh; + + // Simplex -> std::vector + std::vector points; + + for(int i = 0; i < data_points.rows(); ++i) + { + Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); + points.push_back(p); + } + + Mesh mesh; + CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], + points[6], points[7], mesh); + + std::ofstream out(filename); + out << mesh; + out.close(); +} + +}} // end namespaces + + + +#endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index ef9450ddd17..b050261f710 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -22,9 +22,9 @@ #ifndef CGAL_OBB_H #define CGAL_OBB_H -#include #include #include +#include #include #include #include @@ -48,70 +48,6 @@ typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; #endif -template -void evolution(Vertex& R, Matrix& points, std::size_t max_generations) // todo: points is const -{ - CGAL_assertion(points.rows() >= 3); - CGAL_assertion(points.cols() == 3); - CGAL_assertion(R.rows() == 3); - CGAL_assertion(R.cols() == 3); - - Population pop(50); - std::size_t nelder_mead_iterations = 20; - - double prev_fit_value = 0; - double new_fit_value = 0; - double tolerance = 1e-2; - int stale = 0; - - for(std::size_t t = 0; t < max_generations; ++t) - { - -#ifdef OBB_DEBUG - std::cout << "generation= " << t << "\n"; -#endif - - genetic_algorithm(pop, points); - -#ifdef OBB_DEBUG - //std::cout << "pop after genetic" << std::endl; - //pop.show_population(); - //std::cout << std::endl; -#endif - - for(std::size_t s = 0; s < pop.size(); ++s) - nelder_mead(pop[s], points, nelder_mead_iterations); - -#ifdef OBB_DEBUG - //std::cout << "pop after nelder mead: " << std::endl; - //pop.show_population(); - //std::cout << std::endl; - - // debugging - Fitness_map fitness_map(pop, points); - Matrix R_now = fitness_map.get_best(); - //std::cout << "det= " << R_now.determinant() << std::endl; - std::cout << "det= " << determinant(R_now) << std::endl; -#endif - - // stopping criteria - Fitness_map fitness_map(pop, points); - new_fit_value = fitness_map.get_best_fitness_value(points); - - double difference = new_fit_value - prev_fit_value; - if(abs(difference) < tolerance * new_fit_value) - stale++; - - if(stale == 5) - break; - - prev_fit_value = new_fit_value; - } - - Fitness_map fitness_map(pop, points); - R = fitness_map.get_best(); -} - // works on matrices only template void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) @@ -132,7 +68,6 @@ void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) std::vector v_points; // Simplex -> std::vector for(std::size_t i = 0; i < rotated_points.rows(); ++i) { - //Point p(rotated_points.coeff(i, 0), rotated_points.coeff(i, 1), rotated_points.coeff(i, 2)); Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); v_points.push_back(p); } @@ -147,46 +82,15 @@ void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) for(std::size_t i = 0; i < 8; ++i) { - /* - aabb.coeffRef(i, 0) = ic[i].x(); - aabb.coeffRef(i, 1) = ic[i].y(); - aabb.coeffRef(i, 2) = ic[i].z(); - */ - aabb.set_coef(i, 0, ic[i].x()); aabb.set_coef(i, 1, ic[i].y()); aabb.set_coef(i, 2, ic[i].z()); - - } // 3) apply inverse rotation to rotated AABB obb = aabb * R; } - -// to be moved into a helper -template -void fill_matrix(std::vector& v_points, Matrix& points_mat) -{ - points_mat.resize(v_points.size(), 3); - for(std::size_t i = 0; i < v_points.size(); ++i) - { - Point p = v_points[i]; - /* - points_mat.coeffRef(i, 0) = p.x(); - points_mat.coeffRef(i, 1) = p.y(); - points_mat.coeffRef(i, 2) = p.z(); - */ - - points_mat.set_coef(i, 0, p.x()); - points_mat.set_coef(i, 1, p.y()); - points_mat.set_coef(i, 2, p.z()); - - } -} - - // with linear algebra traits template void find_obb(std::vector& points, std::vector& obb_points, bool use_ch) @@ -214,12 +118,12 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u std::vector ch_points(poly.points_begin(), poly.points_end()); // points: vector -> matrix - fill_matrix(ch_points, points_mat); + CGAL::Optimal_bounding_box::fill_matrix(ch_points, points_mat); } else { // points: vector -> matrix - fill_matrix(points, points_mat); + CGAL::Optimal_bounding_box::fill_matrix(points, points_mat); } std::size_t max_generations = 100; @@ -240,74 +144,8 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u Point p(obb(i, 0), obb(i, 1), obb(i, 2)); obb_points[i] = p; } - } - -/* - //USES ::EVOLUTION - -/// @param points point coordinates of the input mesh. -/// @param obb_points the 8 points of the obb. -/// @param use convex hull or not. -/// -/// todo named parameters: max iterations, population size, tolerance. -template -void find_obb(std::vector& points, std::vector& obb_points, bool use_ch, bool use_eigen) -{ - CGAL_assertion(points.size() >= 3); - - if(obb_points.size() != 8) // temp sanity until the API is decided - obb_points.resize(8); - CGAL_assertion(obb_points.size() == 8); - - // using eigen internally - typedef Eigen::MatrixXd MatrixXd; // for point data - typedef Eigen::Matrix3d Matrix3d; // for matrices in simplices - - MatrixXd points_mat; - - // get the ch3 - if(use_ch) - { - // find the ch - todo: template kernel - typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel; - CGAL::Polyhedron_3 poly; - convex_hull_3(points.begin(), points.end(), poly); - std::vector ch_points(poly.points_begin(), poly.points_end()); - - // points: vector -> matrix - fill_matrix(ch_points, points_mat); - } - else - { - // points: vector -> matrix - fill_matrix(points, points_mat); - } - - //Matrix3d R; // todo: sort out preallocation - Matrix3d R(3, 3); - std::size_t max_generations = 100; - CGAL::Optimal_bounding_box::evolution(R, points_mat, max_generations); - - //Eigen::Matrix obb; - - MatrixXd obb; // compile time preallocation?? - obb.resize(8, 3); - - CGAL::Optimal_bounding_box::post_processing(points_mat, R, obb); - - // matrix -> vector - for(std::size_t i = 0; i < 8; ++i) - { - //Point p(obb.coeff(i, 0), obb.coeff(i, 1), obb.coeff(i, 2)); - Point p(obb(i, 0), obb(i, 1), obb(i, 2)); - obb_points[i] = p; - } -} - -*/ - /// @param pmesh the input mesh. /// @param obbmesh the obb in a hexahedron pmesh. /// @param use convex hull or not. @@ -347,9 +185,6 @@ void find_obb(PolygonMesh& pmesh, PolygonMesh& obbmesh, bool use_ch) - - - #endif //CGAL_OBB_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h deleted file mode 100644 index f20df496031..00000000000 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimization_algorithms.h +++ /dev/null @@ -1,316 +0,0 @@ -// Copyright (c) 2018 GeometryFactory (France). -// All rights reserved. -// -// This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. -// -// $URL$ -// $Id$ -// SPDX-License-Identifier: GPL-3.0+ -// -// -// Author(s) : Konstantinos Katrioplas - -#ifndef CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H -#define CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H - -#include -#include -#include -#include - -#include -#include -#include - - -namespace CGAL { - -namespace Optimal_bounding_box { - -/* -struct Comparator -{ - Comparator(std::vector in) : fitness(in) {} - - inline bool operator() (std::size_t& i, std::size_t& j) - { - return fitness[i] < fitness[j]; - } - - std::vector fitness; -}; - -// points: point coords -// simplex: 4 rotation matrices are its vertices -template -void nelder_mead(std::vector& simplex, Matrix& points, std::size_t nb_iterations) -{ - - CGAL_assertion(simplex.size() == 4); // tetrahedron - - std::vector fitness(4); - std::vector indices( boost::counting_iterator( 0 ), - boost::counting_iterator( simplex.size() ) ); - - for(std::size_t t = 0; t < nb_iterations; ++t) - { - for(std::size_t i = 0; i < 4; ++i) - { - fitness[i] = compute_fitness_old(simplex[i], points); - } - - CGAL_assertion(fitness.size() == 4); - CGAL_assertion(indices.size() == 4); - - // get indices of sorted sequence - Comparator compare_indices(fitness); - std::sort(indices.begin(), indices.end(), compare_indices); - - // new sorted simplex & fitness - std::vector s_simplex(4); - std::vector s_fitness(4); - for(int i = 0; i < 4; ++i) - { - s_simplex[i] = simplex[indices[i]]; - s_fitness[i] = fitness[indices[i]]; - } - - simplex = s_simplex; - fitness = s_fitness; - - // centroid - const Vertex v_centroid = centroid(simplex[0], simplex[1], simplex[2]); - - // find worst's vertex reflection - const Vertex v_worst = simplex[3]; - const Vertex v_refl = reflection(v_centroid, v_worst); - const double f_refl = compute_fitness_old(v_refl, points); - - if(f_refl < fitness[2]) - { - if(f_refl >= fitness[0]) // if reflected point is not better than the best - { - // do reflection - simplex[3] = v_refl; - } - else - { - // expansion - const Vertex v_expand = expansion(v_centroid, v_worst, v_refl); - const double f_expand = compute_fitness_old(v_expand, points); - if(f_expand < f_refl) - simplex[3] = v_expand; - else - simplex[3] = v_refl; - } - } - else // if reflected vertex is not better - { - const Vertex v_mean = mean(v_centroid, v_worst); - const double f_mean = compute_fitness_old(v_mean, points); - if(f_mean <= fitness[3]) - // contraction of worst - simplex[3] = v_mean; - else - { - // reduction: move all vertices towards the best - for(std::size_t i=1; i < 4; ++i) - { - simplex[i] = mean(simplex[i], simplex[0]); - } - } - } - - CGAL_assertion(simplex.size() == 4); // tetrahedron - - } // iterations -} - -struct Random_int_generator -{ - Random_int_generator(int l, int h) : low(l), high(h) {} - - int operator() () - { - return random_gen.get_int(low, high); - } - - CGAL::Random random_gen; - int low; - int high; -}; - - -template -void genetic_algorithm(Population& pop, const Matrix& points) -{ - // random permutations - std::size_t m = pop.size(); - - //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored - std::size_t size_first_group = m/2; - std::size_t size_second_group = m - m/2; - - std::vector ids1(m/2), ids2(m/2); - std::vector ids3(m - m/2), ids4(m - m/2); - - CGAL::Random rng; - - //Random_int_generator rgen(0, m); - //std::generate(indices.begin(), indices.end(), rgen); - - std::generate(ids1.begin(), ids1.end(), - [&rng, &m] () - { return rng.get_int(0, m); }); - - std::generate(ids2.begin(), ids2.end(), - [&rng, &m] () - { return rng.get_int(0, m); }); - - std::generate(ids3.begin(), ids3.end(), - [&rng, &m] () - { return rng.get_int(0, m); }); - - std::generate(ids4.begin(), ids4.end(), - [&rng, &m] () - { return rng.get_int(0, m); }); - - Population group1(m/2), group2(m/2); - Population group3(m - m/2), group4(m - m/2); - - for(std::size_t i = 0; i < ids1.size(); ++i) - group1[i] = pop[ids1[i]]; - - for(std::size_t i = 0; i < ids2.size(); ++i) - group2[i] = pop[ids2[i]]; - - for(std::size_t i = 0; i < ids3.size(); ++i) - group3[i] = pop[ids3[i]]; - - for(std::size_t i = 0; i < ids4.size(); ++i) - group4[i] = pop[ids4[i]]; - -#ifdef OBB_DEBUG - check_det(group1); - check_det(group2); - check_det(group3); - check_det(group4); -#endif - - // crossover I - Population offspringsA(size_first_group); - double bias = 0.1; - - for(int i = 0; i < size_first_group; ++i) - { - std::vector offspring(4); - for(int j = 0; j < 4; ++j) - { - double r = rng.get_double(); - double fitnessA = compute_fitness_old(group1[i][j], points); - double fitnessB = compute_fitness_old(group2[i][j], points); - double threshold; - if(fitnessA < fitnessB) - threshold = 0.5 + bias; - else - threshold = 0.5 - bias; - if(r < threshold) // choose A - offspring[j] = group1[i][j]; - else // choose B - offspring[j] = group2[i][j]; - } - offspringsA[i] = offspring; - } - -#ifdef OBB_DEBUG - std::cout << "offspringsA: \n" ; - check_det(offspringsA); - std::cin.get(); -#endif - - // crossover II - Population offspringsB(size_second_group); - bias = 0.1; - - for(int i = 0; i < size_second_group; ++i) - { - std::vector offspring(4); - for(int j = 0; j < 4; ++j) - { - double fitnessA = compute_fitness_old(group3[i][j], points); - double fitnessB = compute_fitness_old(group4[i][j], points); - double lambda; - if(fitnessA < fitnessB) - lambda = 0.5 + bias; - else - lambda = 0.5 - bias; - // combine information from A and B - offspring[j] = lambda * group3[i][j] + lambda * group4[i][j]; - - } - - // qr factorization of the offspring - qr_factorization(offspring); - - - offspringsB[i] = offspring; - } - -#ifdef OBB_DEBUG - std::cout << "offspringsB: \n" ; - check_det(offspringsB); -#endif - - CGAL_assertion(offspringsA.size() == size_first_group); - CGAL_assertion(offspringsB.size() == size_second_group); - CGAL_assertion(offspringsA.size() + offspringsB.size() == pop.size()); - - // next generatrion - for(std::size_t i = 0; i < size_first_group; ++i) - { - pop[i] = offspringsA[i]; - } - - for(std::size_t i = 0; i < size_second_group; ++i) - { - pop[size_first_group + i] = offspringsB[i]; - } - -} -*/ - -#ifdef OBB_DEBUG -template -void check_det(Population& pop) -{ - for(int i = 0; i < pop.size(); ++i) - { - for(int j = 0; j < 4; ++j) - { - auto A = pop[i][j]; // Simplex - //std::cout << A.determinant() << std::endl; - std::cout << determinant(A) << std::endl; - } - } -} -#endif - - -} } // end namespaces - - - - - - - -#endif //CGAL_OPTIMAL_BOUNDING_BOX_OPTIMIZATION_ALGORITHMS_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index a68d4639b21..1c34cd4a230 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -24,22 +24,17 @@ #include #include -#include #include - #if defined(CGAL_EIGEN3_ENABLED) #include #endif - - +//#define OBB_DEBUG namespace CGAL { namespace Optimal_bounding_box { - - template class Population { @@ -66,26 +61,11 @@ public: } } - void show_population() - { - std::size_t id = 0; - for(const Simplex i : pop) - { - CGAL_assertion(i.size() == 4); - std:: cout << "Simplex: "<< id++ << std::endl; - for(const Matrix R : i) - { - std::cout << R; // eigen out - std::cout << "\n\n"; - } - std:: cout << std:: endl; - } - } + #ifdef OBB_DEBUG + void show_population(); + #endif - std::size_t size() - { - return n; - } + std::size_t size(){return n;} // access simplex Simplex& operator[](std::size_t i) @@ -109,15 +89,10 @@ private: for(std::size_t i = 0; i < 4; ++i) { Matrix R; - // R may be preallocated, if Vertex is Matrix3d, - // but Vertex may not, if Vertex is MatrixXd and R is constructed with MatrixXd R(3,3) if(R.cols() == 0 || R.rows() == 0) R.resize(3, 3); create_vertex(R); - //Matrix Q; // no allocation - //qr_factorization(R, Q); - //R.qr_factorization(Q); Matrix Q = Linear_algebra_traits::qr_factorization(R); simplex[i] = Q; @@ -134,7 +109,6 @@ private: { for(std::size_t j = 0; j < 3; ++j) { - //R.coeffRef(i, j) = random_generator.get_double(); R.set_coef(i, j, random_generator.get_double()); } } @@ -146,6 +120,26 @@ private: }; +#ifdef OBB_DEBUG +template +void Population::show_population() +{ + std::size_t id = 0; + for(const Simplex i : pop) + { + CGAL_assertion(i.size() == 4); + std:: cout << "Simplex: "<< id++ << std::endl; + for(const Matrix R : i) + { + std::cout << R; // eigen out + std::cout << "\n\n"; + } + std:: cout << std:: endl; + } +} +#endif + + } } // end namespaces diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index a7834453d2c..d800f537e32 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -6,8 +6,6 @@ #include -typedef Eigen::Matrix3d Matrix3d; - bool assert_doubles(double d1, double d2, double epsilon) { return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; @@ -16,12 +14,6 @@ bool assert_doubles(double d1, double d2, double epsilon) void test_qr_factorization() { CGAL::Eigen_dense_matrix A(3, 3); - /* - A << 0.3011944, 0.9932761, 0.5483701, - 0.5149142, 0.5973263, 0.5162336, - 0.0039213, 0.0202949, 0.9240308; - */ - A.set_coef(0, 0, 0.3011944); A.set_coef(0, 1, 0.9932761); A.set_coef(0, 2, 0.5483701); @@ -32,15 +24,9 @@ void test_qr_factorization() A.set_coef(2, 1, 0.0202949); A.set_coef(2, 2, 0.9240308); - //CGAL::Eigen_dense_matrix Q; - - //CGAL::Optimal_bounding_box::qr_factorization(A, Q); - //A.qr_factorization(Q); CGAL::Eigen_dense_matrix Q = CGAL::Eigen_linear_algebra_traits::qr_factorization(A); - - CGAL_assertion_code(double epsilon = 1e-6); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); @@ -55,7 +41,6 @@ void test_qr_factorization() void test_fitness_function() { - typedef typename CGAL::Eigen_linear_algebra_traits::MatrixXd MatrixXd; MatrixXd data_points(4, 3); @@ -75,7 +60,6 @@ void test_fitness_function() data_points.set_coef(3, 1, 0.149912); data_points.set_coef(3, 2, 0.364944); - typedef typename CGAL::Eigen_linear_algebra_traits::Matrix3d Matrix3d; Matrix3d rotation; rotation.set_coef(0, 0, -0.809204); @@ -91,20 +75,12 @@ void test_fitness_function() CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); CGAL_assertion_code(double fitness = CGAL::Optimal_bounding_box:: compute_fitness (rotation, data_points)); - CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); } void test_simplex_operations() { - //Matrix3d Sc(3, 3); CGAL::Eigen_dense_matrix Sc(3, 3); - /* - Sc << -0.809204, 0.124296, 0.574230, - -0.574694, 0.035719, -0.817589, - -0.122134, -0.991602, 0.042528; - */ - Sc.set_coef(0, 0, -0.809204); Sc.set_coef(0, 1, 0.124296); Sc.set_coef(0, 2, 0.574230); @@ -115,16 +91,7 @@ void test_simplex_operations() Sc.set_coef(2, 1, -0.991602); Sc.set_coef(2, 2, 0.042528); - - CGAL::Eigen_dense_matrix S_worst(3, 3); - /* - S_worst << -0.45070, -0.32769, -0.83035, - -0.13619, -0.89406, 0.42675, - -0.88222, 0.30543, 0.35833; - */ - - S_worst.set_coef(0, 0, -0.45070); S_worst.set_coef(0, 1, -0.32769); S_worst.set_coef(0, 2, -0.83035); @@ -135,7 +102,6 @@ void test_simplex_operations() S_worst.set_coef(2, 1, 0.30543); S_worst.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); @@ -160,13 +126,6 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); CGAL::Eigen_dense_matrix S_a(3, 3); - /* - S_a << -0.277970, 0.953559, 0.116010, - -0.567497, -0.065576, -0.820760, - -0.775035, -0.293982, 0.559370; - */ - - S_a.set_coef(0, 0, -0.277970); S_a.set_coef(0, 1, 0.953559); S_a.set_coef(0, 2, 0.116010); @@ -177,15 +136,7 @@ void test_simplex_operations() S_a.set_coef(2, 1, -0.293982); S_a.set_coef(2, 2, 0.559370); - CGAL::Eigen_dense_matrix S_b(3, 3); - /* - S_b << -0.419979, 0.301765, -0.855894, - -0.653011, -0.755415, 0.054087, - -0.630234, 0.581624, 0.514314; - */ - - S_b.set_coef(0, 0, -0.419979); S_b.set_coef(0, 1, 0.301765); S_b.set_coef(0, 2, -0.8558940); @@ -196,7 +147,6 @@ void test_simplex_operations() S_b.set_coef(2, 1, 0.581624); S_b.set_coef(2, 2, 0.514314); - CGAL::Eigen_dense_matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); @@ -212,12 +162,6 @@ void test_simplex_operations() void test_centroid() { CGAL::Eigen_dense_matrix S_a; - /* - S_a << -0.588443, 0.807140, -0.047542, - -0.786228, -0.584933, -0.199246, - -0.188629, -0.079867, 0.978795; - */ - S_a.set_coef(0, 0, -0.588443); S_a.set_coef(0, 1, 0.807140); S_a.set_coef(0, 2, -0.047542); @@ -229,12 +173,6 @@ void test_centroid() S_a.set_coef(2, 2, 0.978795); CGAL::Eigen_dense_matrix S_b(3, 3); - /* - S_b << -0.2192721, 0.2792986, -0.9348326, - -0.7772152, -0.6292092, -0.0056861, - -0.5897934, 0.7253193, 0.3550431; - */ - S_b.set_coef(0, 0, -0.2192721); S_b.set_coef(0, 1, 0.2792986); S_b.set_coef(0, 2, -0.9348326); @@ -246,12 +184,6 @@ void test_centroid() S_b.set_coef(2, 2, 0.3550431); CGAL::Eigen_dense_matrix S_c(3, 3); - /* - S_c << -0.32657, -0.60013, -0.73020, - -0.20022, -0.71110, 0.67398, - -0.92372, 0.36630, 0.11207; - */ - S_c.set_coef(0, 0, -0.32657); S_c.set_coef(0, 1, -0.60013); S_c.set_coef(0, 2, -0.730206); @@ -276,7 +208,6 @@ void test_centroid() CGAL_assertion(assert_doubles(S_centroid(2,2), 0.514314, epsilon)); } - void test_eigen_matrix_interface() { CGAL::Eigen_dense_matrix A(3, 3); @@ -289,11 +220,8 @@ void test_eigen_matrix_interface() A.set_coef(2, 0, 0.7); A.set_coef(2, 1, 0.8); A.set_coef(2, 2, 0.9); - //CGAL::Eigen_dense_matrix B = A.transpose(); CGAL::Eigen_dense_matrix B = CGAL::Eigen_linear_algebra_traits::transpose(A); - CGAL::Eigen_dense_matrix S = 0.5 * A; - CGAL::Eigen_dense_matrix C(3,3); C.set_coef(0, 0, 0.3011944); C.set_coef(0, 1, 0.9932761); @@ -305,8 +233,6 @@ void test_eigen_matrix_interface() C.set_coef(2, 1, 0.0202949); C.set_coef(2, 2, 0.9240308); - //C.qr_factorization(Q); - CGAL::Eigen_dense_matrix Q = CGAL::Eigen_linear_algebra_traits::qr_factorization(C); @@ -357,7 +283,6 @@ void test_eigen_matrix_interface() int main() { - test_qr_factorization(); test_fitness_function(); test_simplex_operations(); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 7094c249154..82ff3d2e17c 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -1,8 +1,8 @@ #include #include -#include #include #include +#include #include #include @@ -16,62 +16,6 @@ bool assert_doubles(double d1, double d2, double epsilon) return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; } -template -void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) -{ - typedef typename boost::property_map::const_type Vpm; - typedef typename boost::property_traits::reference Point_ref; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - Vpm vpm = get(boost::vertex_point, sm); - - mat.resize(vertices(sm).size(), 3); - std::size_t i = 0; - for(vertex_descriptor v : vertices(sm)) - { - Point_ref p = get(vpm, v); - mat.set_coef(i, 0, p.x()); - mat.set_coef(i, 1, p.y()); - mat.set_coef(i, 2, p.z()); - ++i; - } -} - -// it is called after post processing -template -void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) -{ - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; - typedef CGAL::Surface_mesh Mesh; - - // Simplex -> std::vector - std::vector points; - - for(int i = 0; i < data_points.rows(); ++i) - { - Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); - points.push_back(p); - } - - Mesh mesh; - CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], - points[6], points[7], mesh); - - std::ofstream out(filename); - out << mesh; - out.close(); -} - -template -double calculate_volume(std::vector points) -{ - CGAL::Bbox_3 bbox; - bbox = bbox_3(points.begin(), points.end()); - K::Iso_cuboid_3 ic(bbox); - return ic.volume(); -} - - void test_nelder_mead() { typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; @@ -99,7 +43,6 @@ void test_nelder_mead() Matrix3d v2(3,3); Matrix3d v3(3,3); - v0(0,0) = -0.2192721; v0(0,1) = 0.2792986, v0(0,2) = -0.9348326, @@ -227,8 +170,9 @@ void test_genetic_algorithm() void test_random_unit_tetra() { // this is dynamic at run times - CGAL::Eigen_dense_matrix data_points(4, 3); // points on their convex hull + CGAL::Eigen_dense_matrix data_points(4, 3); + // points are on their convex hull data_points(0,0) = 0.866802; data_points(0,1) = 0.740808, data_points(0,2) = 0.895304, @@ -242,7 +186,6 @@ void test_random_unit_tetra() data_points(3,1) = 0.149912, data_points(3,2) = 0.364944; - typedef CGAL::Simple_cartesian K; typedef K::Point_3 Point; typedef CGAL::Surface_mesh Mesh; @@ -261,19 +204,16 @@ void test_random_unit_tetra() out.close(); #endif - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; typedef Linear_algebra_traits::Matrix3d Matrix3d; std::size_t generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.evolve(generations); Matrix3d R = evolution.get_best(); - CGAL_assertion_code(double epsilon = 1e-3); CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -0.25791, epsilon)); @@ -290,11 +230,10 @@ void test_random_unit_tetra() // postprocessing CGAL::Eigen_dense_matrix obb(8, 3); CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); - matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); #endif } - void test_reference_tetrahedron(const char* fname) { std::ifstream input(fname); @@ -310,7 +249,7 @@ void test_reference_tetrahedron(const char* fname) // points in a matrix MatrixXd points; - sm_to_matrix(mesh, points); + CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t generations = 10; CGAL::Optimal_bounding_box::Population pop(50); @@ -326,7 +265,7 @@ void test_reference_tetrahedron(const char* fname) // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); - matrix_to_mesh_and_draw(obb, "data/OBB.off"); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/OBB.off"); #endif } @@ -345,7 +284,7 @@ void test_long_tetrahedron(std::string fname) // points in a matrix MatrixXd points; - sm_to_matrix(mesh, points); + CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t max_generations = 10; CGAL::Optimal_bounding_box::Population pop(50); @@ -372,51 +311,10 @@ void test_long_tetrahedron(std::string fname) // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); - matrix_to_mesh_and_draw(obb, fname + "result.off"); + CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, fname + "result.off"); #endif } -/* -void test_find_obb(std::string fname) -{ - std::ifstream input(fname); - typedef CGAL::Surface_mesh SMesh; - SMesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; - exit(1); - } - - // get mesh points - std::vector sm_points; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::const_type PointPMap; - PointPMap pmap = get(boost::vertex_point, mesh); - BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) - sm_points.push_back(get(pmap, v)); - - std::vector obb_points; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true, true); - - double epsilon = 1e-3; - double vol = calculate_volume(obb_points); - CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); - - #ifdef OBB_DEBUG_TEST - for(int i = 0; i < 8; ++i) - std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; - CGAL::Surface_mesh result_mesh; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); - - std::ofstream out("data/obb_result.off"); - out << result_mesh; - out.close(); - #endif -} -*/ - - void test_find_obb_evolution(std::string fname) { std::ifstream input(fname); @@ -438,7 +336,7 @@ void test_find_obb_evolution(std::string fname) CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); // maybe use algebra parameter here CGAL_assertion_code(double epsilon = 1e-3); - CGAL_assertion_code(double vol = calculate_volume(obb_points)); + CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); #ifdef OBB_DEBUG_TEST @@ -475,21 +373,15 @@ void test_find_obb_mesh(std::string fname) #endif } - - int main() { - // test_population(); test_nelder_mead(); test_genetic_algorithm(); test_random_unit_tetra(); test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); - //test_find_obb("data/random_unit_tetra.off"); - test_find_obb_evolution("data/random_unit_tetra.off"); test_find_obb_mesh("data/elephant.off"); - return 0; } From 10c87d33260d58e0b4453d1adcb914eeb7b538d3 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Wed, 16 May 2018 14:18:18 +0200 Subject: [PATCH 027/150] API linear algebra parameter --- .../Optimal_bounding_box/bench_custom.cpp | 5 ++-- .../Optimal_bounding_box/bench_obb.cpp | 7 +++-- .../Optimal_bounding_box/bench_perfomance.cpp | 7 +++-- .../CGAL/Optimal_bounding_box/helper.h | 1 - .../include/CGAL/Optimal_bounding_box/obb.h | 28 ++++++++++--------- .../test_optimization_algorithms.cpp | 7 +++-- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 4 ++- 7 files changed, 34 insertions(+), 25 deletions(-) diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp index aad2ef10026..fcc2c64deb6 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp @@ -1,8 +1,8 @@ #include #include -#include #include #include +#include #include #include @@ -33,7 +33,8 @@ bench(const char* fname) std::cout << "input data (points + normals)= " << i << std::endl; std::cout << "number of points= " << sm_points.size() << std::endl; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, false); + CGAL::Eigen_linear_algebra_traits la_traits; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, la_traits, false); std::cout << "done" << '\n'; diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp index a3daafffb5a..85d3287be9f 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp @@ -1,6 +1,5 @@ #include #include -#include #include #include #include @@ -56,9 +55,11 @@ void bench_finding_obb(std::string fname) CGAL::Timer timer; timer.start(); + CGAL::Eigen_linear_algebra_traits la_traits; + // 1) using convex hull std::vector obb_points1; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points1, true); + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points1, la_traits, true); timer.stop(); std::cout << "found obb with convex hull: " << timer.time() << " seconds\n"; @@ -68,7 +69,7 @@ void bench_finding_obb(std::string fname) // 2) without convex hull std::vector obb_points2; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points2, false); + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points2, la_traits, false); timer.stop(); diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp index dddbcf791cb..49778276e7c 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp @@ -1,8 +1,8 @@ #include #include -#include #include #include +#include #include #include @@ -26,6 +26,7 @@ void bench_finding_obb(std::string fname) CGAL::Timer timer; std::size_t measurements = 4; + CGAL::Eigen_linear_algebra_traits la_traits; for (std::size_t t = 0; t < measurements; ++t) { @@ -35,7 +36,7 @@ void bench_finding_obb(std::string fname) // 1) using convex hull CGAL::Surface_mesh obb_mesh1; - CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh1, true); + CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh1, la_traits, true); timer.stop(); std::cout << " with ch: " << timer.time() << " s |"; @@ -45,7 +46,7 @@ void bench_finding_obb(std::string fname) // 2) without convex hull CGAL::Surface_mesh obb_mesh2; - CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh2, false); + CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh2, la_traits, false); timer.stop(); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index 5c4de4bac0f..e9c3a5eadb0 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -29,7 +29,6 @@ typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - namespace CGAL { namespace Optimal_bounding_box { diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index b050261f710..a5d6ec79354 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -91,9 +91,11 @@ void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) obb = aabb * R; } -// with linear algebra traits -template -void find_obb(std::vector& points, std::vector& obb_points, bool use_ch) +template +void find_obb(std::vector& points, + std::vector& obb_points, + LinearAlgebraTraits&, + bool use_ch) { CGAL_assertion(points.size() >= 3); @@ -101,10 +103,9 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u obb_points.resize(8); CGAL_assertion(obb_points.size() == 8); - // could be used from a t. parameter - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef typename Linear_algebra_traits::MatrixXd MatrixXd; - typedef typename Linear_algebra_traits::Matrix3d Matrix3d; + // eigen linear algebra traits + typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; + typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; MatrixXd points_mat; @@ -128,7 +129,7 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u std::size_t max_generations = 100; Population pop(50); - CGAL::Optimal_bounding_box::Evolution + CGAL::Optimal_bounding_box::Evolution search_solution(pop, points_mat); search_solution.evolve(max_generations); Matrix3d rotation = search_solution.get_best(); @@ -149,10 +150,11 @@ void find_obb(std::vector& points, std::vector& obb_points, bool u /// @param pmesh the input mesh. /// @param obbmesh the obb in a hexahedron pmesh. /// @param use convex hull or not. -/// -/// todo named parameters: max iterations, population size, tolerance. -template -void find_obb(PolygonMesh& pmesh, PolygonMesh& obbmesh, bool use_ch) +template +void find_obb(PolygonMesh& pmesh, + PolygonMesh& obbmesh, + LinearAlgrebraTraits& la_traits, + bool use_ch) { CGAL_assertion(vertices(pmesh).size() >= 3); @@ -173,7 +175,7 @@ void find_obb(PolygonMesh& pmesh, PolygonMesh& obbmesh, bool use_ch) points.push_back(get(pmap, v)); std::vector obb_points; - find_obb(points, obb_points, use_ch); + find_obb(points, obb_points, la_traits, use_ch); CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 82ff3d2e17c..ae8e1879d95 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -332,8 +332,10 @@ void test_find_obb_evolution(std::string fname) BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) sm_points.push_back(get(pmap, v)); + + CGAL::Eigen_linear_algebra_traits la_traits; std::vector obb_points; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); // maybe use algebra parameter here + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, la_traits, true); CGAL_assertion_code(double epsilon = 1e-3); CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); @@ -363,8 +365,9 @@ void test_find_obb_mesh(std::string fname) exit(1); } + CGAL::Eigen_linear_algebra_traits la_traits; CGAL::Surface_mesh< K::Point_3> obbmesh; - CGAL::Optimal_bounding_box::find_obb(mesh, obbmesh, true); + CGAL::Optimal_bounding_box::find_obb(mesh, obbmesh, la_traits, true); #ifdef OBB_DEBUG_TEST std::ofstream out("/tmp/result_elephant.off"); diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 70b8f765731..9dbf9da1da7 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -15,6 +15,7 @@ #include #include +#include //typedef Scene_surface_mesh_item Scene_facegraph_item; //typedef Scene_facegraph_item Scene_facegraph_item; @@ -163,8 +164,9 @@ void Create_obb_mesh_plugin::obb() gather_mesh_points(points); // find obb + CGAL::Eigen_linear_algebra_traits la_traits; std::vector obb_points(8); - CGAL::Optimal_bounding_box::find_obb(points, obb_points, true); + CGAL::Optimal_bounding_box::find_obb(points, obb_points, la_traits, true); Scene_item* item; if(mw->property("is_polyhedorn_mode").toBool()) From 819e38d6a13e58e4f856031330e3fd58d6c1f22d Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 17 May 2018 11:03:55 +0200 Subject: [PATCH 028/150] making sure that all matrix allocations happen at compile time when possible --- .../Optimal_bounding_box/bench_obb.cpp | 29 ++++++++++++------- .../CGAL/Optimal_bounding_box/evolution.h | 11 ++++--- .../Optimal_bounding_box/fitness_function.h | 17 ++++------- .../Optimal_bounding_box/linear_algebra.h | 26 +---------------- .../include/CGAL/Optimal_bounding_box/obb.h | 14 ++++----- .../test_optimization_algorithms.cpp | 10 +++---- .../CGAL/Eigen_linear_algebra_traits.h | 20 +++++++------ 7 files changed, 52 insertions(+), 75 deletions(-) diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp index 85d3287be9f..fb759595d1f 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp @@ -1,7 +1,10 @@ #include #include +#include +#include #include #include +#include #include #include @@ -41,6 +44,7 @@ void bench_finding_obb(std::string fname) { std::ifstream input(fname); + CGAL::Eigen_linear_algebra_traits la_traits; std::vector sm_points; // import a mesh @@ -53,26 +57,29 @@ void bench_finding_obb(std::string fname) gather_mesh_points(mesh, sm_points); CGAL::Timer timer; + + // 1) measure convex hull calculation timer.start(); - - CGAL::Eigen_linear_algebra_traits la_traits; - - // 1) using convex hull - std::vector obb_points1; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points1, la_traits, true); - + CGAL::Polyhedron_3 poly; + convex_hull_3(sm_points.begin(), sm_points.end(), poly); + std::vector ch_points(poly.points_begin(), poly.points_end()); timer.stop(); - std::cout << "found obb with convex hull: " << timer.time() << " seconds\n"; + std::cout << "takes : " << timer.time() << " seconds to find the convex hull\n"; + // 2) using convex hull timer.reset(); timer.start(); + std::vector obb_points1; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points1, la_traits, true); + timer.stop(); + std::cout << "found obb using convex hull: " << timer.time() << " seconds\n"; - // 2) without convex hull + // 3) without convex hull + timer.reset(); + timer.start(); std::vector obb_points2; CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points2, la_traits, false); - timer.stop(); - std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; timer.reset(); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 30cd901b912..dee4d14a48e 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -19,7 +19,6 @@ // // Author(s) : Konstantinos Katrioplas - #ifndef CGAL_EVOLUTION_H #define CGAL_EVOLUTION_H @@ -34,7 +33,7 @@ namespace Optimal_bounding_box { template class Evolution { - typedef typename Linear_algebra_traits::MatrixXd MatrixXd; + typedef typename Linear_algebra_traits::MatrixX3d MatrixXd; typedef typename Linear_algebra_traits::Matrix3d Matrix3d; typedef typename Linear_algebra_traits::Vector3d Vector3d; @@ -280,14 +279,14 @@ public: //std::cout << "pop after nelder mead: " << std::endl; //pop.show_population(); //std::cout << std::endl; - Fitness_map fitness_map_debug(population, point_data); + Fitness_map fitness_map_debug(population, point_data); Matrix3d R_now = fitness_map_debug.get_best(); std::cout << "det= " << Linear_algebra_traits::determinant(R_now) << std::endl; #endif // stopping criteria - Fitness_map fitness_map(population, point_data); - new_fit_value = fitness_map.get_best_fitness_value(point_data); + Fitness_map fitness_map(population, point_data); + new_fit_value = fitness_map.get_best_fitness_value(); double difference = new_fit_value - prev_fit_value; if(abs(difference) < tolerance * new_fit_value) stale++; @@ -301,7 +300,7 @@ public: const Matrix3d get_best() { - Fitness_map fitness_map(population, point_data); + Fitness_map fitness_map(population, point_data); return fitness_map.get_best(); } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 8f00286f0ed..981ab6bdb49 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -27,14 +27,11 @@ #include #include -#include - namespace CGAL { namespace Optimal_bounding_box { -template -double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, - typename Linear_algebra_traits::MatrixXd& data) +template +double compute_fitness(const Vertex& R, const Matrix& data) { // R: rotation matrix CGAL_assertion(R.cols() == 3); @@ -73,11 +70,9 @@ double compute_fitness(const typename Linear_algebra_traits::Matrix3d& R, return ((xmax - xmin) * (ymax - ymin) * (zmax - zmin)); } -template +template struct Fitness_map { - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; // to be added as a parameter - Fitness_map(Population& p, Matrix& points) : pop(p), points(points) {} @@ -103,14 +98,14 @@ struct Fitness_map return pop[simplex_id][vertex_id]; } - double get_best_fitness_value(Matrix& data) + double get_best_fitness_value() { const Vertex best_mat = get_best(); - return compute_fitness(best_mat, data); + return compute_fitness(best_mat, points); } Population& pop; - Matrix& points; + const Matrix& points; }; }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h index 1f9dedff815..e7dbe3fc99c 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h @@ -38,26 +38,6 @@ namespace Optimal_bounding_box { typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; #endif -/* -template -void qr_factorization(Matrix& A, Matrix& Q) -{ - Eigen::HouseholderQR qr(A); - Q = qr.householderQ(); -} - -template -void qr_factorization(std::vector& Simplex) -{ - for(int i = 0; i < Simplex.size(); ++i) - { - Eigen::HouseholderQR qr(Simplex[i]); - Matrix Q = qr.householderQ(); - Simplex[i] = Q; - } -} -*/ - template const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) { @@ -92,19 +72,15 @@ Matrix mean(const Matrix& m1, const Matrix& m2) CGAL_assertion(m2.cols() == 3); Matrix reduction = 0.5 * m1 + 0.5 * m2; - //Matrix Q; - //reduction.qr_factorization(Q); Matrix Q = Linear_algebra_traits::qr_factorization(reduction); double det = Linear_algebra_traits::determinant(Q); return Q / det; } template -const Matrix centroid(Matrix& S1, Matrix& S2, Matrix& S3) // const? +const Matrix centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) { Matrix mean = (S1 + S2 + S3) / 3.0; - //Matrix Q; - //mean.qr_factorization(Q); Matrix Q = Linear_algebra_traits::qr_factorization(mean); double det = Linear_algebra_traits::determinant(Q); return Q / det; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index a5d6ec79354..6b23f6350b3 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -49,8 +49,8 @@ typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; // works on matrices only -template -void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) +template +void post_processing(const Matrix& points, Vertex& R, Matrix& obb) { CGAL_assertion(points.cols() == 3); CGAL_assertion(R.rows() == 3); @@ -59,7 +59,7 @@ void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) CGAL_assertion(obb.cols() == 3); // 1) rotate points with R - Matrix_dynamic rotated_points(points.rows(), points.cols()); + Matrix rotated_points(points.rows(), points.cols()); rotated_points = points * Linear_algebra_traits::transpose(R); // 2) get AABB from rotated points @@ -75,10 +75,8 @@ void post_processing(const Matrix_dynamic& points, Vertex& R, Matrix_fixed& obb) bbox = bbox_3(v_points.begin(), v_points.end()); K::Iso_cuboid_3 ic(bbox); - Matrix_fixed aabb; - // preallocate sanity: if Matrix is not preallocated in compile time - if(aabb.cols() != 3 && aabb.rows() != 8) - aabb.resize(8, 3); + // Matrix is [dynamic, 3] at compile time, so it needs allocation of rows at run time. + Matrix aabb(8, 3); for(std::size_t i = 0; i < 8; ++i) { @@ -104,7 +102,7 @@ void find_obb(std::vector& points, CGAL_assertion(obb_points.size() == 8); // eigen linear algebra traits - typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; + typedef typename LinearAlgebraTraits::MatrixX3d MatrixXd; typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; MatrixXd points_mat; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index ae8e1879d95..763ed60fbd6 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -20,7 +20,7 @@ void test_nelder_mead() { typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; typedef Linear_algebra_traits::Matrix3d Matrix3d; - typedef Linear_algebra_traits::MatrixXd MatrixXd; + typedef Linear_algebra_traits::MatrixX3d MatrixXd; MatrixXd data_points(4,3); data_points(0,0) = 0.866802; @@ -143,7 +143,7 @@ void test_nelder_mead() void test_genetic_algorithm() { - CGAL::Eigen_dense_matrix data_points(4, 3); + CGAL::Eigen_dense_matrix data_points(4, 3); // -1 : dynamic size at run time data_points(0,0) = 0.866802; data_points(0,1) = 0.740808, data_points(0,2) = 0.895304, @@ -170,7 +170,7 @@ void test_genetic_algorithm() void test_random_unit_tetra() { // this is dynamic at run times - CGAL::Eigen_dense_matrix data_points(4, 3); + CGAL::Eigen_dense_matrix data_points(4, 3); // points are on their convex hull data_points(0,0) = 0.866802; @@ -244,7 +244,7 @@ void test_reference_tetrahedron(const char* fname) } typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixXd MatrixXd; + typedef Linear_algebra_traits::MatrixX3d MatrixXd; typedef Linear_algebra_traits::Matrix3d Matrix3d; // points in a matrix @@ -279,7 +279,7 @@ void test_long_tetrahedron(std::string fname) } typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixXd MatrixXd; + typedef Linear_algebra_traits::MatrixX3d MatrixXd; typedef Linear_algebra_traits::Matrix3d Matrix3d; // points in a matrix diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index 5da5e294e22..c1d2716c1cd 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -38,7 +38,6 @@ class Eigen_dense_matrix { public: typedef Eigen::Matrix EigenType; - typedef Eigen::Matrix EigenType3; Eigen_dense_matrix(std::size_t nrows, std::size_t ncols) : m_matrix(static_cast(nrows), static_cast(ncols)) @@ -94,7 +93,6 @@ template class Eigen_dense_vector { private: - //typedef Eigen::Vector3d EigenType; typedef Eigen::Matrix EigenType; public: @@ -119,11 +117,14 @@ public: // dynamic size at run time typedef CGAL::Eigen_dense_matrix MatrixXd; + // dynamic rows in run time, fixed cols in compile time + typedef CGAL::Eigen_dense_matrix MatrixX3d; + // fixed at compile time typedef CGAL::Eigen_dense_matrix Matrix3d; // fixed at compile time - typedef CGAL::Eigen_dense_vector Vector3d; + typedef CGAL::Eigen_dense_vector Vector3d; template static Matrix transpose(const Matrix& mat) @@ -155,11 +156,11 @@ public: } template - static CGAL::Eigen_dense_vector row(CGAL::Eigen_dense_matrix& A, int i_) + static CGAL::Eigen_dense_vector row(const CGAL::Eigen_dense_matrix& A, + int i) { - return CGAL::Eigen_dense_vector(A.m_matrix.row(i_)); + return CGAL::Eigen_dense_vector(A.m_matrix.row(i)); } - }; @@ -214,7 +215,7 @@ const CGAL::Eigen_dense_matrix operator/ (const double& scalar, return CGAL::Eigen_dense_matrix (scalar / A.m_matrix); } -// addition - subtraction +// addition template const CGAL::Eigen_dense_matrix operator+ (const CGAL::Eigen_dense_matrix & A, const CGAL::Eigen_dense_matrix & B) @@ -224,9 +225,10 @@ const CGAL::Eigen_dense_matrix operator+ (const CGAL::Eigen_dense_ma // vector - matrix multiplication template -const Eigen_dense_vector operator* (const CGAL::Eigen_dense_matrix& A, CGAL::Eigen_dense_vector& V) +const Eigen_dense_vector operator* (const CGAL::Eigen_dense_matrix& A, + const CGAL::Eigen_dense_vector& V) { - return Eigen_dense_vector(A.m_matrix * V.m_vector); + return Eigen_dense_vector(A.m_matrix * V.m_vector); } From d1865ac913c49d1b846057279b9aac8280c5bca4 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 17 May 2018 12:03:45 +0200 Subject: [PATCH 029/150] draw perfomance graph --- .../Optimal_bounding_box/bench_custom.cpp | 5 ++++- .../Optimal_bounding_box/bench_perfomance.cpp | 19 +++++++++++------- .../Optimal_bounding_box/data/linear.png | Bin 0 -> 25356 bytes .../draw_benchmark_graph.py | 18 +++++++++++++++++ 4 files changed, 34 insertions(+), 8 deletions(-) create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/data/linear.png create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp index fcc2c64deb6..7209f3a3346 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp @@ -34,7 +34,10 @@ bench(const char* fname) std::cout << "number of points= " << sm_points.size() << std::endl; CGAL::Eigen_linear_algebra_traits la_traits; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, la_traits, false); + + // use convex hull - > true + // no convex hull - > false + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, la_traits, false); std::cout << "done" << '\n'; diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp index 49778276e7c..128a9f67f24 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp @@ -24,6 +24,10 @@ void bench_finding_obb(std::string fname) exit(1); } + // export some times + std::ofstream outt("data/times.txt"); + outt << "nb_vertices "<< "with_ch " << "without_ch" << std::endl; + CGAL::Timer timer; std::size_t measurements = 4; CGAL::Eigen_linear_algebra_traits la_traits; @@ -32,32 +36,33 @@ void bench_finding_obb(std::string fname) { std::cout << "#vertices= " << vertices(mesh).size() << " |"; - timer.start(); - // 1) using convex hull + timer.start(); CGAL::Surface_mesh obb_mesh1; CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh1, la_traits, true); - timer.stop(); + double t_ch = timer.time(); std::cout << " with ch: " << timer.time() << " s |"; + // 2) without convex hull timer.reset(); timer.start(); - - // 2) without convex hull CGAL::Surface_mesh obb_mesh2; CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh2, la_traits, false); - timer.stop(); - + double t_no_ch = timer.time(); std::cout << " without ch: " << timer.time() << " s\n"; timer.reset(); + outt << vertices(mesh).size() << " " << t_ch << " " << t_no_ch << std::endl; + // 3) subdivision CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, CGAL::parameters::number_of_iterations(1)); } + outt.close(); + #ifdef OBB_DEBUG_BENCHMARK std::ofstream out1("data/obb_result1.off"); diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/linear.png b/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/linear.png new file mode 100644 index 0000000000000000000000000000000000000000..edb4f44fc9887775259a16c1b62852a1e3ddfec1 GIT binary patch literal 25356 zcmeFZWmr~S6fOD!BGSHsgp?rNh?JxViUNulNSA_9lh0)vc6Ps;Mht!*`ba-{KmC#V#XYrFmBnZOlVxq2>Z9K( 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zf)p&eZy!8=bddPOG&gIJmyBOxzH-~mFEuhRvt(03B(JHLmvrkLCFUzHh@>W3G-+pN z=iU4F>CqC9g#!-JKoFoAYG`ZMAu%T=C2hpaYC_^lAQnf=7<<;|;ZWHL9wMHe|;WS5)LhrT66g@CNAa=(xDJkUs>3 zh3QaPa#Hn0Va1KNMJ-R_sUTVRaY@Id44A_xI8~lI?9cqOHVB;-S?kJ;8#lb%?#Lj9 zz5rs+eY{ODG&J;ie}9#3(J&@OQt&KXE2Kkp%$>Cly z;|#!Aq(%1i1L3dOOwABh1#oxBp{PgxxnqIzj0#&0-`D z_LBxL+%|hm9lY&O6_KS(aB%SI;^SI16gOl_M`kCE!em792tI%QOoDXB2dd=AgucxW zY=P$}TiYL>`;)vUB>0-NmyvAjvxdi2jVWPUm8HFRl5_p>LEA0=?~L$o62|{ Date: Thu, 17 May 2018 14:35:00 +0200 Subject: [PATCH 030/150] benchmark code and benchmark on fitness function --- .../Optimal_bounding_box/CMakeLists.txt | 1 + .../bench_fitness_function.cpp | 63 +++++++++++++++++++ .../include/CGAL/Optimal_bounding_box/obb.h | 43 +++++++++++++ .../CGAL/Eigen_linear_algebra_traits.h | 4 +- 4 files changed, 109 insertions(+), 2 deletions(-) create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_fitness_function.cpp diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt index dd9fbe32d76..e918b0a6d4c 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt @@ -55,6 +55,7 @@ if (EIGEN3_FOUND) create_single_source_cgal_program("bench_obb.cpp") create_single_source_cgal_program("bench_perfomance.cpp") create_single_source_cgal_program("bench_custom.cpp") + create_single_source_cgal_program("bench_fitness_function.cpp") endif(EIGEN3_FOUND) diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_fitness_function.cpp b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_fitness_function.cpp new file mode 100644 index 00000000000..bda67e7d9f9 --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_fitness_function.cpp @@ -0,0 +1,63 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + + +int main() +{ + + const char* fname = "data/elephant.off"; + + // 1) import a lot a mesh and subdivide it to create a big mesh + std::ifstream input(fname); + + CGAL::Surface_mesh mesh; + if (!input || !(input >> mesh) || mesh.is_empty()) { + std::cerr << fname << " is not a valid off file.\n"; + exit(1); + } + + CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, + CGAL::parameters::number_of_iterations(6)); + + int nb_points = static_cast(vertices(mesh).size()); + std::cout << "number of points= " << nb_points << std::endl; + + + // 2) fill a Matrix with them + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::MatrixX3d MatrixX3d; + MatrixX3d points_mat(nb_points, 3); + CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points_mat); + + + // 3) create a population of simplices + typedef Linear_algebra_traits::Matrix3d Matrix3d; + CGAL::Optimal_bounding_box::Population pop(50); + + + CGAL::Timer timer; + timer.start(); + + // 4) compute fitness of population via the Fitness map + CGAL::Optimal_bounding_box::Fitness_map fit_map(pop, points_mat); + double result = fit_map.get_best_fitness_value(); + + timer.stop(); + + std::cout << "took " << timer.time() << " to compute the fitness of all vertices.\n"; + std::cout << "value of fittest vertex= " << result << std::endl; + + + + return 0; +} \ No newline at end of file diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 6b23f6350b3..5ce781cdb18 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -34,6 +34,9 @@ #include #include #include +#ifdef OBB_BENCHMARKS +#include +#endif #if defined(CGAL_EIGEN3_ENABLED) #include @@ -125,18 +128,58 @@ void find_obb(std::vector& points, CGAL::Optimal_bounding_box::fill_matrix(points, points_mat); } +#ifdef OBB_BENCHMARKS + CGAL::Timer timer; +#endif + std::size_t max_generations = 100; Population pop(50); + +#ifdef OBB_BENCHMARKS + timer.start(); +#endif + CGAL::Optimal_bounding_box::Evolution search_solution(pop, points_mat); + +#ifdef OBB_BENCHMARKS + timer.stop(); + std::cout << "constructor: " << timer.time() << std::endl; + timer.reset(); + timer.start(); +#endif + search_solution.evolve(max_generations); + +#ifdef OBB_BENCHMARKS + timer.stop(); + std::cout << "evolve: " << timer.time() << std::endl; + timer.reset(); + timer.start(); +#endif + Matrix3d rotation = search_solution.get_best(); +#ifdef OBB_BENCHMARKS + timer.stop(); + std::cout << "get best: " << timer.time() << std::endl; +#endif + MatrixXd obb; // could be preallocated at compile time obb.resize(8, 3); +#ifdef OBB_BENCHMARKS + timer.reset(); + timer.start(); +#endif + post_processing(points_mat, rotation, obb); +#ifdef OBB_BENCHMARKS + timer.stop(); + std::cout << "post porcessing: " << timer.time() << std::endl; +#endif + // matrix -> vector for(std::size_t i = 0; i < 8; ++i) { diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index c1d2716c1cd..6e0ae1f8af9 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -156,10 +156,10 @@ public: } template - static CGAL::Eigen_dense_vector row(const CGAL::Eigen_dense_matrix& A, + static CGAL::Eigen_dense_vector row(const CGAL::Eigen_dense_matrix& A, int i) { - return CGAL::Eigen_dense_vector(A.m_matrix.row(i)); + return CGAL::Eigen_dense_vector(A.m_matrix.row(i)); } }; From aac227eed411fcf1706095b1d3a03a907a0c7e90 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Thu, 17 May 2018 15:53:21 +0200 Subject: [PATCH 031/150] small errors --- .../include/CGAL/Eigen_linear_algebra_traits.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index 6e0ae1f8af9..345dd3357c3 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -30,7 +30,7 @@ namespace CGAL { -template +template class Eigen_dense_vector; template @@ -58,8 +58,6 @@ public: Eigen_dense_matrix() : m_matrix() {} - ~Eigen_dense_matrix() {} - T& operator() (int i_, int j_) { return m_matrix(i_, j_); @@ -89,7 +87,7 @@ public: }; -template +template class Eigen_dense_vector { private: @@ -165,6 +163,7 @@ public: // matrix multiplication +/* template const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, const CGAL::Eigen_dense_matrix& B) @@ -178,6 +177,7 @@ const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); } +*/ template const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, From 1ea3fc26c9c7c4b1da6bf7aec28a40d452032ac8 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 18 May 2018 15:15:39 +0200 Subject: [PATCH 032/150] I hate c++ --- .../include/CGAL/Optimal_bounding_box/fitness_function.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 981ab6bdb49..9b65b775c30 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -43,7 +43,7 @@ double compute_fitness(const Vertex& R, const Matrix& data) typedef typename Linear_algebra_traits::Vector3d Vector3d; double xmin, xmax, ymin, ymax, zmin, zmax; - for(std::size_t i = 0; i < data.rows(); i++){ + for(int i = 0; i < data.rows(); ++i){ Vector3d vec = Linear_algebra_traits::row(data, i); vec = R * vec; From 820e9c6098966129c5bae432441d8dadd16d9059 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 18 May 2018 15:45:58 +0200 Subject: [PATCH 033/150] return precompiled 3-column row only & some cleaning --- .../Optimal_bounding_box/fitness_function.h | 2 +- ...near_algebra.h => nelder_mead_functions.h} | 0 .../CGAL/Optimal_bounding_box/population.h | 2 +- .../test_linear_algebra_functions.cpp | 2 +- .../CGAL/Eigen_linear_algebra_traits.h | 24 +++++-------------- 5 files changed, 9 insertions(+), 21 deletions(-) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{linear_algebra.h => nelder_mead_functions.h} (100%) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 9b65b775c30..2707b808968 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -45,7 +45,7 @@ double compute_fitness(const Vertex& R, const Matrix& data) double xmin, xmax, ymin, ymax, zmin, zmax; for(int i = 0; i < data.rows(); ++i){ - Vector3d vec = Linear_algebra_traits::row(data, i); + Vector3d vec = Linear_algebra_traits::row3(data, i); vec = R * vec; if(i == 0){ diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h similarity index 100% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/linear_algebra.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 1c34cd4a230..1d09a0cbdc5 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -24,7 +24,7 @@ #include #include -#include +#include #if defined(CGAL_EIGEN3_ENABLED) #include diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index d800f537e32..ba259ff0710 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include #include diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index 345dd3357c3..ebe835243ce 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -153,32 +153,20 @@ public: } } + // CGAL::Eigen_dense_vector : the returned type with D2 may be -1 in compile time, + // and may not be equal to the expected type. + // Eigen manages to return a precompiled row out of a dynamic matrix but I don't know how. template - static CGAL::Eigen_dense_vector row(const CGAL::Eigen_dense_matrix& A, + static CGAL::Eigen_dense_vector row3(const CGAL::Eigen_dense_matrix& A, int i) { - return CGAL::Eigen_dense_vector(A.m_matrix.row(i)); + return CGAL::Eigen_dense_vector(A.m_matrix.row(i)); } + }; // matrix multiplication -/* -template -const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, - const CGAL::Eigen_dense_matrix& B) -{ - return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); -} - -template -const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, - const CGAL::Eigen_dense_matrix& B) -{ - return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); -} -*/ - template const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, const CGAL::Eigen_dense_matrix& B) From 0c215dfecbfd891e7873b865f02b572b57b8dfb4 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 18 May 2018 16:22:01 +0200 Subject: [PATCH 034/150] use a matrix with dynamic rows and columns are run time for points, because it is a little faster than fixed columns --- .../include/CGAL/Optimal_bounding_box/evolution.h | 2 +- .../include/CGAL/Optimal_bounding_box/obb.h | 2 +- .../test_optimization_algorithms.cpp | 10 +++++----- .../include/CGAL/Eigen_linear_algebra_traits.h | 9 +++++++++ 4 files changed, 16 insertions(+), 7 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index dee4d14a48e..b8eab67ea17 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -33,7 +33,7 @@ namespace Optimal_bounding_box { template class Evolution { - typedef typename Linear_algebra_traits::MatrixX3d MatrixXd; + typedef typename Linear_algebra_traits::MatrixXd MatrixXd; typedef typename Linear_algebra_traits::Matrix3d Matrix3d; typedef typename Linear_algebra_traits::Vector3d Vector3d; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 5ce781cdb18..b9cb0362955 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -105,7 +105,7 @@ void find_obb(std::vector& points, CGAL_assertion(obb_points.size() == 8); // eigen linear algebra traits - typedef typename LinearAlgebraTraits::MatrixX3d MatrixXd; + typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; MatrixXd points_mat; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 763ed60fbd6..5e6d8268627 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -20,7 +20,7 @@ void test_nelder_mead() { typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; typedef Linear_algebra_traits::Matrix3d Matrix3d; - typedef Linear_algebra_traits::MatrixX3d MatrixXd; + typedef Linear_algebra_traits::MatrixXd MatrixXd; MatrixXd data_points(4,3); data_points(0,0) = 0.866802; @@ -143,7 +143,7 @@ void test_nelder_mead() void test_genetic_algorithm() { - CGAL::Eigen_dense_matrix data_points(4, 3); // -1 : dynamic size at run time + CGAL::Eigen_dense_matrix data_points(4, 3); // -1 : dynamic size at run time data_points(0,0) = 0.866802; data_points(0,1) = 0.740808, data_points(0,2) = 0.895304, @@ -170,7 +170,7 @@ void test_genetic_algorithm() void test_random_unit_tetra() { // this is dynamic at run times - CGAL::Eigen_dense_matrix data_points(4, 3); + CGAL::Eigen_dense_matrix data_points(4, 3); // points are on their convex hull data_points(0,0) = 0.866802; @@ -244,7 +244,7 @@ void test_reference_tetrahedron(const char* fname) } typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixX3d MatrixXd; + typedef Linear_algebra_traits::MatrixXd MatrixXd; typedef Linear_algebra_traits::Matrix3d Matrix3d; // points in a matrix @@ -279,7 +279,7 @@ void test_long_tetrahedron(std::string fname) } typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixX3d MatrixXd; + typedef Linear_algebra_traits::MatrixXd MatrixXd; typedef Linear_algebra_traits::Matrix3d Matrix3d; // points in a matrix diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index ebe835243ce..697e49a7ad4 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -174,6 +174,15 @@ const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_ma return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); } +// D2 and D3 may not be equal at compile time, but equal at run time! +// This overload returns a dynamic matrix. +template +const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, + const CGAL::Eigen_dense_matrix& B) +{ + return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); +} + // scalar - matrix multiplication template const CGAL::Eigen_dense_matrix operator* (const NT& scalar, From 00c782b277112a5376d110b6ba9d37a3a2279786 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 18 May 2018 17:17:05 +0200 Subject: [PATCH 035/150] documentation --- .../include/CGAL/Optimal_bounding_box/obb.h | 24 ++++- .../CGAL/Eigen_linear_algebra_traits.h | 89 ++++++++++++++++++- 2 files changed, 110 insertions(+), 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index b9cb0362955..debc54445b3 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -52,6 +52,7 @@ typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; // works on matrices only +/// \cond SKIP_IN_MANUAL template void post_processing(const Matrix& points, Vertex& R, Matrix& obb) { @@ -91,7 +92,18 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) // 3) apply inverse rotation to rotated AABB obb = aabb * R; } +/// \endcond +/// \ingroup OBB_grp +/// calculates the optimal bounding box. +/// +/// @tparam Point the point type +/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits` +/// +/// @param points the input points that are included in the optimal bounding box. +/// @param obb_points the eight points of the optimal bounding box to be calculated. +/// @param use_ch a bool flag to indicating whether to use the convex hull of the input points +/// as an optimization step. template void find_obb(std::vector& points, std::vector& obb_points, @@ -188,9 +200,17 @@ void find_obb(std::vector& points, } } +/// \ingroup OBB_grp +/// calculates the optimal bounding box. +/// +/// @tparam PolygonMesh a model of `FaceListGraph` +/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits` +/// /// @param pmesh the input mesh. -/// @param obbmesh the obb in a hexahedron pmesh. -/// @param use convex hull or not. +/// @param obbmesh the hexaedron mesh to be built out of the optimal bounding box. +/// @param la_traits an instance of the linear algebra traits. +/// @param use_ch a bool flag to indicating whether to use the convex hull of the input points +/// as an optimization step. template void find_obb(PolygonMesh& pmesh, PolygonMesh& obbmesh, diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index 697e49a7ad4..b6415474c73 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -33,12 +33,28 @@ namespace CGAL { template class Eigen_dense_vector; +/*! +\ingroup PkgSolver + +The class `Eigen_dense_matrix` is a wrapper around \ref thirdpartyEigen "Eigen" matrix type +`Eigen::DenseMatrix`. + +\tparam T Number type. +\tparam D1 Number of rows, or Dynamic. +\tparam D1 Number of cols, or Dynamic. + +\sa `CGAL::Eigen_dense_vector` +\sa `CGAL::Eigen_linear_algebra_traits` +*/ template class Eigen_dense_matrix { public: + + /// The internal matrix type from \ref thirdpartyEigen "Eigen". typedef Eigen::Matrix EigenType; + /// Create a dense matrix Eigen_dense_matrix(std::size_t nrows, std::size_t ncols) : m_matrix(static_cast(nrows), static_cast(ncols)) { @@ -46,6 +62,7 @@ public: CGAL_assertion(m_matrix.cols() > 0); } + /// Create a dense matrix Eigen_dense_matrix(int nrows, int ncols) : m_matrix(nrows, ncols) { @@ -53,16 +70,25 @@ public: CGAL_assertion(m_matrix.cols() > 0); } + /// Create a dense matrix out of a \ref thirdpartyEigen "Eigen" matrix type Eigen_dense_matrix(const EigenType& eigen_mat) : m_matrix(eigen_mat) {} Eigen_dense_matrix() : m_matrix() {} + /// Read access to a matrix coefficient. + /// + /// \pre 0 <= i < row_dimension(). + /// \pre 0 <= j < column_dimension(). T& operator() (int i_, int j_) { return m_matrix(i_, j_); } + /// Write access to a matrix coefficient: a_ij <- val + /// + /// \pre 0 <= i < row_dimension(). + /// \pre 0 <= j < column_dimension(). void set_coef(std::size_t i_, std::size_t j_, T val) { int i = static_cast(i_); @@ -73,9 +99,12 @@ public: m_matrix.coeffRef(i,j) = val; } + /// Return the matrix number of rows std::size_t rows() const {return m_matrix.rows();} + /// Return the matrix number of cols std::size_t cols() const {return m_matrix.cols();} + /// Resize to i rows and j cols void resize(int i_, int j_) { m_matrix.resize(i_, j_);} const T& coeff(int i_) const @@ -86,16 +115,36 @@ public: mutable EigenType m_matrix; }; +/*! +\ingroup PkgSolver +The class `Eigen_vector` is a wrapper around \ref thirdpartyEigen "Eigen" dense vector +type , +which is a simple array of numbers. + +\cgalModels `SvdTraits::Vector` +\cgalModels `SparseLinearAlgebraTraits_d::Vector`. + +\tparam T Number type. +\tparam D Number of colums, or Dynamic. + +\sa `CGAL::Eigen_dense_matrix` +\sa `CGAL::Eigen_linear_algebra_traits` +*/ template class Eigen_dense_vector { private: + + /// The internal vector type from \ref thirdpartyEigen "Eigen". typedef Eigen::Matrix EigenType; public: + + /// Create a dense vector out of a \ref thirdpartyEigen "Eigen" vector type Eigen_dense_vector(const EigenType& vec) : m_vector(vec) {} + /// Read and write and access to a vector coefficient: `a_i` const T& coeff(std::size_t i) { CGAL_assertion(i >= 0); @@ -107,6 +156,35 @@ public: }; +/*! +\ingroup PkgSolver + +The class `Eigen_linear_algebra_traits` provides an interface to linear algebra functionalities of \ref thirdpartyEigen "Eigen". +\ref thirdpartyEigen "Eigen" version 3.1 (or later) must be available on the system. + +\sa `CGAL::Eigen_dense_matrix` +\sa `CGAL::Eigen_dense_vector` +\sa http://eigen.tuxfamily.org + +Example +-------------- + +\code{.cpp} + +typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + +// dynamic matrix at run time to store a large amount of data +typedef Linear_algebra_traits::MatrixXd MatrixXd; + +// preallocated 3x3 matrix at compile time +typedef Linear_algebra_traits::Matrix3d Matrix3d; + +// preallocated 3-cols vector at compile time +typedef Linear_algebra_traits::Vector3d Vector3d; + +\endcode +*/ + class Eigen_linear_algebra_traits { public: @@ -124,18 +202,22 @@ public: // fixed at compile time typedef CGAL::Eigen_dense_vector Vector3d; + /// Get the transpose of a `CGAL::Eigen_dense_matrix` matrix template static Matrix transpose(const Matrix& mat) { return Matrix(mat.m_matrix.transpose()); } + /// Get the determinant of a `CGAL::Eigen_dense_matrix` matrix template static NT determinant(const Matrix& mat) { return mat.m_matrix.determinant(); } + /// Performs QR decomposition of matrix A to a unitary matrix and an upper triagonal + /// and returns the unitary matrix. template static CGAL::Eigen_dense_matrix qr_factorization(const CGAL::Eigen_dense_matrix& A) { @@ -156,6 +238,9 @@ public: // CGAL::Eigen_dense_vector : the returned type with D2 may be -1 in compile time, // and may not be equal to the expected type. // Eigen manages to return a precompiled row out of a dynamic matrix but I don't know how. + + /// Get the row vector out of a `CGAL::Eigen_dense_matrix`. The result is stored in a + /// preallocated at compile time 3-column `CGAL::Eigen_dense_vector` template static CGAL::Eigen_dense_vector row3(const CGAL::Eigen_dense_matrix& A, int i) @@ -166,7 +251,9 @@ public: }; -// matrix multiplication +/// Matrix multiplication. If the columns of A and the rows of B are equal at compile time, +/// the product is stored at a preallocated at compile time `CGAL::Eigen_dense_matrix`. Otherwise, +/// the product is stored in a dynamic at run time matrix. template const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, const CGAL::Eigen_dense_matrix& B) From 284c2d9d337593e973b815745cf56a6f1eb70812 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Tue, 22 May 2018 10:34:32 +0200 Subject: [PATCH 036/150] python script setting up path --- .../benchmark/Optimal_bounding_box/data/times.txt | 5 +++++ .../Optimal_bounding_box/draw_benchmark_graph.py | 9 +++++---- .../benchmark/Optimal_bounding_box/readme.txt | 2 ++ 3 files changed, 12 insertions(+), 4 deletions(-) create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/data/times.txt create mode 100644 Optimal_bounding_box/benchmark/Optimal_bounding_box/readme.txt diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/times.txt b/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/times.txt new file mode 100644 index 00000000000..2ef3396b31b --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/times.txt @@ -0,0 +1,5 @@ +nb_vertices with_ch without_ch +2775 0.037331 0.327787 +16670 0.118251 1.96901 +66692 0.362664 7.75459 +266780 1.20984 32.166 diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py b/Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py index 0bbb61d55b5..8fc416ac260 100644 --- a/Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py @@ -1,18 +1,19 @@ import matplotlib.pyplot as plt import numpy as np -data = np.loadtxt("build/data/times.txt", skiprows = 1) +#path-to-benchmarks +benchmarkfile='data/times.txt' + +data = np.loadtxt(benchmarkfile, skiprows = 1) x = data[:, 0] y1 = data[:, 1] y2 = data[:, 2] - - plt.plot(x, y1, 'go--', label='with convex hull') plt.plot(x, y2, 'ro--', label='without convex hull') legend = plt.legend(loc='best') plt.xlabel('#vertices') plt.ylabel('seconds') -plt.show() \ No newline at end of file +plt.show() diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/readme.txt b/Optimal_bounding_box/benchmark/Optimal_bounding_box/readme.txt new file mode 100644 index 00000000000..b8995463fa7 --- /dev/null +++ b/Optimal_bounding_box/benchmark/Optimal_bounding_box/readme.txt @@ -0,0 +1,2 @@ +To draw a graph with the benchmark times set the path-to-the-measurments in draw_benchmark_times.py if necessary, +and run the script with python 3. From ca1d427dc5ee6d69758f1cda4883568210dac5de Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Tue, 22 May 2018 13:25:53 +0200 Subject: [PATCH 037/150] remove mutable and fix small typo --- .../Optimal_bounding_box/CMakeLists.txt | 0 .../Optimal_bounding_box/bench_custom.cpp | 0 .../Optimal_bounding_box/bench_fitness_function.cpp | 0 .../Optimal_bounding_box/bench_obb.cpp | 0 .../Optimal_bounding_box/bench_perfomance.cpp | 0 .../Optimal_bounding_box/data/elephant.off | 0 .../Optimal_bounding_box/data/linear.png | Bin .../Optimal_bounding_box/data/sphere_1k.xyz | 0 .../Optimal_bounding_box/data/times.txt | 0 .../Optimal_bounding_box/draw_benchmark_graph.py | 0 .../Optimal_bounding_box/readme.txt | 0 .../include/CGAL/Eigen_linear_algebra_traits.h | 4 ++-- 12 files changed, 2 insertions(+), 2 deletions(-) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/CMakeLists.txt (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/bench_custom.cpp (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/bench_fitness_function.cpp (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/bench_obb.cpp (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/bench_perfomance.cpp (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/data/elephant.off (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/data/linear.png (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/data/sphere_1k.xyz (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/data/times.txt (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/draw_benchmark_graph.py (100%) rename Optimal_bounding_box/{benchmark => benchmarks}/Optimal_bounding_box/readme.txt (100%) diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/CMakeLists.txt rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_custom.cpp rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_fitness_function.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_fitness_function.cpp rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_obb.cpp rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/bench_perfomance.cpp rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/elephant.off b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/elephant.off similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/data/elephant.off rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/elephant.off diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/linear.png b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/linear.png similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/data/linear.png rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/linear.png diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/sphere_1k.xyz b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/sphere_1k.xyz similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/data/sphere_1k.xyz rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/sphere_1k.xyz diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/data/times.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/times.txt similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/data/times.txt rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/times.txt diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/draw_benchmark_graph.py similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/draw_benchmark_graph.py rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/draw_benchmark_graph.py diff --git a/Optimal_bounding_box/benchmark/Optimal_bounding_box/readme.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt similarity index 100% rename from Optimal_bounding_box/benchmark/Optimal_bounding_box/readme.txt rename to Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index b6415474c73..c1671586d4b 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -112,7 +112,7 @@ public: return m_matrix.coeff(i_); } - mutable EigenType m_matrix; + EigenType m_matrix; }; /*! @@ -152,7 +152,7 @@ public: return m_vector.coeff(i); } - mutable EigenType m_vector; + EigenType m_vector; }; From fe2f1b7e9d37b4cf83641ba0a02cb2d4f2c77d90 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 07:10:28 +0100 Subject: [PATCH 038/150] fix include guards --- .../include/CGAL/Optimal_bounding_box/evolution.h | 14 +++----------- .../CGAL/Optimal_bounding_box/fitness_function.h | 4 ++-- .../include/CGAL/Optimal_bounding_box/helper.h | 4 ++-- .../Optimal_bounding_box/nelder_mead_functions.h | 6 +++--- .../include/CGAL/Optimal_bounding_box/obb.h | 5 ++--- 5 files changed, 12 insertions(+), 21 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index b8eab67ea17..648c1132f8f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -19,8 +19,8 @@ // // Author(s) : Konstantinos Katrioplas -#ifndef CGAL_EVOLUTION_H -#define CGAL_EVOLUTION_H +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H +#define CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H #include #include @@ -344,12 +344,4 @@ void check_det(Population& pop) - - - - - - - - -#endif +#endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 2707b808968..96574801edd 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -19,8 +19,8 @@ // // Author(s) : Konstantinos Katrioplas -#ifndef CGAL_FITNESS_FUNCTION_H -#define CGAL_FITNESS_FUNCTION_H +#ifndef CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H +#define CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index e9c3a5eadb0..6fe275ca5a2 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -19,8 +19,8 @@ // // Author(s) : Konstantinos Katrioplas -#ifndef CGAL_HELPER_H -#define CGAL_HELPER_H +#ifndef CGAL_OPTIMAL_BOUNDING_HELPER_H +#define CGAL_OPTIMAL_BOUNDING_HELPER_H #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index e7dbe3fc99c..92536efb788 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -19,8 +19,8 @@ // // Author(s) : Konstantinos Katrioplas -#ifndef CGAL_OPTIMAL_BOUNDING_BOX_H -#define CGAL_OPTIMAL_BOUNDING_BOX_H +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H +#define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #include #include @@ -94,6 +94,6 @@ const Matrix centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) -#endif //CGAL_OPTIMAL_BOUNDING_BOX_H +#endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index debc54445b3..6ed178b0df5 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -19,14 +19,13 @@ // // Author(s) : Konstantinos Katrioplas -#ifndef CGAL_OBB_H -#define CGAL_OBB_H +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_OBB_H +#define CGAL_OPTIMAL_BOUNDING_BOX_OBB_H #include #include #include #include -#include #include #include #include From ff07272ef62f4d23d88cfe2f88954fce947481ba Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 07:19:06 +0100 Subject: [PATCH 039/150] Use CGAL::abs --- .../include/CGAL/Optimal_bounding_box/evolution.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 648c1132f8f..02345f436f6 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -288,7 +288,7 @@ public: Fitness_map fitness_map(population, point_data); new_fit_value = fitness_map.get_best_fitness_value(); double difference = new_fit_value - prev_fit_value; - if(abs(difference) < tolerance * new_fit_value) + if(CGAL::abs(difference) < tolerance * new_fit_value) stale++; if(stale == 5) From 0640743adccbb64145d7e2c95098c764f9886ce3 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 07:27:42 +0100 Subject: [PATCH 040/150] Don't copy the vector --- .../include/CGAL/Optimal_bounding_box/evolution.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 02345f436f6..601ce5cb9cc 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -308,13 +308,13 @@ private: // needed in genetic algorithm struct Comparator { - Comparator(std::vector in) : fitness(in) {} + Comparator(const std::vector& in) : fitness(in) {} inline bool operator() (std::size_t& i, std::size_t& j) { return fitness[i] < fitness[j]; } - std::vector fitness; + const std::vector& fitness; }; // data From 4defa4ebbce560890dea0f81859032aa1a1c39ff Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 07:37:11 +0100 Subject: [PATCH 041/150] one less size_t/int warning --- .../include/CGAL/Optimal_bounding_box/evolution.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 601ce5cb9cc..71844078a4d 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -138,14 +138,15 @@ public: std::vector ids3(m - m/2), ids4(m - m/2); CGAL::Random rng; + int im = static_cast(m); std::generate(ids1.begin(), ids1.end(), - [&rng, &m] () { return rng.get_int(0, m); }); + [&rng, &im] () { return rng.get_int(0, im); }); std::generate(ids2.begin(), ids2.end(), - [&rng, &m] () { return rng.get_int(0, m); }); + [&rng, &im] () { return rng.get_int(0, im); }); std::generate(ids3.begin(), ids3.end(), - [&rng, &m] () { return rng.get_int(0, m); }); + [&rng, &im] () { return rng.get_int(0, im); }); std::generate(ids4.begin(), ids4.end(), - [&rng, &m] () { return rng.get_int(0, m); }); + [&rng, &im] () { return rng.get_int(0, im); }); Population group1(m/2), group2(m/2); Population group3(m - m/2), group4(m - m/2); From 8a544b8dad676d448719876844b6e9f8601c5216 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 08:06:01 +0100 Subject: [PATCH 042/150] Move typedef to the right scope --- .../include/CGAL/Optimal_bounding_box/helper.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index 6fe275ca5a2..5f6d85f7f8a 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -27,7 +27,6 @@ #include #include -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; namespace CGAL { namespace Optimal_bounding_box { @@ -67,10 +66,11 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) } template -double calculate_volume(std::vector points) +double calculate_volume(const std::vector& points) { - CGAL::Bbox_3 bbox; - bbox = bbox_3(points.begin(), points.end()); + typedef CGAL::Exact_predicates_inexact_constructions_kernel K; + + CGAL::Bbox_3 bbox = bbox_3(points.begin(), points.end()); K::Iso_cuboid_3 ic(bbox); return ic.volume(); } From c5e5ad701578976b01231c5658035da80b03b099 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 08:20:39 +0100 Subject: [PATCH 043/150] Move #include --- .../include/CGAL/Optimal_bounding_box/evolution.h | 2 ++ .../include/CGAL/Optimal_bounding_box/nelder_mead_functions.h | 2 +- .../include/CGAL/Optimal_bounding_box/population.h | 1 - 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 71844078a4d..eeca2ce4e1c 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -23,6 +23,8 @@ #define CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H #include +#include + #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index 92536efb788..8c4e396dfd3 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -23,7 +23,7 @@ #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #include -#include + #if defined(CGAL_EIGEN3_ENABLED) #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 1d09a0cbdc5..a6515b615f7 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -24,7 +24,6 @@ #include #include -#include #if defined(CGAL_EIGEN3_ENABLED) #include From d35b15bf082eca7e7164e4b4db889008c61d3405 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Thu, 24 May 2018 08:42:27 +0100 Subject: [PATCH 044/150] typo --- .../include/CGAL/Optimal_bounding_box/obb.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 6ed178b0df5..9b1abc0f4d0 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -210,10 +210,10 @@ void find_obb(std::vector& points, /// @param la_traits an instance of the linear algebra traits. /// @param use_ch a bool flag to indicating whether to use the convex hull of the input points /// as an optimization step. -template +template void find_obb(PolygonMesh& pmesh, PolygonMesh& obbmesh, - LinearAlgrebraTraits& la_traits, + LinearAlgebraTraits& la_traits, bool use_ch) { CGAL_assertion(vertices(pmesh).size() >= 3); @@ -247,7 +247,7 @@ void find_obb(PolygonMesh& pmesh, -#endif //CGAL_OBB_H +#endif //CGAL_OPTIMAL_BOUNDING_BOX_OBB_H From 7803481af9b9cf48e5551d5e23948a818ec13436 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Fri, 25 May 2018 12:45:15 +0200 Subject: [PATCH 045/150] requested changes: impoving API with default Linear algebra traits, better use of template parameters at free functions, prefer using convex hull overload which does not depend on the kernel. --- .../CGAL/Optimal_bounding_box/evolution.h | 22 +++--- .../Optimal_bounding_box/fitness_function.h | 7 +- .../CGAL/Optimal_bounding_box/helper.h | 12 +-- .../nelder_mead_functions.h | 28 ++----- .../include/CGAL/Optimal_bounding_box/obb.h | 73 ++++++++++++------- .../CGAL/Optimal_bounding_box/population.h | 12 +-- .../test_linear_algebra_functions.cpp | 21 ++++-- .../test_optimization_algorithms.cpp | 50 +++++++++++-- .../CGAL/Eigen_linear_algebra_traits.h | 1 + 9 files changed, 134 insertions(+), 92 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index eeca2ce4e1c..5e0ecced2de 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -40,7 +40,7 @@ class Evolution typedef typename Linear_algebra_traits::Vector3d Vector3d; public: - Evolution(Population& pop, MatrixXd& points) : + Evolution(Population& pop, MatrixXd& points) : population(pop), point_data(points) {} @@ -81,11 +81,11 @@ public: fitness = s_fitness; // centroid - const Matrix3d v_centroid = centroid(simplex[0], simplex[1], simplex[2]); + const Matrix3d v_centroid = nm_centroid(simplex[0], simplex[1], simplex[2]); // find worst's vertex reflection const Matrix3d v_worst = simplex[3]; - const Matrix3d v_refl = reflection(v_centroid, v_worst); + const Matrix3d v_refl = reflection(v_centroid, v_worst); const double f_refl = compute_fitness(v_refl, point_data); if(f_refl < fitness[2]) @@ -98,7 +98,7 @@ public: else { // expansion - const Matrix3d v_expand = expansion(v_centroid, v_worst, v_refl); + const Matrix3d v_expand = expansion(v_centroid, v_worst, v_refl); const double f_expand = compute_fitness(v_expand, point_data); if(f_expand < f_refl) simplex[3] = v_expand; @@ -108,7 +108,7 @@ public: } else // if reflected vertex is not better { - const Matrix3d v_mean = mean(v_centroid, v_worst); + const Matrix3d v_mean = mean(v_centroid, v_worst); const double f_mean = compute_fitness(v_mean, point_data); if(f_mean <= fitness[3]) // contraction of worst @@ -118,7 +118,7 @@ public: // reduction: move all vertices towards the best for(std::size_t i=1; i < 4; ++i) { - simplex[i] = mean(simplex[i], simplex[0]); + simplex[i] = mean(simplex[i], simplex[0]); } } } @@ -150,8 +150,8 @@ public: std::generate(ids4.begin(), ids4.end(), [&rng, &im] () { return rng.get_int(0, im); }); - Population group1(m/2), group2(m/2); - Population group3(m - m/2), group4(m - m/2); + Population group1(m/2), group2(m/2); + Population group3(m - m/2), group4(m - m/2); for(std::size_t i = 0; i < ids1.size(); ++i) group1[i] = population[ids1[i]]; @@ -173,7 +173,7 @@ public: #endif // crossover I - Population offspringsA(size_first_group); + Population offspringsA(size_first_group); double bias = 0.1; for(std::size_t i = 0; i < size_first_group; ++i) @@ -204,7 +204,7 @@ public: #endif // crossover II - Population offspringsB(size_second_group); + Population offspringsB(size_second_group); bias = 0.1; for(std::size_t i = 0; i < size_second_group; ++i) @@ -321,7 +321,7 @@ private: }; // data - Population population; + Population population; MatrixXd point_data; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 96574801edd..cf73880e747 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -41,9 +41,10 @@ double compute_fitness(const Vertex& R, const Matrix& data) CGAL_assertion(data.rows() >= 3); typedef typename Linear_algebra_traits::Vector3d Vector3d; + typedef typename Linear_algebra_traits::Index index; double xmin, xmax, ymin, ymax, zmin, zmax; - for(int i = 0; i < data.rows(); ++i){ + for(index i = 0; i < data.rows(); ++i){ Vector3d vec = Linear_algebra_traits::row3(data, i); vec = R * vec; @@ -73,7 +74,7 @@ double compute_fitness(const Vertex& R, const Matrix& data) template struct Fitness_map { - Fitness_map(Population& p, Matrix& points) : pop(p), points(points) + Fitness_map(Population& p, Matrix& points) : pop(p), points(points) {} const Vertex get_best() @@ -104,7 +105,7 @@ struct Fitness_map return compute_fitness(best_mat, points); } - Population& pop; + Population& pop; const Matrix& points; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index 5f6d85f7f8a..f5d695c78c4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -39,9 +39,9 @@ void fill_matrix(std::vector& v_points, Matrix& points_mat) for(std::size_t i = 0; i < v_points.size(); ++i) { Point p = v_points[i]; - points_mat.set_coef(i, 0, p.x()); - points_mat.set_coef(i, 1, p.y()); - points_mat.set_coef(i, 2, p.z()); + points_mat.set_coef(i, 0, CGAL::to_double(p.x())); + points_mat.set_coef(i, 1, CGAL::to_double(p.y())); + points_mat.set_coef(i, 2, CGAL::to_double(p.z())); } } @@ -58,9 +58,9 @@ void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) for(vertex_descriptor v : vertices(sm)) { Point_ref p = get(vpm, v); - mat.set_coef(i, 0, p.x()); - mat.set_coef(i, 1, p.y()); - mat.set_coef(i, 2, p.z()); + mat.set_coef(i, 0, CGAL::to_double(p.x())); + mat.set_coef(i, 1, CGAL::to_double(p.y())); + mat.set_coef(i, 2, CGAL::to_double(p.z())); ++i; } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index 8c4e396dfd3..b22b75c53e0 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -22,23 +22,12 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H -#include - - -#if defined(CGAL_EIGEN3_ENABLED) -#include -#endif - - namespace CGAL { namespace Optimal_bounding_box { -#if defined(CGAL_EIGEN3_ENABLED) -typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; -#endif -template +template const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) { CGAL_assertion(S_centroid.rows() == 3); @@ -49,7 +38,7 @@ const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) return S_centroid * Linear_algebra_traits::transpose(S_worst) * S_centroid; } -template +template const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Matrix& S_reflection) { CGAL_assertion(S_centroid.rows() == 3); @@ -62,7 +51,7 @@ const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Ma return S_centroid * Linear_algebra_traits::transpose(S_worst) * S_reflection; } -template +template Matrix mean(const Matrix& m1, const Matrix& m2) { // same API for reduction @@ -77,8 +66,8 @@ Matrix mean(const Matrix& m1, const Matrix& m2) return Q / det; } -template -const Matrix centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) +template +const Matrix nm_centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) { Matrix mean = (S1 + S2 + S3) / 3.0; Matrix Q = Linear_algebra_traits::qr_factorization(mean); @@ -86,14 +75,7 @@ const Matrix centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) return Q / det; } - }} // end namespaces - - - - #endif - - diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 9b1abc0f4d0..8bd6785ce4f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -30,7 +30,6 @@ #include #include #include -#include #include #include #ifdef OBB_BENCHMARKS @@ -45,14 +44,9 @@ namespace CGAL { namespace Optimal_bounding_box { -#if defined(CGAL_EIGEN3_ENABLED) -typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; -#endif - - // works on matrices only /// \cond SKIP_IN_MANUAL -template +template void post_processing(const Matrix& points, Vertex& R, Matrix& obb) { CGAL_assertion(points.cols() == 3); @@ -68,8 +62,11 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) // 2) get AABB from rotated points typedef CGAL::Simple_cartesian K; typedef K::Point_3 Point; - std::vector v_points; // Simplex -> std::vector - for(std::size_t i = 0; i < rotated_points.rows(); ++i) + typedef typename Linear_algebra_traits::Index index; + + // Simplex -> std::vector + std::vector v_points; + for(index i = 0; i < rotated_points.rows(); ++i) { Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); v_points.push_back(p); @@ -78,9 +75,7 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) bbox = bbox_3(v_points.begin(), v_points.end()); K::Iso_cuboid_3 ic(bbox); - // Matrix is [dynamic, 3] at compile time, so it needs allocation of rows at run time. Matrix aabb(8, 3); - for(std::size_t i = 0; i < 8; ++i) { aabb.set_coef(i, 0, ic[i].x()); @@ -97,7 +92,8 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) /// calculates the optimal bounding box. /// /// @tparam Point the point type -/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits` +/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits`. If no instance of `LinearAlgebraTraits` +/// is provided, then `CGAL::Eigen_linear_algebra_traits` is used. /// /// @param points the input points that are included in the optimal bounding box. /// @param obb_points the eight points of the optimal bounding box to be calculated. @@ -111,31 +107,23 @@ void find_obb(std::vector& points, { CGAL_assertion(points.size() >= 3); - if(obb_points.size() != 8) // temp sanity until the API is decided + if(obb_points.size() != 8) obb_points.resize(8); CGAL_assertion(obb_points.size() == 8); // eigen linear algebra traits typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; - MatrixXd points_mat; - // get the ch3 - if(use_ch) + if(use_ch) // get the ch3 { - // find the ch - todo: template kernel - typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel; - CGAL::Polyhedron_3 poly; - convex_hull_3(points.begin(), points.end(), poly); - std::vector ch_points(poly.points_begin(), poly.points_end()); - - // points: vector -> matrix + std::vector ch_points; + CGAL::extreme_points_3(points, std::back_inserter(ch_points)); CGAL::Optimal_bounding_box::fill_matrix(ch_points, points_mat); } else { - // points: vector -> matrix CGAL::Optimal_bounding_box::fill_matrix(points, points_mat); } @@ -144,7 +132,7 @@ void find_obb(std::vector& points, #endif std::size_t max_generations = 100; - Population pop(50); + Population pop(50); #ifdef OBB_BENCHMARKS timer.start(); @@ -184,7 +172,7 @@ void find_obb(std::vector& points, timer.start(); #endif - post_processing(points_mat, rotation, obb); + post_processing(points_mat, rotation, obb); #ifdef OBB_BENCHMARKS timer.stop(); @@ -199,11 +187,28 @@ void find_obb(std::vector& points, } } +template +void find_obb(std::vector& points, + std::vector& obb_points, + bool use_ch) +{ +#if defined(CGAL_EIGEN3_ENABLED) + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; +#else + Linear_algebra_traits; +#endif + + Linear_algebra_traits la_traits; + find_obb(points, obb_points, la_traits, use_ch); + +} + /// \ingroup OBB_grp /// calculates the optimal bounding box. /// /// @tparam PolygonMesh a model of `FaceListGraph` -/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits` +/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits`. If no instance of `LinearAlgebraTraits` +/// is provided, then `CGAL::Eigen_linear_algebra_traits` is used. /// /// @param pmesh the input mesh. /// @param obbmesh the hexaedron mesh to be built out of the optimal bounding box. @@ -242,6 +247,20 @@ void find_obb(PolygonMesh& pmesh, obb_points[6], obb_points[7], obbmesh); } +template +void find_obb(PolygonMesh& pmesh, + PolygonMesh& obbmesh, + bool use_ch) +{ +#if defined(CGAL_EIGEN3_ENABLED) + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; +#else + Linear_algebra_traits; +#endif + + Linear_algebra_traits la_traits; + find_obb(pmesh, obbmesh, la_traits, use_ch); +} }} // end namespaces diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index a6515b615f7..eb8ca1aaf4e 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -25,23 +25,15 @@ #include #include -#if defined(CGAL_EIGEN3_ENABLED) -#include -#endif -//#define OBB_DEBUG namespace CGAL { namespace Optimal_bounding_box { -template +template class Population { - -#if defined(CGAL_EIGEN3_ENABLED) - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; -#endif - + typedef typename Linear_algebra_traits::Matrix3d Matrix; typedef std::vector Simplex; public: diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index ba259ff0710..fd2e7a45f5b 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -1,6 +1,5 @@ #include #include -#include #include #include @@ -80,6 +79,8 @@ void test_fitness_function() void test_simplex_operations() { + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL::Eigen_dense_matrix Sc(3, 3); Sc.set_coef(0, 0, -0.809204); Sc.set_coef(0, 1, 0.124296); @@ -102,7 +103,8 @@ void test_simplex_operations() S_worst.set_coef(2, 1, 0.30543); S_worst.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + CGAL::Eigen_dense_matrix Sr = + CGAL::Optimal_bounding_box::reflection(Sc, S_worst); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); @@ -114,7 +116,8 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); - CGAL::Eigen_dense_matrix Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + CGAL::Eigen_dense_matrix Se = + CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); @@ -147,7 +150,8 @@ void test_simplex_operations() S_b.set_coef(2, 1, 0.581624); S_b.set_coef(2, 2, 0.514314); - CGAL::Eigen_dense_matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); + CGAL::Eigen_dense_matrix S_c = + CGAL::Optimal_bounding_box::mean(S_a, S_b); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); @@ -161,6 +165,8 @@ void test_simplex_operations() void test_centroid() { + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL::Eigen_dense_matrix S_a; S_a.set_coef(0, 0, -0.588443); S_a.set_coef(0, 1, 0.807140); @@ -195,7 +201,7 @@ void test_centroid() S_c.set_coef(2, 2, 0.11207); CGAL::Eigen_dense_matrix S_centroid = - CGAL::Optimal_bounding_box::centroid(S_a, S_b, S_c); + CGAL::Optimal_bounding_box::nm_centroid(S_a, S_b, S_c); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); @@ -210,6 +216,8 @@ void test_centroid() void test_eigen_matrix_interface() { + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL::Eigen_dense_matrix A(3, 3); A.set_coef(0, 0, 0.1); A.set_coef(0, 1, 0.2); @@ -269,7 +277,8 @@ void test_eigen_matrix_interface() E.set_coef(2, 1, 0.30543); E.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E); + CGAL::Eigen_dense_matrix Sr = + CGAL::Optimal_bounding_box::reflection(D, E); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 5e6d8268627..7af0ba43a6e 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -88,7 +88,7 @@ void test_nelder_mead() simplex[2] = v2; simplex[3] = v3; - CGAL::Optimal_bounding_box::Population pop(1); + CGAL::Optimal_bounding_box::Population pop(1); std::size_t nm_iterations = 19; CGAL::Optimal_bounding_box::Evolution @@ -158,9 +158,9 @@ void test_genetic_algorithm() data_points(3,2) = 0.364944; typedef CGAL::Eigen_dense_matrix Matrix3d; - CGAL::Optimal_bounding_box::Population pop(5); - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + + CGAL::Optimal_bounding_box::Population pop(5); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.genetic_algorithm(); @@ -208,7 +208,7 @@ void test_random_unit_tetra() typedef Linear_algebra_traits::Matrix3d Matrix3d; std::size_t generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Population pop(50); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.evolve(generations); @@ -252,7 +252,7 @@ void test_reference_tetrahedron(const char* fname) CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Population pop(50); CGAL::Optimal_bounding_box::Evolution experiment(pop, points); experiment.evolve(generations); @@ -287,7 +287,7 @@ void test_long_tetrahedron(std::string fname) CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t max_generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Population pop(50); CGAL::Optimal_bounding_box::Evolution experiment(pop, points); experiment.evolve(max_generations); @@ -376,6 +376,43 @@ void test_find_obb_mesh(std::string fname) #endif } +void test_function_defaults_traits(std::string fname1, std::string fname2) +{ + std::ifstream input1(fname1); + CGAL::Surface_mesh mesh1; + if (!input1 || !(input1 >> mesh1) || mesh1.is_empty()) { + std::cerr << fname1 << " is not a valid off file.\n"; + exit(1); + } + + std::ifstream input2(fname2); + CGAL::Surface_mesh mesh2; + if (!input2 || !(input2 >> mesh2) || mesh2.is_empty()) { + std::cerr << fname2 << " is not a valid off file.\n"; + exit(1); + } + + // test one + std::vector sm_points; + typedef CGAL::Surface_mesh SMesh; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::const_type PointPMap; + PointPMap pmap = get(boost::vertex_point, mesh1); + BOOST_FOREACH(vertex_descriptor v, vertices(mesh1)) + sm_points.push_back(get(pmap, v)); + + std::vector obb_points; + CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); + + CGAL_assertion_code(double epsilon = 1e-3); + CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); + CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); + + // test two + CGAL::Surface_mesh< K::Point_3> obbmesh; + CGAL::Optimal_bounding_box::find_obb(mesh2, obbmesh, true); +} + int main() { test_nelder_mead(); @@ -385,6 +422,7 @@ int main() test_long_tetrahedron("data/long_tetrahedron.off"); test_find_obb_evolution("data/random_unit_tetra.off"); test_find_obb_mesh("data/elephant.off"); + test_function_defaults_traits("data/random_unit_tetra.off", "data/elephant.off"); return 0; } diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index c1671586d4b..e56f1775f53 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -189,6 +189,7 @@ class Eigen_linear_algebra_traits { public: typedef double NT; + typedef int Index; // dynamic size at run time typedef CGAL::Eigen_dense_matrix MatrixXd; From 6fd928def0cbb1e8de81e178da9a1d0b65447b2f Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Mon, 11 Jun 2018 14:31:38 +0200 Subject: [PATCH 046/150] added forgotten const qualifiers --- .../include/CGAL/Optimal_bounding_box/helper.h | 2 +- .../Optimal_bounding_box/nelder_mead_functions.h | 1 + .../include/CGAL/Optimal_bounding_box/obb.h | 13 ++++++------- .../test_linear_algebra_functions.cpp | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index f5d695c78c4..febf283f5a3 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -33,7 +33,7 @@ namespace Optimal_bounding_box { template -void fill_matrix(std::vector& v_points, Matrix& points_mat) +void fill_matrix(const std::vector& v_points, Matrix& points_mat) { points_mat.resize(v_points.size(), 3); for(std::size_t i = 0; i < v_points.size(); ++i) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index b22b75c53e0..06a050ffa87 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -22,6 +22,7 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H +#include namespace CGAL { namespace Optimal_bounding_box { diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index 8bd6785ce4f..ff84909f594 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -100,7 +100,7 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) /// @param use_ch a bool flag to indicating whether to use the convex hull of the input points /// as an optimization step. template -void find_obb(std::vector& points, +void find_obb(const std::vector& points, std::vector& obb_points, LinearAlgebraTraits&, bool use_ch) @@ -164,7 +164,7 @@ void find_obb(std::vector& points, std::cout << "get best: " << timer.time() << std::endl; #endif - MatrixXd obb; // could be preallocated at compile time + MatrixXd obb; // may be preallocated at compile time obb.resize(8, 3); #ifdef OBB_BENCHMARKS @@ -188,7 +188,7 @@ void find_obb(std::vector& points, } template -void find_obb(std::vector& points, +void find_obb(const std::vector& points, std::vector& obb_points, bool use_ch) { @@ -200,7 +200,6 @@ void find_obb(std::vector& points, Linear_algebra_traits la_traits; find_obb(points, obb_points, la_traits, use_ch); - } /// \ingroup OBB_grp @@ -216,7 +215,7 @@ void find_obb(std::vector& points, /// @param use_ch a bool flag to indicating whether to use the convex hull of the input points /// as an optimization step. template -void find_obb(PolygonMesh& pmesh, +void find_obb(const PolygonMesh& pmesh, PolygonMesh& obbmesh, LinearAlgebraTraits& la_traits, bool use_ch) @@ -232,13 +231,13 @@ void find_obb(PolygonMesh& pmesh, typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; typedef typename boost::property_map::type Vpm; typedef typename boost::property_traits::value_type Point; - //typedef typename Kernel_traits::Kernel Kernel; std::vector points; Vpm pmap = get(boost::vertex_point, pmesh); BOOST_FOREACH(vertex_descriptor v, vertices(pmesh)) points.push_back(get(pmap, v)); + std::vector obb_points; find_obb(points, obb_points, la_traits, use_ch); @@ -248,7 +247,7 @@ void find_obb(PolygonMesh& pmesh, } template -void find_obb(PolygonMesh& pmesh, +void find_obb(const PolygonMesh& pmesh, PolygonMesh& obbmesh, bool use_ch) { diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index fd2e7a45f5b..673624a81fc 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -1,8 +1,8 @@ #include #include +#include #include #include - #include bool assert_doubles(double d1, double d2, double epsilon) From f60ca1c3f9ef29441831c993646060e4c034e39f Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Mon, 11 Jun 2018 16:16:36 +0200 Subject: [PATCH 047/150] remove warnings --- .../Optimal_bounding_box/bench_custom.cpp | 1 - .../bench_fitness_function.cpp | 7 +- .../Optimal_bounding_box/bench_obb.cpp | 6 -- .../Optimal_bounding_box/bench_perfomance.cpp | 1 - .../Optimal_bounding_box/fitness_function.h | 4 +- .../include/CGAL/Optimal_bounding_box/obb.h | 2 +- .../test_linear_algebra_functions.cpp | 66 +++++++++---------- .../test_optimization_algorithms.cpp | 27 +++----- 8 files changed, 50 insertions(+), 64 deletions(-) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp index 7209f3a3346..33f42eb27c3 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp @@ -1,6 +1,5 @@ #include #include -#include #include #include #include diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp index bda67e7d9f9..2b70a2610c9 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp @@ -35,13 +35,14 @@ int main() // 2) fill a Matrix with them typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; typedef Linear_algebra_traits::MatrixX3d MatrixX3d; + typedef Linear_algebra_traits::Matrix3d Matrix3d; + MatrixX3d points_mat(nb_points, 3); CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points_mat); // 3) create a population of simplices - typedef Linear_algebra_traits::Matrix3d Matrix3d; - CGAL::Optimal_bounding_box::Population pop(50); + CGAL::Optimal_bounding_box::Population pop(50); CGAL::Timer timer; @@ -60,4 +61,4 @@ int main() return 0; -} \ No newline at end of file +} diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index fb759595d1f..1bf8bddad18 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -83,12 +83,6 @@ void bench_finding_obb(std::string fname) std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; timer.reset(); - - //double vol1 = calculate_volume(obb_points1); - // double vol2 = calculate_volume(obb_points2); - //std::cout << "vol1= " << vol1 << " -- " << "vol2= " << vol2 << std::endl; - - #ifdef OBB_DEBUG_BENCHMARK CGAL::Surface_mesh result_mesh1; CGAL::make_hexahedron(obb_points1[0], obb_points1[1], obb_points1[2], obb_points1[3], diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp index 128a9f67f24..855c21e558c 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp @@ -1,6 +1,5 @@ #include #include -#include #include #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index cf73880e747..5810bb1a99c 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -41,10 +41,10 @@ double compute_fitness(const Vertex& R, const Matrix& data) CGAL_assertion(data.rows() >= 3); typedef typename Linear_algebra_traits::Vector3d Vector3d; - typedef typename Linear_algebra_traits::Index index; + typedef typename Linear_algebra_traits::Index Index; double xmin, xmax, ymin, ymax, zmin, zmax; - for(index i = 0; i < data.rows(); ++i){ + for(Index i = 0; i < static_cast(data.rows()); ++i){ Vector3d vec = Linear_algebra_traits::row3(data, i); vec = R * vec; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h index ff84909f594..80e294ef5c5 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h @@ -66,7 +66,7 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) // Simplex -> std::vector std::vector v_points; - for(index i = 0; i < rotated_points.rows(); ++i) + for(index i = 0; i < static_cast(rotated_points.rows()); ++i) { Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); v_points.push_back(p); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 673624a81fc..0278b1cce15 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -12,7 +12,8 @@ bool assert_doubles(double d1, double d2, double epsilon) void test_qr_factorization() { - CGAL::Eigen_dense_matrix A(3, 3); + typedef CGAL::Eigen_dense_matrix Mat; + Mat A(3, 3); A.set_coef(0, 0, 0.3011944); A.set_coef(0, 1, 0.9932761); A.set_coef(0, 2, 0.5483701); @@ -23,9 +24,7 @@ void test_qr_factorization() A.set_coef(2, 1, 0.0202949); A.set_coef(2, 2, 0.9240308); - CGAL::Eigen_dense_matrix Q = - CGAL::Eigen_linear_algebra_traits::qr_factorization(A); - + CGAL_assertion_code(Mat Q = CGAL::Eigen_linear_algebra_traits::qr_factorization(A)); CGAL_assertion_code(double epsilon = 1e-6); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); @@ -79,9 +78,10 @@ void test_fitness_function() void test_simplex_operations() { - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); + typedef CGAL::Eigen_dense_matrix Matrix; - CGAL::Eigen_dense_matrix Sc(3, 3); + Matrix Sc(3, 3); Sc.set_coef(0, 0, -0.809204); Sc.set_coef(0, 1, 0.124296); Sc.set_coef(0, 2, 0.574230); @@ -92,7 +92,7 @@ void test_simplex_operations() Sc.set_coef(2, 1, -0.991602); Sc.set_coef(2, 2, 0.042528); - CGAL::Eigen_dense_matrix S_worst(3, 3); + Matrix S_worst(3, 3); S_worst.set_coef(0, 0, -0.45070); S_worst.set_coef(0, 1, -0.32769); S_worst.set_coef(0, 2, -0.83035); @@ -103,8 +103,7 @@ void test_simplex_operations() S_worst.set_coef(2, 1, 0.30543); S_worst.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = - CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + CGAL_assertion_code(Matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst)); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); @@ -116,8 +115,8 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); - CGAL::Eigen_dense_matrix Se = - CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + CGAL_assertion_code(Matrix Se = + CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr)); CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); @@ -128,7 +127,7 @@ void test_simplex_operations() CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); - CGAL::Eigen_dense_matrix S_a(3, 3); + Matrix S_a(3, 3); S_a.set_coef(0, 0, -0.277970); S_a.set_coef(0, 1, 0.953559); S_a.set_coef(0, 2, 0.116010); @@ -139,7 +138,7 @@ void test_simplex_operations() S_a.set_coef(2, 1, -0.293982); S_a.set_coef(2, 2, 0.559370); - CGAL::Eigen_dense_matrix S_b(3, 3); + Matrix S_b(3, 3); S_b.set_coef(0, 0, -0.419979); S_b.set_coef(0, 1, 0.301765); S_b.set_coef(0, 2, -0.8558940); @@ -150,8 +149,8 @@ void test_simplex_operations() S_b.set_coef(2, 1, 0.581624); S_b.set_coef(2, 2, 0.514314); - CGAL::Eigen_dense_matrix S_c = - CGAL::Optimal_bounding_box::mean(S_a, S_b); + CGAL_assertion_code(Matrix S_c = + CGAL::Optimal_bounding_box::mean(S_a, S_b)); CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); @@ -165,9 +164,10 @@ void test_simplex_operations() void test_centroid() { - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); + typedef CGAL::Eigen_dense_matrix Matrix; - CGAL::Eigen_dense_matrix S_a; + Matrix S_a; S_a.set_coef(0, 0, -0.588443); S_a.set_coef(0, 1, 0.807140); S_a.set_coef(0, 2, -0.047542); @@ -178,7 +178,7 @@ void test_centroid() S_a.set_coef(2, 1, -0.079867); S_a.set_coef(2, 2, 0.978795); - CGAL::Eigen_dense_matrix S_b(3, 3); + Matrix S_b(3, 3); S_b.set_coef(0, 0, -0.2192721); S_b.set_coef(0, 1, 0.2792986); S_b.set_coef(0, 2, -0.9348326); @@ -189,7 +189,7 @@ void test_centroid() S_b.set_coef(2, 1, 0.7253193); S_b.set_coef(2, 2, 0.3550431); - CGAL::Eigen_dense_matrix S_c(3, 3); + Matrix S_c(3, 3); S_c.set_coef(0, 0, -0.32657); S_c.set_coef(0, 1, -0.60013); S_c.set_coef(0, 2, -0.730206); @@ -200,8 +200,8 @@ void test_centroid() S_c.set_coef(2, 1, 0.36630); S_c.set_coef(2, 2, 0.11207); - CGAL::Eigen_dense_matrix S_centroid = - CGAL::Optimal_bounding_box::nm_centroid(S_a, S_b, S_c); + CGAL_assertion_code(Matrix S_centroid = + CGAL::Optimal_bounding_box::nm_centroid(S_a, S_b, S_c)); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); @@ -216,9 +216,10 @@ void test_centroid() void test_eigen_matrix_interface() { - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); + typedef CGAL::Eigen_dense_matrix Matrix; - CGAL::Eigen_dense_matrix A(3, 3); + Matrix A(3, 3); A.set_coef(0, 0, 0.1); A.set_coef(0, 1, 0.2); A.set_coef(0, 2, 0.3); @@ -228,9 +229,11 @@ void test_eigen_matrix_interface() A.set_coef(2, 0, 0.7); A.set_coef(2, 1, 0.8); A.set_coef(2, 2, 0.9); - CGAL::Eigen_dense_matrix B = CGAL::Eigen_linear_algebra_traits::transpose(A); - CGAL::Eigen_dense_matrix S = 0.5 * A; - CGAL::Eigen_dense_matrix C(3,3); + CGAL_assertion_code(Matrix B); + CGAL_assertion_code(B = CGAL::Eigen_linear_algebra_traits::transpose(A)); + CGAL_assertion_code(Matrix S); + CGAL_assertion_code(S = 0.5 * A); + Matrix C(3,3); C.set_coef(0, 0, 0.3011944); C.set_coef(0, 1, 0.9932761); C.set_coef(0, 2, 0.5483701); @@ -241,9 +244,7 @@ void test_eigen_matrix_interface() C.set_coef(2, 1, 0.0202949); C.set_coef(2, 2, 0.9240308); - CGAL::Eigen_dense_matrix Q = - CGAL::Eigen_linear_algebra_traits::qr_factorization(C); - + CGAL_assertion_code(Matrix Q = CGAL::Eigen_linear_algebra_traits::qr_factorization(C)); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); @@ -255,7 +256,7 @@ void test_eigen_matrix_interface() CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); - CGAL::Eigen_dense_matrix D(3,3); + Matrix D(3,3); D.set_coef(0, 0, -0.809204); D.set_coef(0, 1, 0.124296); D.set_coef(0, 2, 0.574230); @@ -266,7 +267,7 @@ void test_eigen_matrix_interface() D.set_coef(2, 1, -0.991602); D.set_coef(2, 2, 0.042528); - CGAL::Eigen_dense_matrix E(3,3); + Matrix E(3,3); E.set_coef(0, 0, -0.45070); E.set_coef(0, 1, -0.32769); E.set_coef(0, 2, -0.83035); @@ -277,8 +278,7 @@ void test_eigen_matrix_interface() E.set_coef(2, 1, 0.30543); E.set_coef(2, 2, 0.35833); - CGAL::Eigen_dense_matrix Sr = - CGAL::Optimal_bounding_box::reflection(D, E); + CGAL_assertion_code(Matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E)); CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 7af0ba43a6e..5b60bd283c9 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -96,7 +96,7 @@ void test_nelder_mead() evolution.nelder_mead(simplex, nm_iterations); CGAL_assertion_code(double epsilon = 1e-5); - Matrix3d v0_new = simplex[0]; + CGAL_assertion_code(Matrix3d v0_new = simplex[0]); CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); @@ -107,7 +107,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - Matrix3d v1_new = simplex[1]; + CGAL_assertion_code(Matrix3d v1_new = simplex[1]); CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); @@ -118,7 +118,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - Matrix3d v2_new = simplex[2]; + CGAL_assertion_code(Matrix3d v2_new = simplex[2]); CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); @@ -129,7 +129,7 @@ void test_nelder_mead() CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - Matrix3d v3_new = simplex[3]; + CGAL_assertion_code(Matrix3d v3_new = simplex[3]); CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); @@ -157,13 +157,10 @@ void test_genetic_algorithm() data_points(3,1) = 0.149912, data_points(3,2) = 0.364944; - typedef CGAL::Eigen_dense_matrix Matrix3d; typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - CGAL::Optimal_bounding_box::Population pop(5); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.genetic_algorithm(); - CGAL_assertion(pop.size() == 5); } @@ -205,15 +202,13 @@ void test_random_unit_tetra() #endif typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::Matrix3d Matrix3d; - + CGAL_assertion_code(typedef Linear_algebra_traits::Matrix3d Matrix3d); std::size_t generations = 10; CGAL::Optimal_bounding_box::Population pop(50); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.evolve(generations); - Matrix3d R = evolution.get_best(); - + CGAL_assertion_code(Matrix3d R = evolution.get_best()); CGAL_assertion_code(double epsilon = 1e-3); CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -0.25791, epsilon)); @@ -245,7 +240,7 @@ void test_reference_tetrahedron(const char* fname) typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; typedef Linear_algebra_traits::MatrixXd MatrixXd; - typedef Linear_algebra_traits::Matrix3d Matrix3d; + CGAL_assertion_code(typedef Linear_algebra_traits::Matrix3d Matrix3d); // points in a matrix MatrixXd points; @@ -256,8 +251,7 @@ void test_reference_tetrahedron(const char* fname) CGAL::Optimal_bounding_box::Evolution experiment(pop, points); experiment.evolve(generations); - Matrix3d R = experiment.get_best(); - + CGAL_assertion_code(Matrix3d R = experiment.get_best()); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); @@ -280,7 +274,7 @@ void test_long_tetrahedron(std::string fname) typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; typedef Linear_algebra_traits::MatrixXd MatrixXd; - typedef Linear_algebra_traits::Matrix3d Matrix3d; + CGAL_assertion_code(typedef Linear_algebra_traits::Matrix3d Matrix3d); // points in a matrix MatrixXd points; @@ -291,8 +285,7 @@ void test_long_tetrahedron(std::string fname) CGAL::Optimal_bounding_box::Evolution experiment(pop, points); experiment.evolve(max_generations); - Matrix3d R = experiment.get_best(); - + CGAL_assertion_code(Matrix3d R = experiment.get_best()); CGAL_assertion_code(double epsilon = 1e-3); CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); CGAL_assertion(assert_doubles(R(0,0), -1, epsilon)); From 9d5a83ebf68c46a3b792a10753e2d43b047025a7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 11 Jun 2018 16:32:59 +0200 Subject: [PATCH 048/150] Renamed header --- .../benchmarks/Optimal_bounding_box/bench_custom.cpp | 2 +- .../benchmarks/Optimal_bounding_box/bench_obb.cpp | 2 +- .../benchmarks/Optimal_bounding_box/bench_perfomance.cpp | 2 +- .../CGAL/Optimal_bounding_box/{obb.h => optimal_bounding_box.h} | 0 .../test/Optimal_bounding_box/test_optimization_algorithms.cpp | 2 +- .../demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp | 2 +- 6 files changed, 5 insertions(+), 5 deletions(-) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{obb.h => optimal_bounding_box.h} (100%) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp index 33f42eb27c3..f1bfa006914 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp @@ -1,6 +1,6 @@ #include #include -#include +#include #include #include #include diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index 1bf8bddad18..ae20bc16bdb 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -3,7 +3,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp index 855c21e558c..fa1447df22c 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp @@ -1,6 +1,6 @@ #include #include -#include +#include #include #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h similarity index 100% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/obb.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 5b60bd283c9..f67dd655891 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -1,7 +1,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 9dbf9da1da7..58ebc93542d 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -14,7 +14,7 @@ #include "Scene_points_with_normal_item.h" #include -#include +#include #include //typedef Scene_surface_mesh_item Scene_facegraph_item; From f8a3b552d3d8562b192a6c178894b982734e94b5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 11 Jun 2018 16:54:37 +0200 Subject: [PATCH 049/150] Cosmetic changes --- .../Optimal_bounding_box/bench_custom.cpp | 34 ++++----- .../bench_fitness_function.cpp | 20 ++--- .../Optimal_bounding_box/bench_obb.cpp | 24 +++--- .../Optimal_bounding_box/bench_perfomance.cpp | 19 +++-- .../Optimal_bounding_box/readme.txt | 3 +- .../CGAL/Optimal_bounding_box/evolution.h | 74 +++++++++---------- .../Optimal_bounding_box/fitness_function.h | 23 +++--- .../CGAL/Optimal_bounding_box/helper.h | 27 ++++--- .../nelder_mead_functions.h | 7 +- .../optimal_bounding_box.h | 52 ++++++------- .../CGAL/Optimal_bounding_box/population.h | 29 +++----- .../test_linear_algebra_functions.cpp | 5 +- .../test_optimization_algorithms.cpp | 41 +++++----- 13 files changed, 178 insertions(+), 180 deletions(-) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp index f1bfa006914..56cc644fd72 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp @@ -1,31 +1,32 @@ #include -#include -#include -#include -#include -#include +#include + +#include +#include #include #include -//#define OBB_DEBUG_BENCHMARK +#include +#include +#include + +//#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK typedef CGAL::Exact_predicates_inexact_constructions_kernel K; -void -bench(const char* fname) +void bench(const char* fname) { std::vector sm_points, obb_points; std::ifstream in(fname); K::Point_3 p; int i = 0; - while(in >> p){ - + while(in >> p) + { if(i % 2 == 0) // avoid normals - { sm_points.push_back(p); - } + ++i; } @@ -40,22 +41,19 @@ bench(const char* fname) std::cout << "done" << '\n'; -#ifdef OBB_DEBUG_BENCHMARK +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK std::cout.precision(17); for(int i =0; i < obb_points.size(); i++) - { std::cout << obb_points[i] << std::endl; - } CGAL::Surface_mesh mesh; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], - obb_points[6], obb_points[7], mesh); + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], mesh); std::ofstream out("/tmp/result_obb.off"); out << mesh; out.close(); #endif - } int main(int argc, char* argv[]) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp index 2b70a2610c9..15414eaee48 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp @@ -1,28 +1,32 @@ #include + +#include + +#include #include #include #include -#include + #include -#include #include + #include +#include typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - int main() { - const char* fname = "data/elephant.off"; // 1) import a lot a mesh and subdivide it to create a big mesh std::ifstream input(fname); CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + if (!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, @@ -40,11 +44,9 @@ int main() MatrixX3d points_mat(nb_points, 3); CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points_mat); - // 3) create a population of simplices CGAL::Optimal_bounding_box::Population pop(50); - CGAL::Timer timer; timer.start(); @@ -58,7 +60,5 @@ int main() std::cout << "took " << timer.time() << " to compute the fitness of all vertices.\n"; std::cout << "value of fittest vertex= " << result << std::endl; - - return 0; } diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index ae20bc16bdb..1d12dc9c4df 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -1,21 +1,22 @@ #include + #include -#include #include + +#include #include #include -#include + +#include +#include + #include #include -#include - -//#define OBB_DEBUG_BENCHMARK - +//#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - bool assert_doubles(double d1, double d2, double epsilon) { return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; @@ -49,10 +50,12 @@ void bench_finding_obb(std::string fname) // import a mesh CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + if (!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } + // get mesh points gather_mesh_points(mesh, sm_points); @@ -83,13 +86,12 @@ void bench_finding_obb(std::string fname) std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; timer.reset(); -#ifdef OBB_DEBUG_BENCHMARK +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK CGAL::Surface_mesh result_mesh1; CGAL::make_hexahedron(obb_points1[0], obb_points1[1], obb_points1[2], obb_points1[3], obb_points1[4], obb_points1[5], obb_points1[6], obb_points1[7], result_mesh1); - CGAL::Surface_mesh result_mesh2; CGAL::make_hexahedron(obb_points2[0], obb_points2[1], obb_points2[2], obb_points2[3], obb_points2[4], obb_points2[5], obb_points2[6], obb_points2[7], diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp index fa1447df22c..3108af27af6 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp @@ -1,14 +1,17 @@ #include + #include -#include + #include -#include -#include +#include #include #include -//#define OBB_DEBUG_BENCHMARK +#include +#include + +//#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK typedef CGAL::Exact_predicates_inexact_constructions_kernel K; @@ -18,9 +21,10 @@ void bench_finding_obb(std::string fname) // import a mesh CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + if (!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } // export some times @@ -62,8 +66,7 @@ void bench_finding_obb(std::string fname) outt.close(); - -#ifdef OBB_DEBUG_BENCHMARK +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK std::ofstream out1("data/obb_result1.off"); out1 << obb_points1; out1.close(); diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt index b8995463fa7..ac22f73a877 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt @@ -1,2 +1 @@ -To draw a graph with the benchmark times set the path-to-the-measurments in draw_benchmark_times.py if necessary, -and run the script with python 3. +To draw a graph with the benchmark times set the path-to-the-measurments in draw_benchmark_times.py if necessary, and run the script with python 3. diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 5e0ecced2de..ee334df7e55 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -16,7 +16,6 @@ // $Id$ // SPDX-License-Identifier: GPL-3.0+ // -// // Author(s) : Konstantinos Katrioplas #ifndef CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H @@ -24,13 +23,20 @@ #include #include - #include + +#include +#include + #include -namespace CGAL { -namespace Optimal_bounding_box { +#include +#include +#include +namespace CGAL { + +namespace Optimal_bounding_box { template class Evolution @@ -40,19 +46,19 @@ class Evolution typedef typename Linear_algebra_traits::Vector3d Vector3d; public: - Evolution(Population& pop, MatrixXd& points) : - population(pop), - point_data(points) + Evolution(Population& pop, MatrixXd& points) + : population(pop), point_data(points) {} // simplex: 4 rotation matrices are its vertices - void nelder_mead(std::vector& simplex, std::size_t nelder_mead_iterations) + void nelder_mead(std::vector& simplex, + std::size_t nelder_mead_iterations) { CGAL_assertion(simplex.size() == 4); // tetrahedron std::vector fitness(4); - std::vector indices( boost::counting_iterator( 0 ), - boost::counting_iterator( simplex.size() ) ); + std::vector indices(boost::counting_iterator(0), + boost::counting_iterator(simplex.size())); for(std::size_t t = 0; t < nelder_mead_iterations; ++t) { @@ -165,12 +171,12 @@ public: for(std::size_t i = 0; i < ids4.size(); ++i) group4[i] = population[ids4[i]]; - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG check_det(group1); check_det(group2); check_det(group3); check_det(group4); - #endif +#endif // crossover I Population offspringsA(size_first_group); @@ -185,10 +191,12 @@ public: double fitnessA = compute_fitness(group1[i][j], point_data); double fitnessB = compute_fitness(group2[i][j], point_data); double threshold; + if(fitnessA < fitnessB) threshold = 0.5 + bias; else threshold = 0.5 - bias; + if(r < threshold) // choose A offspring[j] = group1[i][j]; else // choose B @@ -197,11 +205,11 @@ public: offspringsA[i] = offspring; } - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG std::cout << "offspringsA: \n" ; check_det(offspringsA); std::cin.get(); - #endif +#endif // crossover II Population offspringsB(size_second_group); @@ -228,10 +236,10 @@ public: offspringsB[i] = offspring; } - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG std::cout << "offspringsB: \n" ; check_det(offspringsB); - #endif +#endif CGAL_assertion(offspringsA.size() == size_first_group); CGAL_assertion(offspringsB.size() == size_second_group); @@ -239,14 +247,10 @@ public: // next generatrion for(std::size_t i = 0; i < size_first_group; ++i) - { population[i] = offspringsA[i]; - } for(std::size_t i = 0; i < size_second_group; ++i) - { population[size_first_group + i] = offspringsB[i]; - } } void evolve(std::size_t generations) @@ -262,35 +266,35 @@ public: for(std::size_t t = 0; t < generations; ++t) { - - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG std::cout << "generation= " << t << "\n"; - #endif +#endif genetic_algorithm(); - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG //std::cout << "pop after genetic" << std::endl; //pop.show_population(); //std::cout << std::endl; - #endif +#endif for(std::size_t s = 0; s < population.size(); ++s) nelder_mead(population[s], nelder_mead_iterations); - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG //std::cout << "pop after nelder mead: " << std::endl; //pop.show_population(); //std::cout << std::endl; Fitness_map fitness_map_debug(population, point_data); Matrix3d R_now = fitness_map_debug.get_best(); std::cout << "det= " << Linear_algebra_traits::determinant(R_now) << std::endl; - #endif +#endif // stopping criteria Fitness_map fitness_map(population, point_data); new_fit_value = fitness_map.get_best_fitness_value(); double difference = new_fit_value - prev_fit_value; + if(CGAL::abs(difference) < tolerance * new_fit_value) stale++; @@ -313,10 +317,10 @@ private: { Comparator(const std::vector& in) : fitness(in) {} - inline bool operator() (std::size_t& i, std::size_t& j) - { + inline bool operator() (std::size_t& i, std::size_t& j) { return fitness[i] < fitness[j]; } + const std::vector& fitness; }; @@ -325,8 +329,7 @@ private: MatrixXd point_data; }; - -#ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG template void check_det(Population& pop) { @@ -341,10 +344,7 @@ void check_det(Population& pop) } #endif +} // end namespace Optimal_bounding_box +} // end namespace CGAL - -}} // end namespaces - - - -#endif +#endif // CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h index 5810bb1a99c..649dacb40d5 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h @@ -16,18 +16,19 @@ // $Id$ // SPDX-License-Identifier: GPL-3.0+ // -// // Author(s) : Konstantinos Katrioplas #ifndef CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H #define CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H -#include -#include #include + +#include + #include namespace CGAL { + namespace Optimal_bounding_box { template @@ -74,7 +75,8 @@ double compute_fitness(const Vertex& R, const Matrix& data) template struct Fitness_map { - Fitness_map(Population& p, Matrix& points) : pop(p), points(points) + Fitness_map(Population& p, Matrix& points) + : pop(p), points(points) {} const Vertex get_best() @@ -109,14 +111,7 @@ struct Fitness_map const Matrix& points; }; -}} // end namespaces - - - - - - -#endif //CGAL_FITNESS_FUNCTION_H - - +} // end namespace Optimal_bounding_box +} // end namespace CGAL +#endif // CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index febf283f5a3..d207feb93ea 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -19,18 +19,24 @@ // // Author(s) : Konstantinos Katrioplas -#ifndef CGAL_OPTIMAL_BOUNDING_HELPER_H -#define CGAL_OPTIMAL_BOUNDING_HELPER_H +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H +#define CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H -#include -#include #include + +#include +#include +#include +#include #include +#include +#include +#include namespace CGAL { -namespace Optimal_bounding_box { +namespace Optimal_bounding_box { template void fill_matrix(const std::vector& v_points, Matrix& points_mat) @@ -93,16 +99,15 @@ void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) } Mesh mesh; - CGAL::make_hexahedron(points[0], points[1], points[2], points[3], points[4], points[5], - points[6], points[7], mesh); + CGAL::make_hexahedron(points[0], points[1], points[2], points[3], + points[4], points[5], points[6], points[7], mesh); std::ofstream out(filename); out << mesh; out.close(); } -}} // end namespaces +} // end namespace Optimal_bounding_box +} // end namespace CGAL - - -#endif +#endif // CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index 06a050ffa87..d8b9763af00 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -16,7 +16,6 @@ // $Id$ // SPDX-License-Identifier: GPL-3.0+ // -// // Author(s) : Konstantinos Katrioplas #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H @@ -25,8 +24,8 @@ #include namespace CGAL { -namespace Optimal_bounding_box { +namespace Optimal_bounding_box { template const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) @@ -76,7 +75,7 @@ const Matrix nm_centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) return Q / det; } -}} // end namespaces - +} // end namespace Optimal_bounding_box +} // end namespace CGAL #endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h index 80e294ef5c5..aaffae6d88a 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h @@ -25,24 +25,30 @@ #include #include #include -#include -#include + +#include #include -#include +#include #include -#include #include -#ifdef OBB_BENCHMARKS -#include +#include +#include + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS + #include #endif #if defined(CGAL_EIGEN3_ENABLED) #include #endif -namespace CGAL { -namespace Optimal_bounding_box { +#include +#include +#include +namespace CGAL { + +namespace Optimal_bounding_box { // works on matrices only /// \cond SKIP_IN_MANUAL @@ -127,21 +133,20 @@ void find_obb(const std::vector& points, CGAL::Optimal_bounding_box::fill_matrix(points, points_mat); } -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS CGAL::Timer timer; #endif std::size_t max_generations = 100; Population pop(50); -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.start(); #endif - CGAL::Optimal_bounding_box::Evolution - search_solution(pop, points_mat); + CGAL::Optimal_bounding_box::Evolution search_solution(pop, points_mat); -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.stop(); std::cout << "constructor: " << timer.time() << std::endl; timer.reset(); @@ -150,7 +155,7 @@ void find_obb(const std::vector& points, search_solution.evolve(max_generations); -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.stop(); std::cout << "evolve: " << timer.time() << std::endl; timer.reset(); @@ -159,7 +164,7 @@ void find_obb(const std::vector& points, Matrix3d rotation = search_solution.get_best(); -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.stop(); std::cout << "get best: " << timer.time() << std::endl; #endif @@ -167,14 +172,14 @@ void find_obb(const std::vector& points, MatrixXd obb; // may be preallocated at compile time obb.resize(8, 3); -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.reset(); timer.start(); #endif post_processing(points_mat, rotation, obb); -#ifdef OBB_BENCHMARKS +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.stop(); std::cout << "post porcessing: " << timer.time() << std::endl; #endif @@ -242,8 +247,7 @@ void find_obb(const PolygonMesh& pmesh, find_obb(points, obb_points, la_traits, use_ch); CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], - obb_points[6], obb_points[7], obbmesh); + obb_points[4], obb_points[5], obb_points[6], obb_points[7], obbmesh); } template @@ -261,11 +265,7 @@ void find_obb(const PolygonMesh& pmesh, find_obb(pmesh, obbmesh, la_traits, use_ch); } -}} // end namespaces - - - -#endif //CGAL_OPTIMAL_BOUNDING_BOX_OBB_H - - +} // end namespace Optimal_bounding_box +} // end namespace CGAL +#endif // CGAL_OPTIMAL_BOUNDING_BOX_OBB_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index eb8ca1aaf4e..4404acdcd3a 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -22,13 +22,14 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H #define CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H -#include +#include #include +#include namespace CGAL { -namespace Optimal_bounding_box { +namespace Optimal_bounding_box { template class Population @@ -37,7 +38,8 @@ class Population typedef std::vector Simplex; public: - Population(std::size_t size) : n(size), random_generator(CGAL::Random()) + Population(std::size_t size) + : n(size), random_generator(CGAL::Random()) { // reserve pop space pop.reserve(n); @@ -52,9 +54,9 @@ public: } } - #ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG void show_population(); - #endif +#endif std::size_t size(){return n;} @@ -72,7 +74,6 @@ public: } private: - // create random population void create_simplex(Simplex& simplex) { @@ -110,8 +111,7 @@ private: std::vector pop; }; - -#ifdef OBB_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG template void Population::show_population() { @@ -130,14 +130,7 @@ void Population::show_population() } #endif +} // end namespace Optimal_bounding_box +} // end namespace CGAL - -} } // end namespaces - - - - - - - -#endif //CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H +#endif // CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 0278b1cce15..5ae7753271f 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -1,9 +1,8 @@ +#include #include #include + #include -#include -#include -#include bool assert_doubles(double d1, double d2, double epsilon) { diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index f67dd655891..257dcd02ac5 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -1,14 +1,15 @@ #include + #include + +#include #include #include #include + #include #include -#include - - typedef CGAL::Exact_predicates_inexact_constructions_kernel K; bool assert_doubles(double d1, double d2, double epsilon) @@ -195,7 +196,7 @@ void test_random_unit_tetra() Point p4(0.166461, 0.149912, 0.364944); CGAL::make_tetrahedron(p1, p2, p3, p4, mesh); -#ifdef OBB_DEBUG_TEST +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST std::ofstream out("data/random_unit_tetra.off"); out << mesh; out.close(); @@ -221,7 +222,7 @@ void test_random_unit_tetra() CGAL_assertion(assert_doubles(R(2,1), 0.512847, epsilon)); CGAL_assertion(assert_doubles(R(2,2), 0.836992, epsilon)); -#ifdef OBB_DEBUG_TEST +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing CGAL::Eigen_dense_matrix obb(8, 3); CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); @@ -235,7 +236,7 @@ void test_reference_tetrahedron(const char* fname) CGAL::Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; @@ -255,7 +256,7 @@ void test_reference_tetrahedron(const char* fname) CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); - #ifdef OBB_DEBUG_TEST + #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); @@ -269,7 +270,7 @@ void test_long_tetrahedron(std::string fname) CGAL::Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; @@ -300,7 +301,7 @@ void test_long_tetrahedron(std::string fname) assert_doubles(R(1,2), -0.707106, epsilon)); CGAL_assertion(assert_doubles(R(2,2), 0.707107, epsilon)); - #ifdef OBB_DEBUG_TEST + #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing MatrixXd obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); @@ -315,7 +316,7 @@ void test_find_obb_evolution(std::string fname) SMesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } // get mesh points std::vector sm_points; @@ -334,7 +335,7 @@ void test_find_obb_evolution(std::string fname) CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); - #ifdef OBB_DEBUG_TEST + #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST /* for(int i = 0; i < 8; ++i) std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; @@ -353,16 +354,17 @@ void test_find_obb_mesh(std::string fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + if (!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; - exit(1); + std::exit(1); } CGAL::Eigen_linear_algebra_traits la_traits; CGAL::Surface_mesh< K::Point_3> obbmesh; CGAL::Optimal_bounding_box::find_obb(mesh, obbmesh, la_traits, true); - #ifdef OBB_DEBUG_TEST + #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST std::ofstream out("/tmp/result_elephant.off"); out << obbmesh; out.close(); @@ -373,16 +375,18 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) { std::ifstream input1(fname1); CGAL::Surface_mesh mesh1; - if (!input1 || !(input1 >> mesh1) || mesh1.is_empty()) { + if (!input1 || !(input1 >> mesh1) || mesh1.is_empty()) + { std::cerr << fname1 << " is not a valid off file.\n"; - exit(1); + std::exit(1); } std::ifstream input2(fname2); CGAL::Surface_mesh mesh2; - if (!input2 || !(input2 >> mesh2) || mesh2.is_empty()) { + if (!input2 || !(input2 >> mesh2) || mesh2.is_empty()) + { std::cerr << fname2 << " is not a valid off file.\n"; - exit(1); + std::exit(1); } // test one @@ -391,6 +395,7 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; typedef typename boost::property_map::const_type PointPMap; PointPMap pmap = get(boost::vertex_point, mesh1); + BOOST_FOREACH(vertex_descriptor v, vertices(mesh1)) sm_points.push_back(get(pmap, v)); From 280568e1dd61b1816c5fa923511e06c9f1f08884 Mon Sep 17 00:00:00 2001 From: Konstantinos Katrioplas Date: Tue, 12 Jun 2018 12:14:22 +0200 Subject: [PATCH 050/150] move nelder-mead function out of evolution class into the nelder_mead_functions.h --- .../CGAL/Optimal_bounding_box/evolution.h | 99 +---------------- .../nelder_mead_functions.h | 103 ++++++++++++++++++ .../test_optimization_algorithms.cpp | 9 +- 3 files changed, 107 insertions(+), 104 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index ee334df7e55..b76d5e4aaaa 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -28,8 +28,6 @@ #include #include -#include - #include #include #include @@ -50,89 +48,6 @@ public: : population(pop), point_data(points) {} - // simplex: 4 rotation matrices are its vertices - void nelder_mead(std::vector& simplex, - std::size_t nelder_mead_iterations) - { - CGAL_assertion(simplex.size() == 4); // tetrahedron - - std::vector fitness(4); - std::vector indices(boost::counting_iterator(0), - boost::counting_iterator(simplex.size())); - - for(std::size_t t = 0; t < nelder_mead_iterations; ++t) - { - for(std::size_t i = 0; i < 4; ++i) - { - fitness[i] = compute_fitness(simplex[i], point_data); - } - - CGAL_assertion(fitness.size() == 4); - CGAL_assertion(indices.size() == 4); - - // get indices of sorted sequence - Comparator compare_indices(fitness); - std::sort(indices.begin(), indices.end(), compare_indices); - - // new sorted simplex & fitness - std::vector s_simplex(4); - std::vector s_fitness(4); - for(int i = 0; i < 4; ++i) - { - s_simplex[i] = simplex[indices[i]]; - s_fitness[i] = fitness[indices[i]]; - } - - simplex = s_simplex; - fitness = s_fitness; - - // centroid - const Matrix3d v_centroid = nm_centroid(simplex[0], simplex[1], simplex[2]); - - // find worst's vertex reflection - const Matrix3d v_worst = simplex[3]; - const Matrix3d v_refl = reflection(v_centroid, v_worst); - const double f_refl = compute_fitness(v_refl, point_data); - - if(f_refl < fitness[2]) - { - if(f_refl >= fitness[0]) // if reflected point is not better than the best - { - // do reflection - simplex[3] = v_refl; - } - else - { - // expansion - const Matrix3d v_expand = expansion(v_centroid, v_worst, v_refl); - const double f_expand = compute_fitness(v_expand, point_data); - if(f_expand < f_refl) - simplex[3] = v_expand; - else - simplex[3] = v_refl; - } - } - else // if reflected vertex is not better - { - const Matrix3d v_mean = mean(v_centroid, v_worst); - const double f_mean = compute_fitness(v_mean, point_data); - if(f_mean <= fitness[3]) - // contraction of worst - simplex[3] = v_mean; - else - { - // reduction: move all vertices towards the best - for(std::size_t i=1; i < 4; ++i) - { - simplex[i] = mean(simplex[i], simplex[0]); - } - } - } - - CGAL_assertion(simplex.size() == 4); // tetrahedron - } // iterations - } - void genetic_algorithm() { // random permutations @@ -279,7 +194,7 @@ public: #endif for(std::size_t s = 0; s < population.size(); ++s) - nelder_mead(population[s], nelder_mead_iterations); + nelder_mead(population[s], point_data, nelder_mead_iterations); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG //std::cout << "pop after nelder mead: " << std::endl; @@ -312,18 +227,6 @@ public: } private: - // needed in genetic algorithm - struct Comparator - { - Comparator(const std::vector& in) : fitness(in) {} - - inline bool operator() (std::size_t& i, std::size_t& j) { - return fitness[i] < fitness[j]; - } - - const std::vector& fitness; - }; - // data Population population; MatrixXd point_data; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index d8b9763af00..3d7de8c8db3 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -22,6 +22,9 @@ #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #include +#include +#include +#include namespace CGAL { @@ -75,6 +78,106 @@ const Matrix nm_centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) return Q / det; } +// needed in nelder mead algorithm +struct Comparator +{ + Comparator(const std::vector& in) : fitness(in) {} + + inline bool operator() (std::size_t& i, std::size_t& j) { + return fitness[i] < fitness[j]; + } + + const std::vector& fitness; +}; + +// simplex: 4 rotation matrices are its vertices +template +void nelder_mead(std::vector& simplex, + const typename Linear_algebra_traits::MatrixXd& point_data, + std::size_t nelder_mead_iterations) +{ + CGAL_assertion(simplex.size() == 4); // tetrahedron + + + typedef typename Linear_algebra_traits::Matrix3d Matrix3d; + + std::vector fitness(4); + std::vector indices(boost::counting_iterator(0), + boost::counting_iterator(simplex.size())); + + for(std::size_t t = 0; t < nelder_mead_iterations; ++t) + { + for(std::size_t i = 0; i < 4; ++i) + { + fitness[i] = compute_fitness(simplex[i], point_data); + } + + CGAL_assertion(fitness.size() == 4); + CGAL_assertion(indices.size() == 4); + + // get indices of sorted sequence + Comparator compare_indices(fitness); + std::sort(indices.begin(), indices.end(), compare_indices); + + // new sorted simplex & fitness + std::vector s_simplex(4); + std::vector s_fitness(4); + for(int i = 0; i < 4; ++i) + { + s_simplex[i] = simplex[indices[i]]; + s_fitness[i] = fitness[indices[i]]; + } + + simplex = s_simplex; + fitness = s_fitness; + + // centroid + const Matrix3d v_centroid = nm_centroid(simplex[0], simplex[1], simplex[2]); + + // find worst's vertex reflection + const Matrix3d v_worst = simplex[3]; + const Matrix3d v_refl = reflection(v_centroid, v_worst); + const double f_refl = compute_fitness(v_refl, point_data); + + if(f_refl < fitness[2]) + { + if(f_refl >= fitness[0]) // if reflected point is not better than the best + { + // do reflection + simplex[3] = v_refl; + } + else + { + // expansion + const Matrix3d v_expand = expansion(v_centroid, v_worst, v_refl); + const double f_expand = compute_fitness(v_expand, point_data); + if(f_expand < f_refl) + simplex[3] = v_expand; + else + simplex[3] = v_refl; + } + } + else // if reflected vertex is not better + { + const Matrix3d v_mean = mean(v_centroid, v_worst); + const double f_mean = compute_fitness(v_mean, point_data); + if(f_mean <= fitness[3]) + // contraction of worst + simplex[3] = v_mean; + else + { + // reduction: move all vertices towards the best + for(std::size_t i=1; i < 4; ++i) + { + simplex[i] = mean(simplex[i], simplex[0]); + } + } + } + + CGAL_assertion(simplex.size() == 4); // tetrahedron + } // iterations +} + } // end namespace Optimal_bounding_box } // end namespace CGAL diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 257dcd02ac5..86c49eda928 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -6,6 +6,7 @@ #include #include #include +#include #include #include @@ -89,12 +90,8 @@ void test_nelder_mead() simplex[2] = v2; simplex[3] = v3; - CGAL::Optimal_bounding_box::Population pop(1); std::size_t nm_iterations = 19; - - CGAL::Optimal_bounding_box::Evolution - evolution(pop, data_points); - evolution.nelder_mead(simplex, nm_iterations); + CGAL::Optimal_bounding_box::nelder_mead(simplex, data_points, nm_iterations); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion_code(Matrix3d v0_new = simplex[0]); @@ -144,7 +141,7 @@ void test_nelder_mead() void test_genetic_algorithm() { - CGAL::Eigen_dense_matrix data_points(4, 3); // -1 : dynamic size at run time + CGAL::Eigen_dense_matrix data_points(4, 3); // -1 = dynamic size at run time data_points(0,0) = 0.866802; data_points(0,1) = 0.740808, data_points(0,2) = 0.895304, From 53eff19e67c28c737acea897ecc599c08160d447 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 12 Jun 2018 11:15:20 +0200 Subject: [PATCH 051/150] Renamed functions --- .../Optimal_bounding_box/bench_custom.cpp | 2 +- .../Optimal_bounding_box/bench_obb.cpp | 4 +-- .../Optimal_bounding_box/bench_perfomance.cpp | 4 +-- .../optimal_bounding_box.h | 34 +++++++++---------- .../test_optimization_algorithms.cpp | 16 ++++----- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 2 +- 6 files changed, 31 insertions(+), 31 deletions(-) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp index 56cc644fd72..220aabab3b5 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp @@ -37,7 +37,7 @@ void bench(const char* fname) // use convex hull - > true // no convex hull - > false - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, la_traits, false); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, la_traits, false); std::cout << "done" << '\n'; diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index 1d12dc9c4df..44e85c184bf 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -73,7 +73,7 @@ void bench_finding_obb(std::string fname) timer.reset(); timer.start(); std::vector obb_points1; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points1, la_traits, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points1, la_traits, true); timer.stop(); std::cout << "found obb using convex hull: " << timer.time() << " seconds\n"; @@ -81,7 +81,7 @@ void bench_finding_obb(std::string fname) timer.reset(); timer.start(); std::vector obb_points2; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points2, la_traits, false); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points2, la_traits, false); timer.stop(); std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; timer.reset(); diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp index 3108af27af6..2cab424a549 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp @@ -42,7 +42,7 @@ void bench_finding_obb(std::string fname) // 1) using convex hull timer.start(); CGAL::Surface_mesh obb_mesh1; - CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh1, la_traits, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obb_mesh1, la_traits, true); timer.stop(); double t_ch = timer.time(); std::cout << " with ch: " << timer.time() << " s |"; @@ -51,7 +51,7 @@ void bench_finding_obb(std::string fname) timer.reset(); timer.start(); CGAL::Surface_mesh obb_mesh2; - CGAL::Optimal_bounding_box::find_obb(mesh, obb_mesh2, la_traits, false); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obb_mesh2, la_traits, false); timer.stop(); double t_no_ch = timer.time(); std::cout << " without ch: " << timer.time() << " s\n"; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h index aaffae6d88a..62017fc84d4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h @@ -106,10 +106,10 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) /// @param use_ch a bool flag to indicating whether to use the convex hull of the input points /// as an optimization step. template -void find_obb(const std::vector& points, - std::vector& obb_points, - LinearAlgebraTraits&, - bool use_ch) +void compute_optimal_bounding_box(const std::vector& points, + std::vector& obb_points, + LinearAlgebraTraits&, + bool use_ch) { CGAL_assertion(points.size() >= 3); @@ -193,9 +193,9 @@ void find_obb(const std::vector& points, } template -void find_obb(const std::vector& points, - std::vector& obb_points, - bool use_ch) +void compute_optimal_bounding_box(const std::vector& points, + std::vector& obb_points, + bool use_ch) { #if defined(CGAL_EIGEN3_ENABLED) typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; @@ -204,7 +204,7 @@ void find_obb(const std::vector& points, #endif Linear_algebra_traits la_traits; - find_obb(points, obb_points, la_traits, use_ch); + compute_optimal_bounding_box(points, obb_points, la_traits, use_ch); } /// \ingroup OBB_grp @@ -220,10 +220,10 @@ void find_obb(const std::vector& points, /// @param use_ch a bool flag to indicating whether to use the convex hull of the input points /// as an optimization step. template -void find_obb(const PolygonMesh& pmesh, - PolygonMesh& obbmesh, - LinearAlgebraTraits& la_traits, - bool use_ch) +void compute_optimal_bounding_box(const PolygonMesh& pmesh, + PolygonMesh& obbmesh, + LinearAlgebraTraits& la_traits, + bool use_ch) { CGAL_assertion(vertices(pmesh).size() >= 3); @@ -244,16 +244,16 @@ void find_obb(const PolygonMesh& pmesh, std::vector obb_points; - find_obb(points, obb_points, la_traits, use_ch); + compute_optimal_bounding_box(points, obb_points, la_traits, use_ch); CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], obb_points[6], obb_points[7], obbmesh); } template -void find_obb(const PolygonMesh& pmesh, - PolygonMesh& obbmesh, - bool use_ch) +void compute_optimal_bounding_box(const PolygonMesh& pmesh, + PolygonMesh& obbmesh, + bool use_ch) { #if defined(CGAL_EIGEN3_ENABLED) typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; @@ -262,7 +262,7 @@ void find_obb(const PolygonMesh& pmesh, #endif Linear_algebra_traits la_traits; - find_obb(pmesh, obbmesh, la_traits, use_ch); + compute_optimal_bounding_box(pmesh, obbmesh, la_traits, use_ch); } } // end namespace Optimal_bounding_box diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 86c49eda928..4f03054dcbd 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -306,7 +306,7 @@ void test_long_tetrahedron(std::string fname) #endif } -void test_find_obb_evolution(std::string fname) +void test_compute_obb_evolution(std::string fname) { std::ifstream input(fname); typedef CGAL::Surface_mesh SMesh; @@ -326,7 +326,7 @@ void test_find_obb_evolution(std::string fname) CGAL::Eigen_linear_algebra_traits la_traits; std::vector obb_points; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, la_traits, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, la_traits, true); CGAL_assertion_code(double epsilon = 1e-3); CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); @@ -347,7 +347,7 @@ void test_find_obb_evolution(std::string fname) #endif } -void test_find_obb_mesh(std::string fname) +void test_compute_obb_mesh(std::string fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; @@ -359,7 +359,7 @@ void test_find_obb_mesh(std::string fname) CGAL::Eigen_linear_algebra_traits la_traits; CGAL::Surface_mesh< K::Point_3> obbmesh; - CGAL::Optimal_bounding_box::find_obb(mesh, obbmesh, la_traits, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obbmesh, la_traits, true); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST std::ofstream out("/tmp/result_elephant.off"); @@ -397,7 +397,7 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) sm_points.push_back(get(pmap, v)); std::vector obb_points; - CGAL::Optimal_bounding_box::find_obb(sm_points, obb_points, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, true); CGAL_assertion_code(double epsilon = 1e-3); CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); @@ -405,7 +405,7 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) // test two CGAL::Surface_mesh< K::Point_3> obbmesh; - CGAL::Optimal_bounding_box::find_obb(mesh2, obbmesh, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh2, obbmesh, true); } int main() @@ -415,8 +415,8 @@ int main() test_random_unit_tetra(); test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); - test_find_obb_evolution("data/random_unit_tetra.off"); - test_find_obb_mesh("data/elephant.off"); + test_compute_obb_evolution("data/random_unit_tetra.off"); + test_compute_obb_mesh("data/elephant.off"); test_function_defaults_traits("data/random_unit_tetra.off", "data/elephant.off"); return 0; diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 58ebc93542d..444f0b2acc9 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -166,7 +166,7 @@ void Create_obb_mesh_plugin::obb() // find obb CGAL::Eigen_linear_algebra_traits la_traits; std::vector obb_points(8); - CGAL::Optimal_bounding_box::find_obb(points, obb_points, la_traits, true); + CGAL::Optimal_bounding_box::compute_optimal_bounding_box(points, obb_points, la_traits, true); Scene_item* item; if(mw->property("is_polyhedorn_mode").toBool()) From f6f0f98853313ea1bf3d5a1e7efc506ab070373c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Sun, 8 Jul 2018 14:17:45 +0200 Subject: [PATCH 052/150] Added an error message when no traits are provided --- .../include/CGAL/Optimal_bounding_box/evolution.h | 1 - .../CGAL/Optimal_bounding_box/optimal_bounding_box.h | 6 ++++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index b76d5e4aaaa..2089beb9a8c 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -123,7 +123,6 @@ public: #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG std::cout << "offspringsA: \n" ; check_det(offspringsA); - std::cin.get(); #endif // crossover II diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h index 62017fc84d4..3cb4fc338a1 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h @@ -200,7 +200,8 @@ void compute_optimal_bounding_box(const std::vector& points, #if defined(CGAL_EIGEN3_ENABLED) typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; #else - Linear_algebra_traits; + #pragma message("Error: You must either provide linear traits or link CGAL with the Eigen library") + Linear_algebra_traits; // no parameter provided, and Eigen is not enabled --> don't compile! #endif Linear_algebra_traits la_traits; @@ -258,7 +259,8 @@ void compute_optimal_bounding_box(const PolygonMesh& pmesh, #if defined(CGAL_EIGEN3_ENABLED) typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; #else - Linear_algebra_traits; + #pragma message("Error: You must either provide linear traits or link CGAL with the Eigen library") + Linear_algebra_traits; // no parameter provided, and Eigen is not enabled --> don't compile! #endif Linear_algebra_traits la_traits; From 06b167d6cc195ea295e5403985afff63e636bc31 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Sun, 20 Oct 2019 20:45:13 +0200 Subject: [PATCH 053/150] Change maintainer --- .../package_info/Optimal_bounding_box/maintainer | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer b/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer index f45b28bc165..2427333ef57 100644 --- a/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer +++ b/Optimal_bounding_box/package_info/Optimal_bounding_box/maintainer @@ -1 +1 @@ -Konstantinos Katrioplas +GeometryFactory From 1348d433f02939f518ac0d747c40a5e41084e918 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Sun, 20 Oct 2019 20:54:20 +0200 Subject: [PATCH 054/150] Update CMakeLists --- .../Optimal_bounding_box/CMakeLists.txt | 59 ++++--------------- .../Polygon_mesh_processing/CMakeLists.txt | 24 ++++++++ .../test/Optimal_bounding_box/CMakeLists.txt | 58 ++++-------------- 3 files changed, 49 insertions(+), 92 deletions(-) create mode 100644 Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt index e918b0a6d4c..b66879123fe 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt @@ -1,62 +1,29 @@ # Created by the script cgal_create_CMakeLists # This is the CMake script for compiling a set of CGAL applications. +cmake_minimum_required(VERSION 3.1...3.15) project( Optimal_bounding_box_Benchmark ) - -cmake_minimum_required(VERSION 2.6.2) -if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" VERSION_GREATER 2.6) - if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}" VERSION_GREATER 2.8.3) - cmake_policy(VERSION 2.8.4) - else() - cmake_policy(VERSION 2.6) - endif() -endif() - - # CGAL and its components -find_package( CGAL QUIET COMPONENTS ) +find_package( CGAL QUIET ) if ( NOT CGAL_FOUND ) - message(STATUS "This project requires the CGAL library, and will not be compiled.") - return() - + return() endif() # include helper file include( ${CGAL_USE_FILE} ) - -# Boost and its components -find_package( Boost REQUIRED ) - -if ( NOT Boost_FOUND ) - - message(STATUS "This project requires the Boost library, and will not be compiled.") - - return() - +find_package(Eigen3 3.1.0 REQUIRED) #(3.1.0 or greater) +if (NOT EIGEN3_FOUND) + message(STATUS "This project requires the Eigen library, and will not be compiled.") + return() +else() + include(${EIGEN3_USE_FILE}) endif() -# include for local directory - -# include for local package -include_directories( BEFORE ../../include ) - -find_package(Eigen3 3.2.0) #(requires 3.2.0 or greater) - -find_package( TBB ) - -include( CGAL_CreateSingleSourceCGALProgram ) -if (EIGEN3_FOUND) - include( ${EIGEN3_USE_FILE} ) - - create_single_source_cgal_program("bench_obb.cpp") - create_single_source_cgal_program("bench_perfomance.cpp") - create_single_source_cgal_program("bench_custom.cpp") - create_single_source_cgal_program("bench_fitness_function.cpp") - -endif(EIGEN3_FOUND) - - +create_single_source_cgal_program("bench_obb.cpp") +create_single_source_cgal_program("bench_perfomance.cpp") +create_single_source_cgal_program("bench_custom.cpp") +create_single_source_cgal_program("bench_fitness_function.cpp") diff --git a/Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt b/Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt new file mode 100644 index 00000000000..0faa74ffe4e --- /dev/null +++ b/Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt @@ -0,0 +1,24 @@ +# Created by the script cgal_create_cmake_script +# This is the CMake script for compiling a CGAL application. + +cmake_minimum_required(VERSION 3.1...3.15) +project( Optimal_bounding_box_Examples ) + +find_package(CGAL QUIET) + +if (NOT CGAL_FOUND) + message(STATUS "This project requires the CGAL library, and will not be compiled.") + return() +endif() + +include( ${CGAL_USE_FILE} ) + +find_package(Eigen3 3.1.0 REQUIRED) #(3.1.0 or greater) +if (NOT EIGEN3_FOUND) + message(STATUS "This project requires the Eigen library, and will not be compiled.") + return() +else() + include(${EIGEN3_USE_FILE}) +endif() + +create_single_source_cgal_program("example.cpp") diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt index 57c961df417..dc0d5800453 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt @@ -1,60 +1,26 @@ # Created by the script cgal_create_CMakeLists # This is the CMake script for compiling a set of CGAL applications. +cmake_minimum_required(VERSION 3.1...3.15) project( Optimal_bounding_box_Tests ) +find_package(CGAL QUIET) -cmake_minimum_required(VERSION 2.6.2) -if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" VERSION_GREATER 2.6) - if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}" VERSION_GREATER 2.8.3) - cmake_policy(VERSION 2.8.4) - else() - cmake_policy(VERSION 2.6) - endif() -endif() - - -# CGAL and its components -find_package( CGAL QUIET COMPONENTS ) - -if ( NOT CGAL_FOUND ) - +if (NOT CGAL_FOUND) message(STATUS "This project requires the CGAL library, and will not be compiled.") - return() - + return() endif() -# include helper file include( ${CGAL_USE_FILE} ) - -# Boost and its components -find_package( Boost REQUIRED ) - -if ( NOT Boost_FOUND ) - - message(STATUS "This project requires the Boost library, and will not be compiled.") - - return() - +find_package(Eigen3 3.1.0 REQUIRED) #(3.1.0 or greater) +if (NOT EIGEN3_FOUND) + message(STATUS "This project requires the Eigen library, and will not be compiled.") + return() +else() + include(${EIGEN3_USE_FILE}) endif() -# include for local directory - -# include for local package -include_directories( BEFORE ../../include ) - -find_package(Eigen3 3.2.0) #(requires 3.2.0 or greater) - -find_package( TBB ) - -include( CGAL_CreateSingleSourceCGALProgram ) -if (EIGEN3_FOUND) - include( ${EIGEN3_USE_FILE} ) - - create_single_source_cgal_program("test_linear_algebra_functions.cpp") - create_single_source_cgal_program("test_optimization_algorithms.cpp") - -endif(EIGEN3_FOUND) - +create_single_source_cgal_program("test_linear_algebra_functions.cpp") +create_single_source_cgal_program("test_optimization_algorithms.cpp") From 2ef6e31010b5bc0bb0a17b089b2a9df37dd3873b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Sun, 20 Oct 2019 21:02:27 +0200 Subject: [PATCH 055/150] Add doc skeleton --- .../doc/Optimal_bounding_box/Doxyfile.in | 6 + .../Optimal_bounding_box/NamedParameters.txt | 315 ++++++++++++++++++ .../Optimal_bounding_box.txt | 9 + .../PackageDescription.txt | 30 ++ .../doc/Optimal_bounding_box/dependencies | 14 + .../doc/Optimal_bounding_box/examples.txt | 4 + 6 files changed, 378 insertions(+) create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/dependencies create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in b/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in new file mode 100644 index 00000000000..c01165a4dee --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in @@ -0,0 +1,6 @@ +@INCLUDE = ${CGAL_DOC_PACKAGE_DEFAULTS} + +PROJECT_NAME = "CGAL ${CGAL_DOC_VERSION} - Optimal Bounding Box" +EXTRACT_ALL = false +HIDE_UNDOC_CLASSES = true +WARN_IF_UNDOCUMENTED = false diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt new file mode 100644 index 00000000000..d9b8e95c9ac --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt @@ -0,0 +1,315 @@ +/*! +\defgroup pmp_namedparameters Named Parameters for Polygon Mesh Processing +\ingroup PkgPolygonMeshProcessing + +In this package, all functions optional parameters are implemented as BGL optional +named parameters (see \ref BGLNamedParameters for more information on how to use them). +Since the parameters of the various polygon mesh processing functions defined +in this package are redundant, their long descriptions are centralized below. +The sequence of named parameters should start with `CGAL::parameters::`. +`CGAL::parameters::all_default()` can be used to indicate +that default values of optional named parameters must be used. + +In the following, we assume that the following types are provided as template parameters +of polygon mesh processing functions and classes. Note that, for some of these functions, +the type is more specific: +
    +
  • `PolygonMesh` is a model of the concept `FaceGraph`
    • . +
  • `GeomTraits` a geometric traits class in which constructions are performed and + predicates evaluated. Everywhere in this package, a \cgal `Kernel` fulfills the requirements.
    • +
+ +The following named parameters, offered by the package \ref PkgBGLSummary +(see \ref bgl_namedparameters), are used in this package: + +\cgalNPTableBegin +\cgalNPBegin{vertex_point_map} \anchor PMP_vertex_point_map +is the property map with the points associated to the vertices of the polygon mesh `pmesh`.\n +Type: a class model of `ReadablePropertyMap` with +`boost::graph_traits::%vertex_descriptor` as key type and +`GeomTraits::Point_3` as value type. \n +Default: \code boost::get(CGAL::vertex_point, pmesh) \endcode +\cgalNPEnd + +\cgalNPBegin{vertex_index_map} \anchor PMP_vertex_index_map +is the property map containing the index of each vertex of the input polygon mesh.\n +Type: a class model of `ReadablePropertyMap` with +`boost::graph_traits::%vertex_descriptor` as key type and the value type +\code typename boost::property_traits::type>::value_type \endcode +Default: \code boost::get(CGAL::vertex_index, pmesh)\endcode +\cgalNPEnd + +\cgalNPBegin{face_index_map} \anchor PMP_face_index_map +is the property map containing the index of each face of the input polygon mesh.\n +Type: a class model of `ReadablePropertyMap` with +`boost::graph_traits::%face_descriptor` as key type and the value type: +\code typename boost::property_traits::type>::value_type \endcode +Default: \code boost::get(CGAL::face_index, pmesh)\endcode +If this internal property map exists, its values should be initialized. +\cgalNPEnd + +\cgalNPBegin{edge_is_constrained_map} \anchor PMP_edge_is_constrained_map +is the property map containing information about edges of the input polygon mesh +being marked or not. In `isotropic_remeshing()` and `connected_components()`, +the marked edges are constrained.\n +Type: a class model of `ReadWritePropertyMap` with +`boost::graph_traits::%edge_descriptor` as key type and +`bool` as value type. It should be default constructible.\n +Default: a default property map where no edge is constrained +\cgalNPEnd +\cgalNPTableEnd + +In addition to these named parameters, this package offers the following named parameters: + +\cgalNPTableBegin +\cgalNPBegin{geom_traits} \anchor PMP_geom_traits +is the geometric traits instance in which the mesh processing operation should be performed.\n +Type: a Geometric traits class.\n +Default: +\code typename CGAL::Kernel_traits< + typename boost::property_traits< + typename boost::property_map::type>::value_type>::Kernel \endcode +\cgalNPEnd + +\cgalNPBegin{vertex_incident_patches_map} \anchor PMP_vertex_incident_patches_map +is the property map containing the surface patches incident to each vertex of the input polygon mesh.\n +Type: a class model of `LvaluePropertyMap` with +`boost::graph_traits::%vertex_descriptor` as key type. Its value type +must be a container of `boost::property_traits::%value_type` and have a function `insert()`. +A `std::set` or a `boost::unordered_set` are recommended, as a patch index may be +inserted several times.\n +Default: \code boost::get(CGAL::vertex_incident_patches_t, pmesh)\endcode +\cgalNPEnd + +\cgalNPBegin{vertex_feature_degree_map} \anchor PMP_vertex_feature_degree_map +is the property map containing the number of feature edges being incident to the vertices of the polygon mesh `pmesh`.\n +Type: a class model of `ReadWritePropertyMap` with +`boost::graph_traits::%vertex_descriptor` as key type and +`int` as value type. It should be default constructible.\n +Default: \code boost::get(CGAL::vertex_feature_degree_t(), pmesh) \endcode +\cgalNPEnd + +\cgalNPBegin{vertex_is_constrained_map} \anchor PMP_vertex_is_constrained_map +is the property map containing information about vertices of the input polygon mesh being constrained or not. +Constrained vertices may be replaced by new vertices, but the number and location +of vertices remain unchanged.\n +Type: a class model of `ReadWritePropertyMap` with +`boost::graph_traits::%vertex_descriptor` as key type and +`bool` as value type. It should be default constructible.\n +Default: a default property map where no vertex is constrained is provided. +\cgalNPEnd + +\cgalNPBegin{face_patch_map} \anchor PMP_face_patch_map +is a property map containing information about faces. +It is particularly well-suited for preserving surface patch IDs, +or face colors. +The edges at the interface between surface patches are treated similarly +to the ones of `edge_is_constrained_map`.\n +Type: a class model of `ReadWritePropertyMap` with +`boost::graph_traits::%face_descriptor` as key type and +the desired property, model of `CopyConstructible` as value type.\n +Default: a default property map where each face is associated with the ID of +the connected component it belongs to. Connected components are +computed with respect to the constrained edges listed in the property map +`edge_is_constrained_map` +\cgalNPEnd + +\cgalNPBegin{first_index} \anchor PMP_first_index +is the index of the first surface patch.\n +Type: `std::size_t`\n +Default: 1 +\cgalNPEnd + +\cgalNPBegin{density_control_factor} \anchor PMP_density_control_factor +controls the density of the mesh generated by refinement, with larger values causing denser refinements. +The density of vertices in the refined region is this factor times higher than before refinement.\n +Type: floating scalar value\n +Default: `CGAL::sqrt(2)` +\cgalNPEnd + +\cgalNPBegin{fairing_continuity} \anchor PMP_fairing_continuity +controls the tangential continuity of the output surface in `fair()`. +The possible values are 0, 1 and 2, refering to the C0, C1 +and C2 continuity.\n +Type: \c unsigned \c int between 0 and 2\n +Default: `1` +\cgalNPEnd + +\cgalNPBegin{sparse_linear_solver} \anchor PMP_sparse_linear_solver +is the solver used in `fair()`.\n +Type: a class model of `SparseLinearAlgebraWithFactorTraits_d`.\n +Default: if \ref thirdpartyEigen "Eigen" 3.2 (or greater) is available and +`CGAL_EIGEN3_ENABLED` is defined, then the following overload of `Eigen_solver_traits` +is provided as default value:\n +\code CGAL::Eigen_solver_traits::EigenType, Eigen::COLAMDOrdering > > \endcode +\cgalNPEnd + +\cgalNPBegin{number_of_iterations} \anchor PMP_number_of_iterations +is the number of iterations of the sequence of iterations performed in `isotropic_remeshing()`.\n +Type: \c unsigned \c int \n +Default: `1` +\cgalNPEnd + +\cgalNPBegin{protect_constraints} \anchor PMP_protect_constraints +enables the protection of constraints listed by \ref PMP_edge_is_constrained_map +"edge_is_constrained_map" and boundary edges +in `isotropic_remeshing()`. If `true`, constraint edges cannot be modified at all +during the remeshing process.\n +Type: `bool` \n +Default: `false` +\cgalNPEnd + +\cgalNPBegin{relax_constraints} \anchor PMP_relax_constraints +enables the tangential relaxation step in `isotropic_remeshing()` +to be performed on vertices that are endpoints of constraints listed +by \ref PMP_edge_is_constrained_map "edge_is_constrained_map", and boundary edges. +The vertices move along the constrained polylines they belong to. +Corners (i.e. vertices incident to more than 2 constraints, and vertices listed in +\ref PMP_vertex_is_constrained_map "vertex_is_constrained_map") are not allowed +to move at all. +If \ref PMP_protect_constraints "protect_constraints" is +set to `true`, this parameter is ignored.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{number_of_relaxation_steps} \anchor PMP_number_of_relaxation_steps +is the number of iterations of tangential relaxation that are performed at each iteration +of `isotropic_remeshing()`. A larger number of relaxation steps lead to +a more isotropic mesh.\n +Type: \c unsigned \c int \n +Default: `1` +\cgalNPEnd + +\cgalNPBegin{use_delaunay_triangulation} \anchor PMP_use_delaunay_triangulation +enables the use of the Delaunay triangulation facet search space for hole filling functions.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{use_random_uniform_sampling} \anchor PMP_use_random_uniform_sampling +is a parameter used in `sample_triangle_mesh()` to indicate if points should be picked +in a random uniform way.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{use_grid_sampling} \anchor PMP_use_grid_sampling +is a parameter used in `sample_triangle_mesh()` to indicate if points should be picked +in on a grid in each face.\n +Type: `bool` \n +Default: `false` +\cgalNPEnd + +\cgalNPBegin{use_monte_carlo_sampling} \anchor PMP_use_monte_carlo_sampling +is a parameter used in `sample_triangle_mesh()` to indicate if points should be picked +using a Monte-Carlo approach.\n +Type: `bool` \n +Default: `false` +\cgalNPEnd + +\cgalNPBegin{sample_edges} \anchor PMP_sample_edges +is a parameter used in `sample_triangle_mesh()` to indicate if a dedicated sampling +of edges should be done.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{sample_vertices} \anchor PMP_sample_vertices +is a parameter used in `sample_triangle_mesh()` to indicate if triangle vertices should +be copied in the output iterator.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{sample_faces} \anchor PMP_sample_faces +is a parameter used in `sample_triangle_mesh()` to indicate if the interior of faces +should be considered for the sampling.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{number_of_points_on_faces} \anchor PMP_number_of_points_on_faces +is a parameter used in `sample_triangle_mesh()` to set the number of points picked +using the random uniform method on faces.\n +Type: `std::size_t` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{number_of_points_on_edges} \anchor PMP_number_of_points_on_edges +is a parameter used in `sample_triangle_mesh()` to set the number of points picked +using the random uniform method on edges.\n +Type: `std::size_t` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{number_of_points_per_face} \anchor PMP_number_of_points_per_face +is a parameter used in `sample_triangle_mesh()` to set the number of points picked +per face using the Monte-Carlo method.\n +Type: `std::size_t` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{number_of_points_per_edge} \anchor PMP_number_of_points_per_edge +is a parameter used in `sample_triangle_mesh()` to set the number of points picked +per edge using the Monte-Carlo method.\n +Type: `std::size_t` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{grid_spacing} \anchor PMP_grid_spacing +is a parameter used in `sample_triangle_mesh()` to set the grid spacing when using +the grid sampling method.\n +Type: `double` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{number_of_points_per_area_unit} \anchor PMP_number_of_points_per_area_unit +is a parameter used in `sample_triangle_mesh()` to set the number of points per +area unit to be picked up in faces for the random uniform sampling and +Monte-Carlo methods.\n +Type: `double` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{number_of_points_per_distance_unit} \anchor PMP_number_of_points_per_distance_unit +is a parameter used in `sample_triangle_mesh()` to set the number of points per +distance unit to be picked up on edges for the random uniform sampling and +Monte-Carlo methods.\n +Type: `double` \n +Default: `0` +\cgalNPEnd + +\cgalNPBegin{do_project} \anchor PMP_do_project +is a parameter used in `random_perturbation()` to set whether vertices should be re-projected +to the input surface after their geometric perturbation.\n +Type: `bool` \n +Default: `true` +\cgalNPEnd + +\cgalNPBegin{random_seed} \anchor PMP_random_seed +is a parameter used in `random_perturbation()` to choose a seed to initialize +the random number generator `CGAL::Random()`. +If this parameter is not provided, the perturbation is not deterministic +(i.e. not reproducible from one run to the other).\n +Type: `unsigned int` \n +Default: the random number generator is initialized with `CGAL::Random()` +\cgalNPEnd + +\cgalNPBegin{outward_orientation} \anchor PMP_outward_orientation +Parameter used in orientation functions to choose between an outward or inward orientation. +\n +\b Type : `bool` \n +\b Default value is `true` + +\cgalNPBegin{do_overlap_test_of_bounded_sides} \anchor PMP_do_overlap_test_of_bounded_sides +Parameter used in intersection test functions to indicate whether overlapping tests of bounded sides +of close meshes should be done in addition to surface intersection tests. +\n +\b Type : `bool` \n +\b Default value is `false` +\cgalNPEnd + +\cgalNPTableEnd + +*/ diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt new file mode 100644 index 00000000000..d84814bee40 --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt @@ -0,0 +1,9 @@ +namespace CGAL { +/*! +\mainpage User Manual +\anchor Chapter_OptimalBoundingBox + +\cgalAutoToc +\authors + +} /* namespace CGAL */ diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt new file mode 100644 index 00000000000..496066da185 --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -0,0 +1,30 @@ +/// \defgroup PkgOptimalBoundingBox Optimal Bounding Box Reference +/// \defgroup PkgOptimalBoundingBoxConcepts Concepts +/// \ingroup PkgOptimalBoundingBox + +\cgalPkgDescriptionBegin{Optimal Bounding Box, PkgOptimalBoundingBoxSummary} +\cgalPkgPicture{} + +\cgalPkgSummaryBegin +\cgalPkgAuthor{} +\cgalPkgDesc{This package provides stuff.} +\cgalPkgManuals{Chapter_OptimalBoundingBox,PkgOptimalBoundingBox} +\cgalPkgSummaryEnd + +\cgalPkgShortInfoBegin +\cgalPkgSince{5.2} +\cgalPkgDependsOn{documented for each function;} +\cgalPkgBib{cgal:lty-pmp} +\cgalPkgLicense{\ref licensesGPL "GPL"} +\cgalPkgDemo{Polyhedron demo,polyhedron_3.zip} +\cgalPkgShortInfoEnd + +\cgalPkgDescriptionEnd + +\cgalClassifedRefPages + +## Parameters ## + +## Functions ## + +*/ diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies b/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies new file mode 100644 index 00000000000..52428e7009d --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies @@ -0,0 +1,14 @@ +Manual +Kernel_23 +STL_Extension +Algebraic_foundations +Circulator +Stream_support +Polyhedron +BGL +Solver_interface +Surface_mesh +Surface_mesh_deformation +AABB_tree +Triangulation_2 +Spatial_sorting diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt new file mode 100644 index 00000000000..76aff917caf --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt @@ -0,0 +1,4 @@ +/*! + +\example Optimal_bounding_box/example_todo.cpp +*/ From 96088397a98ff5105babfa2020f3cff60a7fd537 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Sun, 20 Oct 2019 21:03:00 +0200 Subject: [PATCH 056/150] Add missing package info --- Optimal_bounding_box/package_info/Optimal_bounding_box/copyright | 1 + .../package_info/Optimal_bounding_box/dependencies | 0 .../package_info/Optimal_bounding_box/license.txt | 1 + 3 files changed, 2 insertions(+) create mode 100644 Optimal_bounding_box/package_info/Optimal_bounding_box/copyright create mode 100644 Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies create mode 100644 Optimal_bounding_box/package_info/Optimal_bounding_box/license.txt diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/copyright b/Optimal_bounding_box/package_info/Optimal_bounding_box/copyright new file mode 100644 index 00000000000..d76cdbe60d6 --- /dev/null +++ b/Optimal_bounding_box/package_info/Optimal_bounding_box/copyright @@ -0,0 +1 @@ +GeometryFactory (France) \ No newline at end of file diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies b/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies new file mode 100644 index 00000000000..e69de29bb2d diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/license.txt b/Optimal_bounding_box/package_info/Optimal_bounding_box/license.txt new file mode 100644 index 00000000000..8bb8efcb72b --- /dev/null +++ b/Optimal_bounding_box/package_info/Optimal_bounding_box/license.txt @@ -0,0 +1 @@ +GPL (v3 or later) From cd4123bf2c5c24026518010bd0e519febb66ab21 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 3 Dec 2019 19:45:36 +0100 Subject: [PATCH 057/150] Clean code (partial) --- .../Optimal_bounding_box/bench_obb.cpp | 2 +- .../CGAL/Optimal_bounding_box/evolution.h | 71 ++++++++----------- .../Optimal_bounding_box/fitness_function.h | 18 ++--- .../CGAL/Optimal_bounding_box/helper.h | 1 - .../nelder_mead_functions.h | 27 ++++--- .../optimal_bounding_box.h | 50 +++++-------- .../CGAL/Optimal_bounding_box/population.h | 29 ++++---- .../test_optimization_algorithms.cpp | 4 +- .../CGAL/Eigen_linear_algebra_traits.h | 6 +- 9 files changed, 94 insertions(+), 114 deletions(-) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index 44e85c184bf..c7a3a32af62 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -28,7 +28,7 @@ void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; typedef typename boost::property_map::type PointPMap; PointPMap pmap = get(boost::vertex_point, mesh); - BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) + for(vertex_descriptor v : vertices(mesh)) points.push_back(get(pmap, v)); } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index 2089beb9a8c..f749b093139 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -33,7 +33,6 @@ #include namespace CGAL { - namespace Optimal_bounding_box { template @@ -51,39 +50,35 @@ public: void genetic_algorithm() { // random permutations - std::size_t m = population.size(); + const std::size_t m = population.size(); //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored - std::size_t size_first_group = m/2; - std::size_t size_second_group = m - m/2; + const std::size_t size_first_group = m/2; + const std::size_t size_second_group = m - size_first_group; - std::vector ids1(m/2), ids2(m/2); - std::vector ids3(m - m/2), ids4(m - m/2); + std::vector ids1(size_first_group), ids2(size_first_group); + std::vector ids3(size_second_group), ids4(size_second_group); CGAL::Random rng; int im = static_cast(m); - std::generate(ids1.begin(), ids1.end(), - [&rng, &im] () { return rng.get_int(0, im); }); - std::generate(ids2.begin(), ids2.end(), - [&rng, &im] () { return rng.get_int(0, im); }); - std::generate(ids3.begin(), ids3.end(), - [&rng, &im] () { return rng.get_int(0, im); }); - std::generate(ids4.begin(), ids4.end(), - [&rng, &im] () { return rng.get_int(0, im); }); + std::generate(ids1.begin(), ids1.end(), [&rng, &im] () { return rng.get_int(0, im); }); + std::generate(ids2.begin(), ids2.end(), [&rng, &im] () { return rng.get_int(0, im); }); + std::generate(ids3.begin(), ids3.end(), [&rng, &im] () { return rng.get_int(0, im); }); + std::generate(ids4.begin(), ids4.end(), [&rng, &im] () { return rng.get_int(0, im); }); - Population group1(m/2), group2(m/2); - Population group3(m - m/2), group4(m - m/2); + Population group1(size_first_group), group2(size_first_group); + Population group3(size_second_group), group4(size_second_group); - for(std::size_t i = 0; i < ids1.size(); ++i) + for(std::size_t i=0; i offspringsA(size_first_group); double bias = 0.1; - for(std::size_t i = 0; i < size_first_group; ++i) + for(std::size_t i=0; i offspring(4); - for(int j = 0; j < 4; ++j) + for(int j=0; j<4; ++j) { double r = rng.get_double(); double fitnessA = compute_fitness(group1[i][j], point_data); @@ -129,10 +124,10 @@ public: Population offspringsB(size_second_group); bias = 0.1; - for(std::size_t i = 0; i < size_second_group; ++i) + for(std::size_t i=0; i offspring(4); - for(int j = 0; j < 4; ++j) + for(int j=0; j<4; ++j) { double fitnessA = compute_fitness(group3[i][j], point_data); double fitnessB = compute_fitness(group4[i][j], point_data); @@ -160,25 +155,25 @@ public: CGAL_assertion(offspringsA.size() + offspringsB.size() == population.size()); // next generatrion - for(std::size_t i = 0; i < size_first_group; ++i) + for(std::size_t i=0; i fitness_map_debug(population, point_data); Matrix3d R_now = fitness_map_debug.get_best(); - std::cout << "det= " << Linear_algebra_traits::determinant(R_now) << std::endl; + std::cout << "det = " << Linear_algebra_traits::determinant(R_now) << std::endl; #endif // stopping criteria @@ -210,7 +205,7 @@ public: double difference = new_fit_value - prev_fit_value; if(CGAL::abs(difference) < tolerance * new_fit_value) - stale++; + ++stale; if(stale == 5) break; @@ -226,7 +221,6 @@ public: } private: - // data Population population; MatrixXd point_data; }; @@ -235,13 +229,10 @@ private: template void check_det(Population& pop) { - for(std::size_t i = 0; i < pop.size(); ++i) + for(std::size_t i=0, ps=pop.size(); i namespace CGAL { - namespace Optimal_bounding_box { template @@ -45,16 +44,19 @@ double compute_fitness(const Vertex& R, const Matrix& data) typedef typename Linear_algebra_traits::Index Index; double xmin, xmax, ymin, ymax, zmin, zmax; - for(Index i = 0; i < static_cast(data.rows()); ++i){ - + for(Index i=0; i < static_cast(data.rows()); ++i) + { Vector3d vec = Linear_algebra_traits::row3(data, i); vec = R * vec; - if(i == 0){ + if(i == 0) + { xmin = xmax = vec.coeff(0); ymin = ymax = vec.coeff(1); zmin = zmax = vec.coeff(2); - }else { + } + else + { if(vec.coeff(0) < xmin) xmin = vec.coeff(0); if(vec.coeff(1) < ymin) ymin = vec.coeff(1); if(vec.coeff(2) < zmin) zmin = vec.coeff(2); @@ -83,13 +85,13 @@ struct Fitness_map { std::size_t simplex_id, vertex_id; double best_fitness = std::numeric_limits::max(); - for(std::size_t i = 0; i < pop.size(); ++i) + for(std::size_t i=0; i(vertex, points); - if (fitness < best_fitness) + if(fitness < best_fitness) { simplex_id = i; vertex_id = j; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index d207feb93ea..0ec2d1507c2 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -35,7 +35,6 @@ #include namespace CGAL { - namespace Optimal_bounding_box { template diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index 3d7de8c8db3..65233767b77 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -22,16 +22,18 @@ #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #include -#include #include + +#include + #include namespace CGAL { - namespace Optimal_bounding_box { template -const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) +const Matrix reflection(const Matrix& S_centroid, + const Matrix& S_worst) { CGAL_assertion(S_centroid.rows() == 3); CGAL_assertion(S_centroid.rows() == 3); @@ -42,7 +44,9 @@ const Matrix reflection(const Matrix& S_centroid, const Matrix& S_worst) } template -const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Matrix& S_reflection) +const Matrix expansion(const Matrix& S_centroid, + const Matrix& S_worst, + const Matrix& S_reflection) { CGAL_assertion(S_centroid.rows() == 3); CGAL_assertion(S_centroid.rows() == 3); @@ -55,7 +59,8 @@ const Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, const Ma } template -Matrix mean(const Matrix& m1, const Matrix& m2) +Matrix mean(const Matrix& m1, + const Matrix& m2) { // same API for reduction CGAL_assertion(m1.rows() == 3); @@ -70,7 +75,9 @@ Matrix mean(const Matrix& m1, const Matrix& m2) } template -const Matrix nm_centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) +const Matrix nm_centroid(const Matrix& S1, + const Matrix& S2, + const Matrix& S3) { Matrix mean = (S1 + S2 + S3) / 3.0; Matrix Q = Linear_algebra_traits::qr_factorization(mean); @@ -81,7 +88,7 @@ const Matrix nm_centroid(const Matrix& S1, const Matrix& S2, const Matrix& S3) // needed in nelder mead algorithm struct Comparator { - Comparator(const std::vector& in) : fitness(in) {} + Comparator(const std::vector& in) : fitness(in) { } inline bool operator() (std::size_t& i, std::size_t& j) { return fitness[i] < fitness[j]; @@ -107,7 +114,7 @@ void nelder_mead(std::vector& simplex, for(std::size_t t = 0; t < nelder_mead_iterations; ++t) { - for(std::size_t i = 0; i < 4; ++i) + for(std::size_t i=0; i<4; ++i) { fitness[i] = compute_fitness(simplex[i], point_data); } @@ -116,7 +123,7 @@ void nelder_mead(std::vector& simplex, CGAL_assertion(indices.size() == 4); // get indices of sorted sequence - Comparator compare_indices(fitness); + Comparator compare_indices(fitness); // @todo lambda this stuff std::sort(indices.begin(), indices.end(), compare_indices); // new sorted simplex & fitness @@ -167,7 +174,7 @@ void nelder_mead(std::vector& simplex, else { // reduction: move all vertices towards the best - for(std::size_t i=1; i < 4; ++i) + for(std::size_t i=1; i<4; ++i) { simplex[i] = mean(simplex[i], simplex[0]); } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h index 3cb4fc338a1..3900ce6cc1b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h @@ -35,7 +35,7 @@ #include #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - #include +#include #endif #if defined(CGAL_EIGEN3_ENABLED) @@ -47,13 +47,14 @@ #include namespace CGAL { - namespace Optimal_bounding_box { // works on matrices only /// \cond SKIP_IN_MANUAL template -void post_processing(const Matrix& points, Vertex& R, Matrix& obb) +void post_processing(const Matrix& points, + Vertex& R, + Matrix& obb) { CGAL_assertion(points.cols() == 3); CGAL_assertion(R.rows() == 3); @@ -66,13 +67,13 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) rotated_points = points * Linear_algebra_traits::transpose(R); // 2) get AABB from rotated points - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; + typedef CGAL::Simple_cartesian K; + typedef K::Point_3 Point; typedef typename Linear_algebra_traits::Index index; // Simplex -> std::vector std::vector v_points; - for(index i = 0; i < static_cast(rotated_points.rows()); ++i) + for(index i=0; i(rotated_points.rows()); ++i) { Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); v_points.push_back(p); @@ -82,7 +83,7 @@ void post_processing(const Matrix& points, Vertex& R, Matrix& obb) K::Iso_cuboid_3 ic(bbox); Matrix aabb(8, 3); - for(std::size_t i = 0; i < 8; ++i) + for(std::size_t i = 0; i<8; ++i) { aabb.set_coef(i, 0, ic[i].x()); aabb.set_coef(i, 1, ic[i].y()); @@ -115,11 +116,10 @@ void compute_optimal_bounding_box(const std::vector& points, if(obb_points.size() != 8) obb_points.resize(8); - CGAL_assertion(obb_points.size() == 8); // eigen linear algebra traits - typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; - typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; + typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; + typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; MatrixXd points_mat; if(use_ch) // get the ch3 @@ -133,39 +133,31 @@ void compute_optimal_bounding_box(const std::vector& points, CGAL::Optimal_bounding_box::fill_matrix(points, points_mat); } -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - CGAL::Timer timer; -#endif - std::size_t max_generations = 100; Population pop(50); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS + CGAL::Timer timer; timer.start(); #endif CGAL::Optimal_bounding_box::Evolution search_solution(pop, points_mat); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - timer.stop(); std::cout << "constructor: " << timer.time() << std::endl; timer.reset(); - timer.start(); #endif search_solution.evolve(max_generations); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - timer.stop(); std::cout << "evolve: " << timer.time() << std::endl; timer.reset(); - timer.start(); #endif Matrix3d rotation = search_solution.get_best(); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - timer.stop(); std::cout << "get best: " << timer.time() << std::endl; #endif @@ -174,22 +166,17 @@ void compute_optimal_bounding_box(const std::vector& points, #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.reset(); - timer.start(); #endif post_processing(points_mat, rotation, obb); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - timer.stop(); std::cout << "post porcessing: " << timer.time() << std::endl; #endif // matrix -> vector - for(std::size_t i = 0; i < 8; ++i) - { - Point p(obb(i, 0), obb(i, 1), obb(i, 2)); - obb_points[i] = p; - } + for(std::size_t i=0; i<8; ++i) + obb_points.emplace(obb_points.begin() + i, obb(i, 0), obb(i, 1), obb(i, 2)); } template @@ -234,16 +221,15 @@ void compute_optimal_bounding_box(const PolygonMesh& pmesh, return; } - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::type Vpm; - typedef typename boost::property_traits::value_type Point; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::type Vpm; + typedef typename boost::property_traits::value_type Point; std::vector points; Vpm pmap = get(boost::vertex_point, pmesh); - BOOST_FOREACH(vertex_descriptor v, vertices(pmesh)) + for(vertex_descriptor v : vertices(pmesh)) points.push_back(get(pmap, v)); - std::vector obb_points; compute_optimal_bounding_box(points, obb_points, la_traits, use_ch); @@ -257,7 +243,7 @@ void compute_optimal_bounding_box(const PolygonMesh& pmesh, bool use_ch) { #if defined(CGAL_EIGEN3_ENABLED) - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; #else #pragma message("Error: You must either provide linear traits or link CGAL with the Eigen library") Linear_algebra_traits; // no parameter provided, and Eigen is not enabled --> don't compile! diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 4404acdcd3a..704c2834d35 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -28,24 +28,25 @@ #include namespace CGAL { - namespace Optimal_bounding_box { template class Population { - typedef typename Linear_algebra_traits::Matrix3d Matrix; - typedef std::vector Simplex; + typedef typename Linear_algebra_traits::Matrix3d Matrix; + typedef std::vector Simplex; public: Population(std::size_t size) - : n(size), random_generator(CGAL::Random()) + : + n(size), + random_generator(CGAL::Random()) { // reserve pop space pop.reserve(n); // create simplices - for(std::size_t i = 0 ; i < n; ++i) + for(std::size_t i=0 ; i void Population::show_population() { std::size_t id = 0; - for(const Simplex i : pop) + for(const Simplex& i : pop) { CGAL_assertion(i.size() == 4); std:: cout << "Simplex: "<< id++ << std::endl; - for(const Matrix R : i) + for(const Matrix& R : i) { std::cout << R; // eigen out std::cout << "\n\n"; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 4f03054dcbd..28c21b3a784 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -320,7 +320,7 @@ void test_compute_obb_evolution(std::string fname) typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; typedef typename boost::property_map::const_type PointPMap; PointPMap pmap = get(boost::vertex_point, mesh); - BOOST_FOREACH(vertex_descriptor v, vertices(mesh)) + for(vertex_descriptor v : vertices(mesh)) sm_points.push_back(get(pmap, v)); @@ -393,7 +393,7 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) typedef typename boost::property_map::const_type PointPMap; PointPMap pmap = get(boost::vertex_point, mesh1); - BOOST_FOREACH(vertex_descriptor v, vertices(mesh1)) + for(vertex_descriptor v : vertices(mesh1)) sm_points.push_back(get(pmap, v)); std::vector obb_points; diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h index e56f1775f53..cc55ed70ef3 100644 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h @@ -316,11 +316,7 @@ const Eigen_dense_vector operator* (const CGAL::Eigen_dense_matrix(A.m_matrix * V.m_vector); } - - -} -// end namespace - +} // end namespace #endif // CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H From 51e965e1dc10206ac11035a3fd8009759c6be62b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 12:25:38 +0100 Subject: [PATCH 058/150] Rewrite most of OBB code to fix design issues and bugs --- .../Optimal_bounding_box/bench_obb.cpp | 9 - .../CGAL/Optimal_bounding_box/evolution.h | 228 ++++++------- .../Optimal_bounding_box/fitness_function.h | 114 +++---- .../CGAL/Optimal_bounding_box/helper.h | 118 +++---- .../nelder_mead_functions.h | 186 +++++----- .../optimal_bounding_box.h | 312 +++++++++-------- .../CGAL/Optimal_bounding_box/population.h | 144 ++++---- .../test_optimization_algorithms.cpp | 260 +++++++------- .../Polyhedron/Plugins/PCA/CMakeLists.txt | 2 +- .../Plugins/PCA/Create_obb_mesh_plugin.cpp | 99 ++---- .../CGAL/Eigen_linear_algebra_traits.h | 322 ------------------ 11 files changed, 655 insertions(+), 1139 deletions(-) delete mode 100644 Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index c7a3a32af62..02eefd76513 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -32,15 +32,6 @@ void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) points.push_back(get(pmap, v)); } -template -double calculate_volume(std::vector points) -{ - CGAL::Bbox_3 bbox; - bbox = bbox_3(points.begin(), points.end()); - K::Iso_cuboid_3 ic(bbox); - return ic.volume(); -} - void bench_finding_obb(std::string fname) { std::ifstream input(fname); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h index f749b093139..a28535e8242 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h @@ -1,23 +1,16 @@ -// Copyright (c) 2018 GeometryFactory (France). +// Copyright (c) 2018-2019 GeometryFactory (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. // // $URL$ // $Id$ -// SPDX-License-Identifier: GPL-3.0+ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// // // Author(s) : Konstantinos Katrioplas - +// Mael Rouxel-Labbé +// #ifndef CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H #define CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H @@ -29,141 +22,124 @@ #include #include +#include #include #include namespace CGAL { namespace Optimal_bounding_box { -template +template class Evolution { - typedef typename Linear_algebra_traits::MatrixXd MatrixXd; - typedef typename Linear_algebra_traits::Matrix3d Matrix3d; - typedef typename Linear_algebra_traits::Vector3d Vector3d; - public: - Evolution(Population& pop, MatrixXd& points) - : population(pop), point_data(points) - {} + typedef typename Traits::FT FT; + typedef typename Traits::Matrix Matrix; - void genetic_algorithm() + typedef Optimal_bounding_box::Population Population; + typedef typename Population::Simplex Simplex; + + typedef Optimal_bounding_box::Fitness_map Fitness_map; + + Evolution(const PointRange& points, + CGAL::Random& rng, + const Traits& traits) + : + m_population(traits), + m_rng(rng), // @todo just a parameter of genetic_algorithm() ? + m_points(points), + m_traits(traits) + { } + + void genetic_algorithm(const std::size_t population_size = 50) { // random permutations - const std::size_t m = population.size(); + m_population.initialize(population_size, m_rng); //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored - const std::size_t size_first_group = m/2; - const std::size_t size_second_group = m - size_first_group; + const std::size_t m = population_size; + const std::size_t first_group_size = m / 2; + const std::size_t second_group_size = m - first_group_size; - std::vector ids1(size_first_group), ids2(size_first_group); - std::vector ids3(size_second_group), ids4(size_second_group); + std::vector group1(first_group_size), group2(first_group_size); + std::vector group3(second_group_size), group4(second_group_size); - CGAL::Random rng; int im = static_cast(m); - std::generate(ids1.begin(), ids1.end(), [&rng, &im] () { return rng.get_int(0, im); }); - std::generate(ids2.begin(), ids2.end(), [&rng, &im] () { return rng.get_int(0, im); }); - std::generate(ids3.begin(), ids3.end(), [&rng, &im] () { return rng.get_int(0, im); }); - std::generate(ids4.begin(), ids4.end(), [&rng, &im] () { return rng.get_int(0, im); }); - - Population group1(size_first_group), group2(size_first_group); - Population group3(size_second_group), group4(size_second_group); - - for(std::size_t i=0; i offspringsA(size_first_group); double bias = 0.1; - for(std::size_t i=0; i new_simplices(m); + + for(std::size_t i=0; i offspring(4); + std::array offspring; for(int j=0; j<4; ++j) { - double r = rng.get_double(); - double fitnessA = compute_fitness(group1[i][j], point_data); - double fitnessB = compute_fitness(group2[i][j], point_data); - double threshold; + const double r = m_rng.get_double(); + const double fitnessA = compute_fitness(m_population[group1[i]][j], m_points); + const double fitnessB = compute_fitness(m_population[group2[i]][j], m_points); + const double threshold = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); - if(fitnessA < fitnessB) - threshold = 0.5 + bias; + if(r < threshold) + offspring[j] = m_population[group1[i]][j]; else - threshold = 0.5 - bias; - - if(r < threshold) // choose A - offspring[j] = group1[i][j]; - else // choose B - offspring[j] = group2[i][j]; + offspring[j] = m_population[group2[i]][j]; } - offspringsA[i] = offspring; - } -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG - std::cout << "offspringsA: \n" ; - check_det(offspringsA); -#endif + new_simplices[i] = std::move(offspring); + } // crossover II - Population offspringsB(size_second_group); - bias = 0.1; + bias = 0.1; // @fixme should the bias change? What should be the initial value? - for(std::size_t i=0; i offspring(4); + std::array offspring; for(int j=0; j<4; ++j) { - double fitnessA = compute_fitness(group3[i][j], point_data); - double fitnessB = compute_fitness(group4[i][j], point_data); - double lambda; - if(fitnessA < fitnessB) - lambda = 0.5 + bias; - else - lambda = 0.5 - bias; + const double fitnessA = compute_fitness(m_population[group3[i]][j], m_points); + const double fitnessB = compute_fitness(m_population[group4[i]][j], m_points); + const double lambda = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); + const double rambda = 1 - lambda; // the 'l' in 'lambda' stands for left + // combine information from A and B - offspring[j] = lambda * group3[i][j] + lambda * group4[i][j]; + Matrix new_vertex(3, 3); + + const Matrix& lm = m_population[group3[i]][j]; + const Matrix& rm = m_population[group4[i]][j]; + + // just avoiding having to add matrix sums and scalar multiplications to the concept + new_vertex.set(0, 0, lambda * lm(0, 0) + rambda * rm(0, 0)); + new_vertex.set(0, 1, lambda * lm(0, 1) + rambda * rm(0, 1)); + new_vertex.set(0, 2, lambda * lm(0, 2) + rambda * rm(0, 2)); + + new_vertex.set(1, 0, lambda * lm(1, 0) + rambda * rm(1, 0)); + new_vertex.set(1, 1, lambda * lm(1, 1) + rambda * rm(1, 1)); + new_vertex.set(1, 2, lambda * lm(1, 2) + rambda * rm(1, 2)); + + new_vertex.set(2, 0, lambda * lm(2, 0) + rambda * rm(2, 0)); + new_vertex.set(2, 1, lambda * lm(2, 1) + rambda * rm(2, 1)); + new_vertex.set(2, 2, lambda * lm(2, 2) + rambda * rm(2, 2)); + + offspring[j] = m_traits.qr_factorization(new_vertex); } - // qr factorization of the offspring - Linear_algebra_traits::qr_factorization(offspring); - offspringsB[i] = offspring; + new_simplices[first_group_size + i] = std::move(offspring); } -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG - std::cout << "offspringsB: \n" ; - check_det(offspringsB); -#endif - - CGAL_assertion(offspringsA.size() == size_first_group); - CGAL_assertion(offspringsB.size() == size_second_group); - CGAL_assertion(offspringsA.size() + offspringsB.size() == population.size()); - - // next generatrion - for(std::size_t i=0; i(population[s], point_data, nelder_mead_iterations); + for(std::size_t s=0; s fitness_map_debug(population, point_data); - Matrix3d R_now = fitness_map_debug.get_best(); - std::cout << "det = " << Linear_algebra_traits::determinant(R_now) << std::endl; + const Matrix& R_now = fitness_map.get_best(); + std::cout << "det = " << m_traits.determinant(R_now) << std::endl; #endif - // stopping criteria - Fitness_map fitness_map(population, point_data); new_fit_value = fitness_map.get_best_fitness_value(); - double difference = new_fit_value - prev_fit_value; + const double difference = new_fit_value - prev_fit_value; if(CGAL::abs(difference) < tolerance * new_fit_value) ++stale; @@ -214,29 +190,19 @@ public: } } - const Matrix3d get_best() + const Matrix& get_best() { - Fitness_map fitness_map(population, point_data); + Fitness_map fitness_map(m_population, m_points); return fitness_map.get_best(); } private: - Population population; - MatrixXd point_data; + Population m_population; + CGAL::Random m_rng; + const PointRange& m_points; + const Traits& m_traits; }; -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG -template -void check_det(Population& pop) -{ - for(std::size_t i=0, ps=pop.size(); i - #include +#include #include namespace CGAL { namespace Optimal_bounding_box { -template -double compute_fitness(const Vertex& R, const Matrix& data) +template +typename Traits::FT +compute_fitness(const typename Traits::Matrix& R, // rotation matrix + const PointRange& points) { - // R: rotation matrix - CGAL_assertion(R.cols() == 3); - CGAL_assertion(R.rows() == 3); - // data: points - CGAL_assertion(data.cols() == 3); - CGAL_assertion(data.rows() >= 3); + typedef typename Traits::FT FT; + typedef typename Traits::Point_3 Point; - typedef typename Linear_algebra_traits::Vector3d Vector3d; - typedef typename Linear_algebra_traits::Index Index; + CGAL_assertion(R.number_of_rows() == 3 && R.number_of_columns() == 3); + CGAL_assertion(points.size() >= 3); - double xmin, xmax, ymin, ymax, zmin, zmax; - for(Index i=0; i < static_cast(data.rows()); ++i) + FT xmin, ymin, zmin, xmax, ymax, zmax; + xmin = ymin = zmin = std::numeric_limits::max(); + xmax = ymax = zmax = std::numeric_limits::lowest(); + + for(const Point& pt : points) { - Vector3d vec = Linear_algebra_traits::row3(data, i); - vec = R * vec; + const FT x = pt.x(), y = pt.y(), z = pt.z(); - if(i == 0) - { - xmin = xmax = vec.coeff(0); - ymin = ymax = vec.coeff(1); - zmin = zmax = vec.coeff(2); - } - else - { - if(vec.coeff(0) < xmin) xmin = vec.coeff(0); - if(vec.coeff(1) < ymin) ymin = vec.coeff(1); - if(vec.coeff(2) < zmin) zmin = vec.coeff(2); - if(vec.coeff(0) > xmax) xmax = vec.coeff(0); - if(vec.coeff(1) > ymax) ymax = vec.coeff(1); - if(vec.coeff(2) > zmax) zmax = vec.coeff(2); - } + const FT rx = x*R(0, 0) + y*R(0, 1) + z*R(0, 2); + const FT ry = x*R(1, 0) + y*R(1, 1) + z*R(1, 2); + const FT rz = x*R(2, 0) + y*R(2, 1) + z*R(2, 2); + + xmin = (std::min)(xmin, rx); + ymin = (std::min)(ymin, ry); + zmin = (std::min)(zmin, rz); + xmax = (std::max)(xmax, rx); + ymax = (std::max)(ymax, ry); + zmax = (std::max)(zmax, rz); } - CGAL_assertion(xmax > xmin); - CGAL_assertion(ymax > ymin); - CGAL_assertion(zmax > zmin); - // volume return ((xmax - xmin) * (ymax - ymin) * (zmax - zmin)); } -template +template struct Fitness_map { - Fitness_map(Population& p, Matrix& points) - : pop(p), points(points) - {} + typedef typename Traits::FT FT; + typedef typename Population::Vertex Vertex; - const Vertex get_best() + Fitness_map(const Population& population, + const PointRange& points) + : + m_pop(population), + m_points(points) + { } + + const Vertex& get_best() const // @todo any point caching this? { std::size_t simplex_id, vertex_id; - double best_fitness = std::numeric_limits::max(); - for(std::size_t i=0; i::max(); + for(std::size_t i=0, ps=m_pop.size(); i(vertex, points); + const Vertex& vertex = m_pop[i][j]; + const FT fitness = compute_fitness(vertex, m_points); if(fitness < best_fitness) { simplex_id = i; @@ -100,17 +89,18 @@ struct Fitness_map } } - return pop[simplex_id][vertex_id]; + return m_pop[simplex_id][vertex_id]; } - double get_best_fitness_value() + FT get_best_fitness_value() const { - const Vertex best_mat = get_best(); - return compute_fitness(best_mat, points); + const Vertex& best_mat = get_best(); + return compute_fitness(best_mat, m_points); } - Population& pop; - const Matrix& points; +private: + const Population& m_pop; + const PointRange& m_points; }; } // end namespace Optimal_bounding_box diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h index 0ec2d1507c2..d12de45212e 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h @@ -1,24 +1,16 @@ -// Copyright (c) 2018 GeometryFactory (France). +// Copyright (c) 2018-2019 GeometryFactory (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. // // $URL$ // $Id$ -// SPDX-License-Identifier: GPL-3.0+ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // // Author(s) : Konstantinos Katrioplas - +// Mael Rouxel-Labbé +// #ifndef CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H #define CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H @@ -30,6 +22,11 @@ #include #include +#ifdef CGAL_EIGEN3_ENABLED +#include +#include +#endif + #include #include #include @@ -37,74 +34,45 @@ namespace CGAL { namespace Optimal_bounding_box { -template -void fill_matrix(const std::vector& v_points, Matrix& points_mat) +#ifdef CGAL_EIGEN3_ENABLED +// @tmp move the header include too +template +class Optimal_bounding_box_traits + : public K { - points_mat.resize(v_points.size(), 3); - for(std::size_t i = 0; i < v_points.size(); ++i) +public: + typedef typename K::FT FT; + typedef CGAL::Eigen_matrix Matrix; + +private: + typedef typename Matrix::EigenType EigenType; + +public: + explicit Optimal_bounding_box_traits(const K& k = K()) : K(k) { } + + /// Get the transpose of a `Matrix` matrix + Matrix transpose(const Matrix& mat) const { - Point p = v_points[i]; - points_mat.set_coef(i, 0, CGAL::to_double(p.x())); - points_mat.set_coef(i, 1, CGAL::to_double(p.y())); - points_mat.set_coef(i, 2, CGAL::to_double(p.z())); - } -} - -template -void sm_to_matrix(SurfaceMesh& sm, Matrix& mat) -{ - typedef typename boost::property_map::const_type Vpm; - typedef typename boost::property_traits::reference Point_ref; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - Vpm vpm = get(boost::vertex_point, sm); - - mat.resize(vertices(sm).size(), 3); - std::size_t i = 0; - for(vertex_descriptor v : vertices(sm)) - { - Point_ref p = get(vpm, v); - mat.set_coef(i, 0, CGAL::to_double(p.x())); - mat.set_coef(i, 1, CGAL::to_double(p.y())); - mat.set_coef(i, 2, CGAL::to_double(p.z())); - ++i; - } -} - -template -double calculate_volume(const std::vector& points) -{ - typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - - CGAL::Bbox_3 bbox = bbox_3(points.begin(), points.end()); - K::Iso_cuboid_3 ic(bbox); - return ic.volume(); -} - -// it is called after post processing in debug only -template -void matrix_to_mesh_and_draw(Matrix& data_points, std::string filename) -{ - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; - typedef CGAL::Surface_mesh Mesh; - - // Simplex -> std::vector - std::vector points; - - for(int i = 0; i < data_points.rows(); ++i) - { - Point p(data_points(i, 0), data_points(i, 1), data_points(i, 2)); - points.push_back(p); + return Matrix(mat.eigen_object().transpose()); } - Mesh mesh; - CGAL::make_hexahedron(points[0], points[1], points[2], points[3], - points[4], points[5], points[6], points[7], mesh); + /// Get the determinant of a `Matrix` matrix + FT determinant(const Matrix& matrix) const + { + return matrix.eigen_object().determinant(); + } - std::ofstream out(filename); - out << mesh; - out.close(); -} + /// Performs QR decomposition of matrix A to a unitary matrix and an upper triagonal + /// and returns the unitary matrix. + Matrix qr_factorization(const Matrix& A) const + { + Eigen::HouseholderQR qr(A.eigen_object()); + CGAL_assertion(CGAL::abs(determinant(Matrix(EigenType(qr.householderQ()))) - 1.) < 0.000001); + + return Matrix(EigenType(qr.householderQ())); + } +}; +#endif } // end namespace Optimal_bounding_box } // end namespace CGAL diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h index 65233767b77..c3b42b0d671 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h @@ -1,188 +1,160 @@ -// Copyright (c) 2018 GeometryFactory (France). +// Copyright (c) 2018-2019 GeometryFactory (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. // // $URL$ // $Id$ -// SPDX-License-Identifier: GPL-3.0+ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// // // Author(s) : Konstantinos Katrioplas - +// Mael Rouxel-Labbé +// #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H -#include #include -#include +#include -#include +#include +#include namespace CGAL { namespace Optimal_bounding_box { -template -const Matrix reflection(const Matrix& S_centroid, - const Matrix& S_worst) +template +Matrix reflection(const Matrix& S_centroid, + const Matrix& S_worst, + const Traits& traits) { - CGAL_assertion(S_centroid.rows() == 3); - CGAL_assertion(S_centroid.rows() == 3); - CGAL_assertion(S_worst.cols() == 3); - CGAL_assertion(S_worst.cols() == 3); + CGAL_assertion(S_centroid.number_of_rows() == 3 && S_centroid.number_of_columns() == 3); + CGAL_assertion(S_worst.number_of_rows() == 3 && S_worst.number_of_columns() == 3); - return S_centroid * Linear_algebra_traits::transpose(S_worst) * S_centroid; + return S_centroid * traits.transpose(S_worst) * S_centroid; } -template -const Matrix expansion(const Matrix& S_centroid, - const Matrix& S_worst, - const Matrix& S_reflection) +template +Matrix expansion(const Matrix& S_centroid, + const Matrix& S_worst, + const Matrix& S_reflection, + const Traits& traits) { - CGAL_assertion(S_centroid.rows() == 3); - CGAL_assertion(S_centroid.rows() == 3); - CGAL_assertion(S_worst.cols() == 3); - CGAL_assertion(S_worst.cols() == 3); - CGAL_assertion(S_reflection.cols() == 3); - CGAL_assertion(S_reflection.cols() == 3); + CGAL_assertion(S_centroid.number_of_rows() == 3 && S_centroid.number_of_columns() == 3); + CGAL_assertion(S_worst.number_of_rows() == 3 && S_worst.number_of_columns() == 3); + CGAL_assertion(S_reflection.number_of_rows() == 3 && S_reflection.number_of_columns() == 3); - return S_centroid * Linear_algebra_traits::transpose(S_worst) * S_reflection; + return S_centroid * traits.transpose(S_worst) * S_reflection; } -template +template Matrix mean(const Matrix& m1, - const Matrix& m2) + const Matrix& m2, + const Traits& traits) { // same API for reduction - CGAL_assertion(m1.rows() == 3); - CGAL_assertion(m1.rows() == 3); - CGAL_assertion(m2.cols() == 3); - CGAL_assertion(m2.cols() == 3); + CGAL_assertion(m1.number_of_rows() == 3 && m1.number_of_columns() == 3); + CGAL_assertion(m2.number_of_rows() == 3 && m2.number_of_columns() == 3); - Matrix reduction = 0.5 * m1 + 0.5 * m2; - Matrix Q = Linear_algebra_traits::qr_factorization(reduction); - double det = Linear_algebra_traits::determinant(Q); - return Q / det; + const Matrix reduction = 0.5 * m1 + 0.5 * m2; + const Matrix Q = traits.qr_factorization(reduction); + const typename Traits::FT det = traits.determinant(Q); + + return (1. / det) * Q; } -template +template const Matrix nm_centroid(const Matrix& S1, const Matrix& S2, - const Matrix& S3) + const Matrix& S3, + const Traits& traits) { - Matrix mean = (S1 + S2 + S3) / 3.0; - Matrix Q = Linear_algebra_traits::qr_factorization(mean); - double det = Linear_algebra_traits::determinant(Q); - return Q / det; + const Matrix mean = (1./3.) * (S1 + S2 + S3); + const Matrix Q = traits.qr_factorization(mean); + const typename Traits::FT det = traits.determinant(Q); + + return (1. / det) * Q; } -// needed in nelder mead algorithm -struct Comparator +// It's a 3D simplex with 4 rotation matrices as vertices +template +void nelder_mead(Simplex& simplex, + const PointRange& points, + const std::size_t nelder_mead_iterations, + const Traits& traits) { - Comparator(const std::vector& in) : fitness(in) { } + typedef typename Traits::FT FT; + typedef typename Traits::Matrix Matrix; - inline bool operator() (std::size_t& i, std::size_t& j) { - return fitness[i] < fitness[j]; - } + std::array fitness; + std::array indices = {{ 0, 1, 2, 3 }}; - const std::vector& fitness; -}; - -// simplex: 4 rotation matrices are its vertices -template -void nelder_mead(std::vector& simplex, - const typename Linear_algebra_traits::MatrixXd& point_data, - std::size_t nelder_mead_iterations) -{ - CGAL_assertion(simplex.size() == 4); // tetrahedron - - - typedef typename Linear_algebra_traits::Matrix3d Matrix3d; - - std::vector fitness(4); - std::vector indices(boost::counting_iterator(0), - boost::counting_iterator(simplex.size())); - - for(std::size_t t = 0; t < nelder_mead_iterations; ++t) + for(std::size_t t=0; t(simplex[i], point_data); - } - - CGAL_assertion(fitness.size() == 4); - CGAL_assertion(indices.size() == 4); + fitness[i] = compute_fitness(simplex[i], points); // get indices of sorted sequence - Comparator compare_indices(fitness); // @todo lambda this stuff - std::sort(indices.begin(), indices.end(), compare_indices); + std::sort(indices.begin(), indices.end(), + [&fitness](const std::size_t i, const std::size_t j) -> bool + { return fitness[i] < fitness[j]; }); // new sorted simplex & fitness - std::vector s_simplex(4); - std::vector s_fitness(4); - for(int i = 0; i < 4; ++i) + Simplex s_simplex; + std::array s_fitness; + for(int i=0; i<4; ++i) { s_simplex[i] = simplex[indices[i]]; s_fitness[i] = fitness[indices[i]]; } - simplex = s_simplex; - fitness = s_fitness; + simplex = std::move(s_simplex); + fitness = std::move(s_fitness); // centroid - const Matrix3d v_centroid = nm_centroid(simplex[0], simplex[1], simplex[2]); + const Matrix v_centroid = nm_centroid(simplex[0], simplex[1], simplex[2], traits); // find worst's vertex reflection - const Matrix3d v_worst = simplex[3]; - const Matrix3d v_refl = reflection(v_centroid, v_worst); - const double f_refl = compute_fitness(v_refl, point_data); + const Matrix& v_worst = simplex[3]; + const Matrix v_refl = reflection(v_centroid, v_worst, traits); + const FT f_refl = compute_fitness(v_refl, points); if(f_refl < fitness[2]) { if(f_refl >= fitness[0]) // if reflected point is not better than the best { - // do reflection - simplex[3] = v_refl; + // reflection + simplex[3] = std::move(v_refl); } else { // expansion - const Matrix3d v_expand = expansion(v_centroid, v_worst, v_refl); - const double f_expand = compute_fitness(v_expand, point_data); + const Matrix v_expand = expansion(v_centroid, v_worst, v_refl, traits); + const FT f_expand = compute_fitness(v_expand, points); if(f_expand < f_refl) - simplex[3] = v_expand; + simplex[3] = std::move(v_expand); else - simplex[3] = v_refl; + simplex[3] = std::move(v_refl); } } else // if reflected vertex is not better { - const Matrix3d v_mean = mean(v_centroid, v_worst); - const double f_mean = compute_fitness(v_mean, point_data); + const Matrix v_mean = mean(v_centroid, v_worst, traits); + const FT f_mean = compute_fitness(v_mean, points); if(f_mean <= fitness[3]) + { // contraction of worst - simplex[3] = v_mean; + simplex[3] = std::move(v_mean); + } else { // reduction: move all vertices towards the best for(std::size_t i=1; i<4; ++i) - { - simplex[i] = mean(simplex[i], simplex[0]); - } + simplex[i] = mean(simplex[i], simplex[0], traits); } } - - CGAL_assertion(simplex.size() == 4); // tetrahedron - } // iterations + } // nelder mead iterations } } // end namespace Optimal_bounding_box diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h index 3900ce6cc1b..ec2202781bc 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h @@ -1,24 +1,16 @@ -// Copyright (c) 2018 GeometryFactory (France). +// Copyright (c) 2018-2019 GeometryFactory (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. // // $URL$ // $Id$ -// SPDX-License-Identifier: GPL-3.0+ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // // Author(s) : Konstantinos Katrioplas - +// Mael Rouxel-Labbé +// #ifndef CGAL_OPTIMAL_BOUNDING_BOX_OBB_H #define CGAL_OPTIMAL_BOUNDING_BOX_OBB_H @@ -26,122 +18,88 @@ #include #include +#include // @tmp +#include + #include #include #include #include #include #include +#include #include #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS -#include -#endif - -#if defined(CGAL_EIGEN3_ENABLED) -#include +#include #endif +#include #include #include +#include #include namespace CGAL { namespace Optimal_bounding_box { +namespace internal { // works on matrices only -/// \cond SKIP_IN_MANUAL -template -void post_processing(const Matrix& points, - Vertex& R, - Matrix& obb) +template +void post_processing(const typename Traits::Matrix& R, + std::array& obb, + const PointRange& points, + const Traits& traits) { - CGAL_assertion(points.cols() == 3); - CGAL_assertion(R.rows() == 3); - CGAL_assertion(R.cols() == 3); - CGAL_assertion(obb.rows() == 8); - CGAL_assertion(obb.cols() == 3); + typedef typename Traits::FT FT; + typedef typename Traits::Point_3 Point; + typedef typename Traits::Matrix Matrix; - // 1) rotate points with R - Matrix rotated_points(points.rows(), points.cols()); - rotated_points = points * Linear_algebra_traits::transpose(R); + CGAL_assertion(R.number_of_rows() == 3 && R.number_of_columns() == 3); - // 2) get AABB from rotated points - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; - typedef typename Linear_algebra_traits::Index index; + const Matrix Rt = traits.transpose(R); - // Simplex -> std::vector - std::vector v_points; - for(index i=0; i(rotated_points.rows()); ++i) - { - Point p(rotated_points(i, 0), rotated_points(i, 1), rotated_points(i, 2)); - v_points.push_back(p); - } CGAL::Bbox_3 bbox; - bbox = bbox_3(v_points.begin(), v_points.end()); - K::Iso_cuboid_3 ic(bbox); - - Matrix aabb(8, 3); - for(std::size_t i = 0; i<8; ++i) + for(const Point& pt : points) { - aabb.set_coef(i, 0, ic[i].x()); - aabb.set_coef(i, 1, ic[i].y()); - aabb.set_coef(i, 2, ic[i].z()); + // @fixme should it be R here Rt at the other one... ? + const FT x = pt.x(), y = pt.y(), z = pt.z(); + Point rotated_pt(x*R(0, 0) + y*R(0, 1) + z*R(0, 2), + x*R(1, 0) + y*R(1, 1) + z*R(1, 2), + x*R(2, 0) + y*R(2, 1) + z*R(2, 2)); + + bbox += traits.construct_bbox_3_object()(rotated_pt); } + // @todo could avoid building a cuboid + typename Traits::Iso_cuboid_3 ic(bbox); + // 3) apply inverse rotation to rotated AABB - obb = aabb * R; + for(std::size_t i = 0; i<8; ++i) + { + const FT x = ic[i].x(), y = ic[i].y(), z = ic[i].z(); + obb[i] = Point(x*Rt(0, 0) + y*Rt(0, 1) + z*Rt(0, 2), + x*Rt(1, 0) + y*Rt(1, 1) + z*Rt(1, 2), + x*Rt(2, 0) + y*Rt(2, 1) + z*Rt(2, 2)); + } } -/// \endcond -/// \ingroup OBB_grp -/// calculates the optimal bounding box. -/// -/// @tparam Point the point type -/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits`. If no instance of `LinearAlgebraTraits` -/// is provided, then `CGAL::Eigen_linear_algebra_traits` is used. -/// -/// @param points the input points that are included in the optimal bounding box. -/// @param obb_points the eight points of the optimal bounding box to be calculated. -/// @param use_ch a bool flag to indicating whether to use the convex hull of the input points -/// as an optimization step. -template -void compute_optimal_bounding_box(const std::vector& points, - std::vector& obb_points, - LinearAlgebraTraits&, - bool use_ch) +template +void construct_optimal_bounding_box(std::array& obb_points, + const PointRange& points, + CGAL::Random& rng, + const Traits& traits) { - CGAL_assertion(points.size() >= 3); + typedef typename Traits::Matrix Matrix; - if(obb_points.size() != 8) - obb_points.resize(8); - - // eigen linear algebra traits - typedef typename LinearAlgebraTraits::MatrixXd MatrixXd; - typedef typename LinearAlgebraTraits::Matrix3d Matrix3d; - MatrixXd points_mat; - - if(use_ch) // get the ch3 - { - std::vector ch_points; - CGAL::extreme_points_3(points, std::back_inserter(ch_points)); - CGAL::Optimal_bounding_box::fill_matrix(ch_points, points_mat); - } - else - { - CGAL::Optimal_bounding_box::fill_matrix(points, points_mat); - } - - std::size_t max_generations = 100; - Population pop(50); + const std::size_t max_generations = 100; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - CGAL::Timer timer; + CGAL::Real_timer timer; timer.start(); #endif - CGAL::Optimal_bounding_box::Evolution search_solution(pop, points_mat); + Evolution search_solution(points, rng, traits); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "constructor: " << timer.time() << std::endl; @@ -155,105 +113,163 @@ void compute_optimal_bounding_box(const std::vector& points, timer.reset(); #endif - Matrix3d rotation = search_solution.get_best(); + const Matrix& rotation = search_solution.get_best(); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "get best: " << timer.time() << std::endl; #endif - MatrixXd obb; // may be preallocated at compile time - obb.resize(8, 3); - #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.reset(); #endif - post_processing(points_mat, rotation, obb); + post_processing(rotation, obb_points, points, traits); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "post porcessing: " << timer.time() << std::endl; #endif - - // matrix -> vector - for(std::size_t i=0; i<8; ++i) - obb_points.emplace(obb_points.begin() + i, obb(i, 0), obb(i, 1), obb(i, 2)); } -template -void compute_optimal_bounding_box(const std::vector& points, - std::vector& obb_points, - bool use_ch) +template +void construct_optimal_bounding_box(std::array& obb_points, + const bool use_ch, + const PointRange& points, + CGAL::Random& rng, + const Traits& traits) { -#if defined(CGAL_EIGEN3_ENABLED) - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; -#else - #pragma message("Error: You must either provide linear traits or link CGAL with the Eigen library") - Linear_algebra_traits; // no parameter provided, and Eigen is not enabled --> don't compile! -#endif + typedef typename Traits::Matrix Matrix; + typedef typename Traits::Point_3 Point; - Linear_algebra_traits la_traits; - compute_optimal_bounding_box(points, obb_points, la_traits, use_ch); + CGAL_static_assertion((std::is_same::type, Point>::value)); + + if(use_ch) // construct the convex hull to reduce the number of points + { + std::vector ch_points; + extreme_points_3(points, std::back_inserter(ch_points)); + return construct_optimal_bounding_box(obb_points, ch_points, rng, traits); + } + else + { + return construct_optimal_bounding_box(obb_points, points, rng, traits); + } } +} // namespace Optimal_bounding_box +} // namespace internal + /// \ingroup OBB_grp /// calculates the optimal bounding box. /// -/// @tparam PolygonMesh a model of `FaceListGraph` -/// @tparam LinearAlgebraTraits a model of `LinearAlgebraTraits`. If no instance of `LinearAlgebraTraits` -/// is provided, then `CGAL::Eigen_linear_algebra_traits` is used. +/// \tparam PointRange a model of `Range` with value type `Point` +/// \tparam NamedParameters /// -/// @param pmesh the input mesh. -/// @param obbmesh the hexaedron mesh to be built out of the optimal bounding box. -/// @param la_traits an instance of the linear algebra traits. -/// @param use_ch a bool flag to indicating whether to use the convex hull of the input points -/// as an optimization step. -template -void compute_optimal_bounding_box(const PolygonMesh& pmesh, - PolygonMesh& obbmesh, - LinearAlgebraTraits& la_traits, - bool use_ch) +/// \param points the input points that are included in the optimal bounding box. +/// \param obb_points the eight points of the optimal bounding box to be calculated. +/// +template +void optimal_bounding_box(const PointRange& points, + std::array& obb_points, + const CGAL_PMP_NP_CLASS& np) { + using CGAL::parameters::choose_parameter; + using CGAL::parameters::get_parameter; + +#if 0 // @fixme + typedef typename GetSvdTraits::type SVD_traits; + CGAL_static_assertion_msg( + !(std::is_same::NoTraits>::value), + "Error: must provide traits or enable Eigen"); + + const SVD_traits traits = choose_parameter(get_parameter(np, svd_traits), SVD_traits()); +#else + typedef typename CGAL::Kernel_traits::type K; + typedef Optimal_bounding_box::Optimal_bounding_box_traits Traits; + Traits traits; +#endif + + // @fixme + const bool use_ch = true; //choose_parameter(get_parameter(np, internal_np::use_convex_hull), false); + unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); + + CGAL::Random rng(seed); + + return Optimal_bounding_box::internal::construct_optimal_bounding_box(obb_points, use_ch, points, rng, traits); +} + +template +void optimal_bounding_box(const PolygonMesh& pmesh, + std::array& obb_mesh) +{ + return optimal_bounding_box(pmesh, obb_mesh, CGAL::parameters::all_default()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////// +/// With polygon meshes +///////////////////////////////////////////////////////////////////////////////////////////////// + +/// \ingroup OBB_grp +/// calculates the optimal bounding box. +/// +/// \tparam PolygonMesh a model of `FaceListGraph` +/// \tparam NamedParameters +/// +/// \param pmesh the input mesh. +/// \param obb_mesh the hexaedron mesh to be built out of the optimal bounding box. +/// +template +void optimal_bounding_box(const PolygonMesh& pmesh, + PolygonMesh& obb_mesh, + const CGAL_PMP_NP_CLASS& np) +{ + namespace PMP = CGAL::Polygon_mesh_processing; + + using CGAL::parameters::choose_parameter; + using CGAL::parameters::get_parameter; + + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + + typedef typename PMP::GetVertexPointMap::const_type VPM; + typedef typename boost::property_traits::value_type Point; + CGAL_assertion(vertices(pmesh).size() >= 3); if(vertices(pmesh).size() <= 3) { - std::cerr << "Not enough points in the mesh!\n"; + // @fixme is that even true + std::cerr << "The optimal bounding box cannot be computed for a mesh with fewer than 4 vertices!\n"; return; } - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::type Vpm; - typedef typename boost::property_traits::value_type Point; + VPM vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), + get_const_property_map(vertex_point, pmesh)); std::vector points; - Vpm pmap = get(boost::vertex_point, pmesh); - for(vertex_descriptor v : vertices(pmesh)) - points.push_back(get(pmap, v)); + points.reserve(num_vertices(pmesh)); - std::vector obb_points; - compute_optimal_bounding_box(points, obb_points, la_traits, use_ch); + for(vertex_descriptor v : vertices(pmesh)) + points.push_back(get(vpm, v)); + + std::array obb_points; + optimal_bounding_box(points, obb_points, np); CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], obbmesh); + obb_points[4], obb_points[5], obb_points[6], obb_points[7], obb_mesh); } +/////////////////////////////////////////////////////////////////////////////////////////////////// +/// Convenience overloads for polygon meshes +///////////////////////////////////////////////////////////////////////////////////////////////// + template -void compute_optimal_bounding_box(const PolygonMesh& pmesh, - PolygonMesh& obbmesh, - bool use_ch) +void optimal_bounding_box(const PolygonMesh& pmesh, + PolygonMesh& obb_mesh) { -#if defined(CGAL_EIGEN3_ENABLED) - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; -#else - #pragma message("Error: You must either provide linear traits or link CGAL with the Eigen library") - Linear_algebra_traits; // no parameter provided, and Eigen is not enabled --> don't compile! -#endif - - Linear_algebra_traits la_traits; - compute_optimal_bounding_box(pmesh, obbmesh, la_traits, use_ch); + return optimal_bounding_box(pmesh, obb_mesh, CGAL::parameters::all_default()); } -} // end namespace Optimal_bounding_box } // end namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_BOX_OBB_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h index 704c2834d35..cd8acaf702d 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h @@ -1,113 +1,87 @@ -// Copyright (c) 2018 GeometryFactory (France). +// Copyright (c) 2018-2019 GeometryFactory (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. // // $URL$ // $Id$ -// SPDX-License-Identifier: GPL-3.0+ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // // Author(s) : Konstantinos Katrioplas - +// Mael Rouxel-Labbé +// #ifndef CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H #define CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H #include #include +#include #include namespace CGAL { namespace Optimal_bounding_box { -template +template class Population { - typedef typename Linear_algebra_traits::Matrix3d Matrix; - typedef std::vector Simplex; - public: - Population(std::size_t size) - : - n(size), - random_generator(CGAL::Random()) - { - // reserve pop space - pop.reserve(n); + typedef typename Traits::FT FT; + typedef typename Traits::Matrix Matrix; + typedef Matrix Vertex; - // create simplices - for(std::size_t i=0 ; i Simplex; + typedef std::vector Simplex_container; + +private: + Matrix create_vertex(CGAL::Random& rng) const + { + Matrix R; + + for(std::size_t i=0; i<3; ++i) + for(std::size_t j=0; j<3; ++j) + R.set(i, j, FT(rng.get_double())); + + return R; } + // create random population + Simplex create_simplex(CGAL::Random& rng) const + { + Simplex simplex; + for(std::size_t i=0; i<4; ++i) + simplex[i] = m_traits.qr_factorization(create_vertex(rng)); + + return simplex; + } + +public: + Population(const Traits& traits) : m_traits(traits) { } + + void initialize(std::size_t population_size, + CGAL::Random& rng) + { + m_pop.clear(); + m_pop.reserve(population_size); + for(std::size_t i=0; i pop; + std::vector m_pop; + const Traits& m_traits; }; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG @@ -115,15 +89,11 @@ template void Population::show_population() { std::size_t id = 0; - for(const Simplex& i : pop) + for(const Simplex& simplex : m_pop) { - CGAL_assertion(i.size() == 4); - std:: cout << "Simplex: "<< id++ << std::endl; - for(const Matrix& R : i) - { - std::cout << R; // eigen out - std::cout << "\n\n"; - } + std::cout << "Simplex: " << id++ << std::endl; + for(const Matrix& R : simplex) + std::cout << R << "\n\n"; std:: cout << std:: endl; } } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 28c21b3a784..fd8eb60b8f0 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -21,13 +21,12 @@ bool assert_doubles(double d1, double d2, double epsilon) void test_nelder_mead() { typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::Matrix3d Matrix3d; - typedef Linear_algebra_traits::MatrixXd MatrixXd; + typedef Linear_algebra_traits::Matrix Matrix; - MatrixXd data_points(4,3); + Matrix data_points(4,3); data_points(0,0) = 0.866802; - data_points(0,1) = 0.740808, - data_points(0,2) = 0.895304, + data_points(0,1) = 0.740808; + data_points(0,2) = 0.895304; data_points(1,0) = 0.912651; data_points(1,1) = 0.761565; data_points(1,2) = 0.160330; @@ -35,19 +34,19 @@ void test_nelder_mead() data_points(2,1) = 0.892578; data_points(2,2) = 0.737412; data_points(3,0) = 0.166461; - data_points(3,1) = 0.149912, + data_points(3,1) = 0.149912; data_points(3,2) = 0.364944; // one simplex - std::vector simplex(4); - Matrix3d v0(3,3); - Matrix3d v1(3,3); - Matrix3d v2(3,3); - Matrix3d v3(3,3); + std::vector simplex(4); + Matrix v0(3,3); + Matrix v1(3,3); + Matrix v2(3,3); + Matrix v3(3,3); v0(0,0) = -0.2192721; - v0(0,1) = 0.2792986, - v0(0,2) = -0.9348326, + v0(0,1) = 0.2792986; + v0(0,2) = -0.9348326; v0(1,0) = -0.7772152; v0(1,1) = -0.6292092; v0(1,2) = -0.0056861; @@ -93,58 +92,58 @@ void test_nelder_mead() std::size_t nm_iterations = 19; CGAL::Optimal_bounding_box::nelder_mead(simplex, data_points, nm_iterations); - CGAL_assertion_code(double epsilon = 1e-5); - CGAL_assertion_code(Matrix3d v0_new = simplex[0]); - CGAL_assertion(assert_doubles(v0_new(0,0), -0.288975, epsilon)); - CGAL_assertion(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); - CGAL_assertion(assert_doubles(v0_new(0,2), -0.541076, epsilon)); - CGAL_assertion(assert_doubles(v0_new(1,0), -0.9407046, epsilon)); - CGAL_assertion(assert_doubles(v0_new(1,1), -0.3391466, epsilon)); - CGAL_assertion(assert_doubles(v0_new(1,2), 0.0073817, epsilon)); - CGAL_assertion(assert_doubles(v0_new(2,0), -0.1776743, epsilon)); - CGAL_assertion(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); - CGAL_assertion(assert_doubles(v0_new(2,2), 0.84094, epsilon)); + double epsilon = 1e-5; + const Matrix& v0_new = simplex[0]; + assert(assert_doubles(v0_new(0,0), -0.288975, epsilon)); + assert(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); + assert(assert_doubles(v0_new(0,2), -0.541076, epsilon)); + assert(assert_doubles(v0_new(1,0), -0.9407046, epsilon)); + assert(assert_doubles(v0_new(1,1), -0.3391466, epsilon)); + assert(assert_doubles(v0_new(1,2), 0.0073817, epsilon)); + assert(assert_doubles(v0_new(2,0), -0.1776743, epsilon)); + assert(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); + assert(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - CGAL_assertion_code(Matrix3d v1_new = simplex[1]); - CGAL_assertion(assert_doubles(v1_new(0,0), -0.458749, epsilon)); - CGAL_assertion(assert_doubles(v1_new(0,1), 0.823283, epsilon)); - CGAL_assertion(assert_doubles(v1_new(0,2), -0.334296, epsilon)); - CGAL_assertion(assert_doubles(v1_new(1,0), -0.885235, epsilon)); - CGAL_assertion(assert_doubles(v1_new(1,1), -0.455997, epsilon)); - CGAL_assertion(assert_doubles(v1_new(1,2), 0.091794, epsilon)); - CGAL_assertion(assert_doubles(v1_new(2,0), -0.076866, epsilon)); - CGAL_assertion(assert_doubles(v1_new(2,1), 0.338040, epsilon)); - CGAL_assertion(assert_doubles(v1_new(2,2), 0.937987, epsilon)); + const Matrix& v1_new = simplex[1]; + assert(assert_doubles(v1_new(0,0), -0.458749, epsilon)); + assert(assert_doubles(v1_new(0,1), 0.823283, epsilon)); + assert(assert_doubles(v1_new(0,2), -0.334296, epsilon)); + assert(assert_doubles(v1_new(1,0), -0.885235, epsilon)); + assert(assert_doubles(v1_new(1,1), -0.455997, epsilon)); + assert(assert_doubles(v1_new(1,2), 0.091794, epsilon)); + assert(assert_doubles(v1_new(2,0), -0.076866, epsilon)); + assert(assert_doubles(v1_new(2,1), 0.338040, epsilon)); + assert(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - CGAL_assertion_code(Matrix3d v2_new = simplex[2]); - CGAL_assertion(assert_doubles(v2_new(0,0), -0.346582, epsilon)); - CGAL_assertion(assert_doubles(v2_new(0,1), 0.878534, epsilon)); - CGAL_assertion(assert_doubles(v2_new(0,2), -0.328724, epsilon)); - CGAL_assertion(assert_doubles(v2_new(1,0), -0.936885, epsilon)); - CGAL_assertion(assert_doubles(v2_new(1,1), -0.341445, epsilon)); - CGAL_assertion(assert_doubles(v2_new(1,2), 0.075251, epsilon)); - CGAL_assertion(assert_doubles(v2_new(2,0), -0.046131, epsilon)); - CGAL_assertion(assert_doubles(v2_new(2,1), 0.334057, epsilon)); - CGAL_assertion(assert_doubles(v2_new(2,2), 0.941423, epsilon)); + const Matrix& v2_new = simplex[2]; + assert(assert_doubles(v2_new(0,0), -0.346582, epsilon)); + assert(assert_doubles(v2_new(0,1), 0.878534, epsilon)); + assert(assert_doubles(v2_new(0,2), -0.328724, epsilon)); + assert(assert_doubles(v2_new(1,0), -0.936885, epsilon)); + assert(assert_doubles(v2_new(1,1), -0.341445, epsilon)); + assert(assert_doubles(v2_new(1,2), 0.075251, epsilon)); + assert(assert_doubles(v2_new(2,0), -0.046131, epsilon)); + assert(assert_doubles(v2_new(2,1), 0.334057, epsilon)); + assert(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - CGAL_assertion_code(Matrix3d v3_new = simplex[3]); - CGAL_assertion(assert_doubles(v3_new(0,0), -0.394713, epsilon)); - CGAL_assertion(assert_doubles(v3_new(0,1), 0.791782, epsilon)); - CGAL_assertion(assert_doubles(v3_new(0,2), -0.466136, epsilon)); - CGAL_assertion(assert_doubles(v3_new(1,0), -0.912112, epsilon)); - CGAL_assertion(assert_doubles(v3_new(1,1), -0.398788, epsilon)); - CGAL_assertion(assert_doubles(v3_new(1,2), 0.094972, epsilon)); - CGAL_assertion(assert_doubles(v3_new(2,0), -0.110692, epsilon)); - CGAL_assertion(assert_doubles(v3_new(2,1), 0.462655, epsilon)); - CGAL_assertion(assert_doubles(v3_new(2,2), 0.879601, epsilon)); + const Matrix& v3_new = simplex[3]; + assert(assert_doubles(v3_new(0,0), -0.394713, epsilon)); + assert(assert_doubles(v3_new(0,1), 0.791782, epsilon)); + assert(assert_doubles(v3_new(0,2), -0.466136, epsilon)); + assert(assert_doubles(v3_new(1,0), -0.912112, epsilon)); + assert(assert_doubles(v3_new(1,1), -0.398788, epsilon)); + assert(assert_doubles(v3_new(1,2), 0.094972, epsilon)); + assert(assert_doubles(v3_new(2,0), -0.110692, epsilon)); + assert(assert_doubles(v3_new(2,1), 0.462655, epsilon)); + assert(assert_doubles(v3_new(2,2), 0.879601, epsilon)); } void test_genetic_algorithm() { CGAL::Eigen_dense_matrix data_points(4, 3); // -1 = dynamic size at run time data_points(0,0) = 0.866802; - data_points(0,1) = 0.740808, - data_points(0,2) = 0.895304, + data_points(0,1) = 0.740808; + data_points(0,2) = 0.895304; data_points(1,0) = 0.912651; data_points(1,1) = 0.761565; data_points(1,2) = 0.160330; @@ -152,14 +151,14 @@ void test_genetic_algorithm() data_points(2,1) = 0.892578; data_points(2,2) = 0.737412; data_points(3,0) = 0.166461; - data_points(3,1) = 0.149912, + data_points(3,1) = 0.149912; data_points(3,2) = 0.364944; typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; CGAL::Optimal_bounding_box::Population pop(5); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.genetic_algorithm(); - CGAL_assertion(pop.size() == 5); + assert(pop.size() == 5); } void test_random_unit_tetra() @@ -169,8 +168,8 @@ void test_random_unit_tetra() // points are on their convex hull data_points(0,0) = 0.866802; - data_points(0,1) = 0.740808, - data_points(0,2) = 0.895304, + data_points(0,1) = 0.740808; + data_points(0,2) = 0.895304; data_points(1,0) = 0.912651; data_points(1,1) = 0.761565; data_points(1,2) = 0.160330; @@ -178,7 +177,7 @@ void test_random_unit_tetra() data_points(2,1) = 0.892578; data_points(2,2) = 0.737412; data_points(3,0) = 0.166461; - data_points(3,1) = 0.149912, + data_points(3,1) = 0.149912; data_points(3,2) = 0.364944; typedef CGAL::Simple_cartesian K; @@ -199,31 +198,31 @@ void test_random_unit_tetra() out.close(); #endif - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - CGAL_assertion_code(typedef Linear_algebra_traits::Matrix3d Matrix3d); + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::Matrix Matrix; + std::size_t generations = 10; CGAL::Optimal_bounding_box::Population pop(50); CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); evolution.evolve(generations); - CGAL_assertion_code(Matrix3d R = evolution.get_best()); - CGAL_assertion_code(double epsilon = 1e-3); - CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); - CGAL_assertion(assert_doubles(R(0,0), -0.25791, epsilon)); - CGAL_assertion(assert_doubles(R(0,1), 0.796512, epsilon)); - CGAL_assertion(assert_doubles(R(0,2), -0.546855, epsilon)); - CGAL_assertion(assert_doubles(R(1,0), -0.947128, epsilon)); - CGAL_assertion(assert_doubles(R(1,1), -0.320242, epsilon)); - CGAL_assertion(assert_doubles(R(1,2), -0.0197553, epsilon)); - CGAL_assertion(assert_doubles(R(2,0), -0.190861, epsilon)); - CGAL_assertion(assert_doubles(R(2,1), 0.512847, epsilon)); - CGAL_assertion(assert_doubles(R(2,2), 0.836992, epsilon)); + Matrix R = evolution.get_best(); + const double epsilon = 1e-3; + assert(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); + assert(assert_doubles(R(0,0), -0.25791, epsilon)); + assert(assert_doubles(R(0,1), 0.796512, epsilon)); + assert(assert_doubles(R(0,2), -0.546855, epsilon)); + assert(assert_doubles(R(1,0), -0.947128, epsilon)); + assert(assert_doubles(R(1,1), -0.320242, epsilon)); + assert(assert_doubles(R(1,2), -0.0197553, epsilon)); + assert(assert_doubles(R(2,0), -0.190861, epsilon)); + assert(assert_doubles(R(2,1), 0.512847, epsilon)); + assert(assert_doubles(R(2,2), 0.836992, epsilon)); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing CGAL::Eigen_dense_matrix obb(8, 3); CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/random_unit_tetra_result.off"); #endif } @@ -236,12 +235,11 @@ void test_reference_tetrahedron(const char* fname) std::exit(1); } - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixXd MatrixXd; - CGAL_assertion_code(typedef Linear_algebra_traits::Matrix3d Matrix3d); + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::Matrix Matrix; // points in a matrix - MatrixXd points; + Matrix points; CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t generations = 10; @@ -249,33 +247,32 @@ void test_reference_tetrahedron(const char* fname) CGAL::Optimal_bounding_box::Evolution experiment(pop, points); experiment.evolve(generations); - CGAL_assertion_code(Matrix3d R = experiment.get_best()); - CGAL_assertion_code(double epsilon = 1e-5); - CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); + Matrix R = experiment.get_best(); + double epsilon = 1e-5; + assert(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); - #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing - MatrixXd obb(8, 3); + Matrix obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, "data/OBB.off"); - #endif +#endif } -void test_long_tetrahedron(std::string fname) +void test_long_tetrahedron(const std::string fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + if (!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixXd MatrixXd; - CGAL_assertion_code(typedef Linear_algebra_traits::Matrix3d Matrix3d); + typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; + typedef Linear_algebra_traits::Matrix Matrix; // points in a matrix - MatrixXd points; + Matrix points; CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t max_generations = 10; @@ -283,42 +280,45 @@ void test_long_tetrahedron(std::string fname) CGAL::Optimal_bounding_box::Evolution experiment(pop, points); experiment.evolve(max_generations); - CGAL_assertion_code(Matrix3d R = experiment.get_best()); - CGAL_assertion_code(double epsilon = 1e-3); - CGAL_assertion(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); - CGAL_assertion(assert_doubles(R(0,0), -1, epsilon)); - CGAL_assertion(assert_doubles(R(0,1), 0, epsilon)); - CGAL_assertion(assert_doubles(R(0,2), 0, epsilon)); - CGAL_assertion(assert_doubles(R(1,0), 0, epsilon)); - CGAL_assertion(assert_doubles(R(1,1), -0.707107, epsilon)); - CGAL_assertion(assert_doubles(R(1,2), 0.707106, epsilon) || - assert_doubles(R(1,2), -0.707106, epsilon)); - CGAL_assertion(assert_doubles(R(2,0), 0, epsilon)); - CGAL_assertion(assert_doubles(R(2,1), 0.707106, epsilon) || - assert_doubles(R(1,2), -0.707106, epsilon)); - CGAL_assertion(assert_doubles(R(2,2), 0.707107, epsilon)); + Matrix R = experiment.get_best(); + double epsilon = 1e-3; + assert(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); + assert(assert_doubles(R(0,0), -1, epsilon)); + assert(assert_doubles(R(0,1), 0, epsilon)); + assert(assert_doubles(R(0,2), 0, epsilon)); + assert(assert_doubles(R(1,0), 0, epsilon)); + assert(assert_doubles(R(1,1), -0.707107, epsilon)); + assert(assert_doubles(R(1,2), 0.707106, epsilon) || + assert_doubles(R(1,2), -0.707106, epsilon)); + assert(assert_doubles(R(2,0), 0, epsilon)); + assert(assert_doubles(R(2,1), 0.707106, epsilon) || + assert_doubles(R(1,2), -0.707106, epsilon)); + assert(assert_doubles(R(2,2), 0.707107, epsilon)); - #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing - MatrixXd obb(8, 3); + Matrix obb(8, 3); CGAL::Optimal_bounding_box::post_processing(points, R, obb); - CGAL::Optimal_bounding_box::matrix_to_mesh_and_draw(obb, fname + "result.off"); - #endif +#endif } -void test_compute_obb_evolution(std::string fname) +void test_compute_obb_evolution(const std::string fname) { std::ifstream input(fname); typedef CGAL::Surface_mesh SMesh; SMesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + if (!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } + // get mesh points std::vector sm_points; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::const_type PointPMap; + + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + typedef typename boost::property_map::const_type PointPMap; + PointPMap pmap = get(boost::vertex_point, mesh); for(vertex_descriptor v : vertices(mesh)) sm_points.push_back(get(pmap, v)); @@ -328,26 +328,26 @@ void test_compute_obb_evolution(std::string fname) std::vector obb_points; CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, la_traits, true); - CGAL_assertion_code(double epsilon = 1e-3); - CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); - CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); + double epsilon = 1e-3; + double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); + assert(assert_doubles(vol, 0.883371, epsilon)); - #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST /* for(int i = 0; i < 8; ++i) std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; */ CGAL::Surface_mesh result_mesh; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); + obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); std::ofstream out("data/obb_result.off"); out << result_mesh; out.close(); - #endif +#endif } -void test_compute_obb_mesh(std::string fname) +void test_compute_obb_mesh(const std::string fname) { std::ifstream input(fname); CGAL::Surface_mesh mesh; @@ -361,14 +361,15 @@ void test_compute_obb_mesh(std::string fname) CGAL::Surface_mesh< K::Point_3> obbmesh; CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obbmesh, la_traits, true); - #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST std::ofstream out("/tmp/result_elephant.off"); out << obbmesh; out.close(); - #endif +#endif } -void test_function_defaults_traits(std::string fname1, std::string fname2) +void test_function_defaults_traits(const std::string fname1, + const std::string fname2) { std::ifstream input1(fname1); CGAL::Surface_mesh mesh1; @@ -389,6 +390,7 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) // test one std::vector sm_points; typedef CGAL::Surface_mesh SMesh; + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; typedef typename boost::property_map::const_type PointPMap; PointPMap pmap = get(boost::vertex_point, mesh1); @@ -399,12 +401,12 @@ void test_function_defaults_traits(std::string fname1, std::string fname2) std::vector obb_points; CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, true); - CGAL_assertion_code(double epsilon = 1e-3); - CGAL_assertion_code(double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points)); - CGAL_assertion(assert_doubles(vol, 0.883371, epsilon)); + const double epsilon = 1e-3; + const double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); + assert(assert_doubles(vol, 0.883371, epsilon)); // test two - CGAL::Surface_mesh< K::Point_3> obbmesh; + CGAL::Surface_mesh obbmesh; CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh2, obbmesh, true); } diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt index d8ba5ededb3..5562e6680f8 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/CMakeLists.txt @@ -18,7 +18,7 @@ polyhedron_demo_plugin(create_bbox_mesh_plugin Create_bbox_mesh_plugin) target_link_libraries(create_bbox_mesh_plugin PUBLIC scene_surface_mesh_item) polyhedron_demo_plugin(create_obb_mesh_plugin Create_obb_mesh_plugin) -target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_polyhedron_item scene_polyhedron_selection_item scene_points_with_normal_item) +target_link_libraries(create_obb_mesh_plugin PUBLIC scene_surface_mesh_item scene_selection_item scene_points_with_normal_item) qt5_wrap_ui( volumesUI_FILES Basic_generator_widget.ui) polyhedron_demo_plugin(basic_generator_plugin Basic_generator_plugin ${volumesUI_FILES} KEYWORDS PolygonMesh PointSetProcessing) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 444f0b2acc9..41ed97b2727 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -1,29 +1,25 @@ #include + #include #include #include #include +#include #include #include "Scene_surface_mesh_item.h" -#include "Polyhedron_type.h" -#include "Scene_polyhedron_item.h" -#include #include "Scene_polyhedron_selection_item.h" #include "Scene_points_with_normal_item.h" -#include +#include + #include -#include -//typedef Scene_surface_mesh_item Scene_facegraph_item; -//typedef Scene_facegraph_item Scene_facegraph_item; - -typedef Scene_facegraph_item::Face_graph FaceGraph; -typedef Polyhedron::Point_3 Point_3; using namespace CGAL::Three; +typedef Scene_surface_mesh_item Scene_facegraph_item; + class Create_obb_mesh_plugin : public QObject, public CGAL::Three::Polyhedron_demo_plugin_interface @@ -36,36 +32,21 @@ public: void init(QMainWindow* mainWindow, Scene_interface* scene_interface, Messages_interface*); QList actions() const; - bool applicable(QAction*) const { - - /* - if (scene->selectionIndices().size() == 1) - { - return qobject_cast(scene->item(scene->mainSelectionIndex())) - || qobject_cast(scene->item(scene->mainSelectionIndex())); - } - - Q_FOREACH(int index, scene->selectionIndices()) - { - if (qobject_cast(scene->item(index))) - return true; - } - return false; - */ - + bool applicable(QAction*) const + { if(scene->mainSelectionIndex() != -1 && scene->item(scene->mainSelectionIndex())->isFinite()) return true; - return false; - -} + return false; + } protected: void gather_mesh_points(std::vector& points); void obb(); public Q_SLOTS: - void createObb() { + void createObb() + { QApplication::setOverrideCursor(Qt::WaitCursor); obb(); QApplication::restoreOverrideCursor(); @@ -75,11 +56,8 @@ private: Scene_interface* scene; QMainWindow* mw; QAction* actionObb; - }; // end Create_obb_mesh_plugin class - - void Create_obb_mesh_plugin::init(QMainWindow* mainWindow, Scene_interface* scene_interface, Messages_interface*) { scene = scene_interface; @@ -89,17 +67,16 @@ void Create_obb_mesh_plugin::init(QMainWindow* mainWindow, Scene_interface* scen connect(actionObb, SIGNAL(triggered()), this, SLOT(createObb())); } -QList Create_obb_mesh_plugin::actions() const { +QList Create_obb_mesh_plugin::actions() const +{ return QList() << actionObb; } - void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) { const Scene_interface::Item_id index = scene->mainSelectionIndex(); - Scene_facegraph_item* poly_item = - qobject_cast(scene->item(index)); + Scene_facegraph_item* item = qobject_cast(scene->item(index)); Scene_polyhedron_selection_item* selection_item = qobject_cast(scene->item(index)); @@ -107,7 +84,7 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) Scene_points_with_normal_item* point_set_item = qobject_cast(scene->item(index)); - if(poly_item || selection_item) + if(item || selection_item) { typedef typename boost::property_map::type PointPMap; typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; @@ -115,30 +92,29 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) std::vector selected_vertices; - if(poly_item != NULL) + if(item != NULL) { - FaceGraph& pmesh = *poly_item->polyhedron(); + FaceGraph& pmesh = *item->polyhedron(); selected_vertices.assign(vertices(pmesh).begin(), vertices(pmesh).end()); PointPMap pmap = get(CGAL::vertex_point, pmesh); - BOOST_FOREACH(vertex_descriptor v, selected_vertices) + for(vertex_descriptor v : selected_vertices) points.push_back(get(pmap, v)); } else if(selection_item != NULL) // using selection of faces { FaceGraph& pmesh = *selection_item->polyhedron(); - BOOST_FOREACH(face_descriptor f, selection_item->selected_facets) + for(face_descriptor f : selection_item->selected_facets) { - BOOST_FOREACH(vertex_descriptor v, vertices_around_face(halfedge(f, pmesh), pmesh)) - { + for(vertex_descriptor v : vertices_around_face(halfedge(f, pmesh), pmesh)) selected_vertices.push_back(v); - } } PointPMap pmap = get(CGAL::vertex_point, pmesh); - BOOST_FOREACH(vertex_descriptor v, selected_vertices) + for(vertex_descriptor v : selected_vertices) points.push_back(get(pmap, v)); } + CGAL_assertion(points.size() >= 3); } @@ -149,12 +125,9 @@ void Create_obb_mesh_plugin::gather_mesh_points(std::vector& points) return; std::cout << "points_set->size()= " << points_set->size() << std::endl; - BOOST_FOREACH(Point_3 p, points_set->points()) - { + for(const Point_3& p : points_set->points()) points.push_back(p); - } } - } void Create_obb_mesh_plugin::obb() @@ -164,24 +137,14 @@ void Create_obb_mesh_plugin::obb() gather_mesh_points(points); // find obb - CGAL::Eigen_linear_algebra_traits la_traits; - std::vector obb_points(8); - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(points, obb_points, la_traits, true); + std::array obb_points; + CGAL::optimal_bounding_box(points, obb_points); - Scene_item* item; - if(mw->property("is_polyhedorn_mode").toBool()) - { - Polyhedron* p = new Polyhedron; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); - item = new Scene_polyhedron_item(p); - } - else { - SMesh* p = new SMesh; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); - item = new Scene_surface_mesh_item(p); - } + Scene_facegraph_item* item; + SMesh* p = new SMesh; + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], *p); + item = new Scene_facegraph_item(p); item->setName("Optimal bbox mesh"); item->setRenderingMode(Wireframe); diff --git a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h b/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h deleted file mode 100644 index cc55ed70ef3..00000000000 --- a/Solver_interface/include/CGAL/Eigen_linear_algebra_traits.h +++ /dev/null @@ -1,322 +0,0 @@ -// Copyright (c) 2018 GeometryFactory (France). -// All rights reserved. -// -// This file is part of CGAL (www.cgal.org). -// You can redistribute it and/or modify it under the terms of the GNU -// General Public License as published by the Free Software Foundation, -// either version 3 of the License, or (at your option) any later version. -// -// Licensees holding a valid commercial license may use this file in -// accordance with the commercial license agreement provided with the software. -// -// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE -// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. -// -// $URL$ -// $Id$ -// SPDX-License-Identifier: GPL-3.0+ -// -// -// Author(s) : Konstantinos Katrioplas - -#ifndef CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H -#define CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H - -#include -#include -#include - - -namespace CGAL { - - -template -class Eigen_dense_vector; - -/*! -\ingroup PkgSolver - -The class `Eigen_dense_matrix` is a wrapper around \ref thirdpartyEigen "Eigen" matrix type -`Eigen::DenseMatrix`. - -\tparam T Number type. -\tparam D1 Number of rows, or Dynamic. -\tparam D1 Number of cols, or Dynamic. - -\sa `CGAL::Eigen_dense_vector` -\sa `CGAL::Eigen_linear_algebra_traits` -*/ -template -class Eigen_dense_matrix -{ -public: - - /// The internal matrix type from \ref thirdpartyEigen "Eigen". - typedef Eigen::Matrix EigenType; - - /// Create a dense matrix - Eigen_dense_matrix(std::size_t nrows, std::size_t ncols) - : m_matrix(static_cast(nrows), static_cast(ncols)) - { - CGAL_assertion(m_matrix.rows() > 0); - CGAL_assertion(m_matrix.cols() > 0); - } - - /// Create a dense matrix - Eigen_dense_matrix(int nrows, int ncols) - : m_matrix(nrows, ncols) - { - CGAL_assertion(m_matrix.rows() > 0); - CGAL_assertion(m_matrix.cols() > 0); - } - - /// Create a dense matrix out of a \ref thirdpartyEigen "Eigen" matrix type - Eigen_dense_matrix(const EigenType& eigen_mat) - : m_matrix(eigen_mat) {} - - Eigen_dense_matrix() : m_matrix() {} - - /// Read access to a matrix coefficient. - /// - /// \pre 0 <= i < row_dimension(). - /// \pre 0 <= j < column_dimension(). - T& operator() (int i_, int j_) - { - return m_matrix(i_, j_); - } - - /// Write access to a matrix coefficient: a_ij <- val - /// - /// \pre 0 <= i < row_dimension(). - /// \pre 0 <= j < column_dimension(). - void set_coef(std::size_t i_, std::size_t j_, T val) - { - int i = static_cast(i_); - int j = static_cast(j_); - CGAL_precondition(i < m_matrix.rows()); - CGAL_precondition(j < m_matrix.cols()); - - m_matrix.coeffRef(i,j) = val; - } - - /// Return the matrix number of rows - std::size_t rows() const {return m_matrix.rows();} - /// Return the matrix number of cols - std::size_t cols() const {return m_matrix.cols();} - - /// Resize to i rows and j cols - void resize(int i_, int j_) { m_matrix.resize(i_, j_);} - - const T& coeff(int i_) const - { - return m_matrix.coeff(i_); - } - - EigenType m_matrix; -}; - -/*! -\ingroup PkgSolver - -The class `Eigen_vector` is a wrapper around \ref thirdpartyEigen "Eigen" dense vector -type , -which is a simple array of numbers. - -\cgalModels `SvdTraits::Vector` -\cgalModels `SparseLinearAlgebraTraits_d::Vector`. - -\tparam T Number type. -\tparam D Number of colums, or Dynamic. - -\sa `CGAL::Eigen_dense_matrix` -\sa `CGAL::Eigen_linear_algebra_traits` -*/ -template -class Eigen_dense_vector -{ -private: - - /// The internal vector type from \ref thirdpartyEigen "Eigen". - typedef Eigen::Matrix EigenType; - -public: - - /// Create a dense vector out of a \ref thirdpartyEigen "Eigen" vector type - Eigen_dense_vector(const EigenType& vec) : m_vector(vec) {} - - /// Read and write and access to a vector coefficient: `a_i` - const T& coeff(std::size_t i) - { - CGAL_assertion(i >= 0); - CGAL_assertion(i < static_cast(D)); - return m_vector.coeff(i); - } - - EigenType m_vector; -}; - - -/*! -\ingroup PkgSolver - -The class `Eigen_linear_algebra_traits` provides an interface to linear algebra functionalities of \ref thirdpartyEigen "Eigen". -\ref thirdpartyEigen "Eigen" version 3.1 (or later) must be available on the system. - -\sa `CGAL::Eigen_dense_matrix` -\sa `CGAL::Eigen_dense_vector` -\sa http://eigen.tuxfamily.org - -Example --------------- - -\code{.cpp} - -typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - -// dynamic matrix at run time to store a large amount of data -typedef Linear_algebra_traits::MatrixXd MatrixXd; - -// preallocated 3x3 matrix at compile time -typedef Linear_algebra_traits::Matrix3d Matrix3d; - -// preallocated 3-cols vector at compile time -typedef Linear_algebra_traits::Vector3d Vector3d; - -\endcode -*/ - -class Eigen_linear_algebra_traits -{ -public: - typedef double NT; - typedef int Index; - - // dynamic size at run time - typedef CGAL::Eigen_dense_matrix MatrixXd; - - // dynamic rows in run time, fixed cols in compile time - typedef CGAL::Eigen_dense_matrix MatrixX3d; - - // fixed at compile time - typedef CGAL::Eigen_dense_matrix Matrix3d; - - // fixed at compile time - typedef CGAL::Eigen_dense_vector Vector3d; - - /// Get the transpose of a `CGAL::Eigen_dense_matrix` matrix - template - static Matrix transpose(const Matrix& mat) - { - return Matrix(mat.m_matrix.transpose()); - } - - /// Get the determinant of a `CGAL::Eigen_dense_matrix` matrix - template - static NT determinant(const Matrix& mat) - { - return mat.m_matrix.determinant(); - } - - /// Performs QR decomposition of matrix A to a unitary matrix and an upper triagonal - /// and returns the unitary matrix. - template - static CGAL::Eigen_dense_matrix qr_factorization(const CGAL::Eigen_dense_matrix& A) - { - Eigen::HouseholderQR > qr(A.m_matrix); - return CGAL::Eigen_dense_matrix(qr.householderQ()); - } - - template - static void qr_factorization(std::vector& simplex) - { - for(std::size_t i = 0; i < simplex.size(); ++i) - { - Matrix mat = simplex[i].m_matrix; - simplex[i] = qr_factorization(mat); - } - } - - // CGAL::Eigen_dense_vector : the returned type with D2 may be -1 in compile time, - // and may not be equal to the expected type. - // Eigen manages to return a precompiled row out of a dynamic matrix but I don't know how. - - /// Get the row vector out of a `CGAL::Eigen_dense_matrix`. The result is stored in a - /// preallocated at compile time 3-column `CGAL::Eigen_dense_vector` - template - static CGAL::Eigen_dense_vector row3(const CGAL::Eigen_dense_matrix& A, - int i) - { - return CGAL::Eigen_dense_vector(A.m_matrix.row(i)); - } - -}; - - -/// Matrix multiplication. If the columns of A and the rows of B are equal at compile time, -/// the product is stored at a preallocated at compile time `CGAL::Eigen_dense_matrix`. Otherwise, -/// the product is stored in a dynamic at run time matrix. -template -const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, - const CGAL::Eigen_dense_matrix& B) -{ - return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); -} - -// D2 and D3 may not be equal at compile time, but equal at run time! -// This overload returns a dynamic matrix. -template -const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, - const CGAL::Eigen_dense_matrix& B) -{ - return CGAL::Eigen_dense_matrix(A.m_matrix * B.m_matrix); -} - -// scalar - matrix multiplication -template -const CGAL::Eigen_dense_matrix operator* (const NT& scalar, - const CGAL::Eigen_dense_matrix& B) -{ - return CGAL::Eigen_dense_matrix(scalar * B.m_matrix); -} - -template -const CGAL::Eigen_dense_matrix operator* (const CGAL::Eigen_dense_matrix& A, - const NT& scalar) -{ - return CGAL::Eigen_dense_matrix(A.m_matrix * scalar); -} - -template -const CGAL::Eigen_dense_matrix operator/ (const CGAL::Eigen_dense_matrix& A, - const double& scalar) -{ - return CGAL::Eigen_dense_matrix(A.m_matrix / scalar); -} - -template -const CGAL::Eigen_dense_matrix operator/ (const double& scalar, - const CGAL::Eigen_dense_matrix & A) -{ - return CGAL::Eigen_dense_matrix (scalar / A.m_matrix); -} - -// addition -template -const CGAL::Eigen_dense_matrix operator+ (const CGAL::Eigen_dense_matrix & A, - const CGAL::Eigen_dense_matrix & B) -{ - return CGAL::Eigen_dense_matrix (A.m_matrix + B.m_matrix); -} - -// vector - matrix multiplication -template -const Eigen_dense_vector operator* (const CGAL::Eigen_dense_matrix& A, - const CGAL::Eigen_dense_vector& V) -{ - return Eigen_dense_vector(A.m_matrix * V.m_vector); -} - -} // end namespace - - -#endif // CGAL_EIGEN_LINEAR_ALGEBRA_TRAITS_H From da726d1c3c83aec9f9e02a2e09801aaa104aa97c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 12:27:27 +0100 Subject: [PATCH 059/150] Add a basic example --- .../CMakeLists.txt | 2 +- .../Optimal_bounding_box/obb_example.cpp | 29 +++++++++++++++++++ 2 files changed, 30 insertions(+), 1 deletion(-) rename Optimal_bounding_box/examples/{Polygon_mesh_processing => Optimal_bounding_box}/CMakeLists.txt (91%) create mode 100644 Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp diff --git a/Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt similarity index 91% rename from Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt rename to Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt index 0faa74ffe4e..8fc23ac241a 100644 --- a/Optimal_bounding_box/examples/Polygon_mesh_processing/CMakeLists.txt +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt @@ -21,4 +21,4 @@ else() include(${EIGEN3_USE_FILE}) endif() -create_single_source_cgal_program("example.cpp") +create_single_source_cgal_program("obb_example.cpp") diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp new file mode 100644 index 00000000000..92bd88df424 --- /dev/null +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -0,0 +1,29 @@ +#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + +#include +#include + +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::Point_3 Point; +typedef CGAL::Surface_mesh Surface_mesh; + +int main(int argc, char** argv) +{ + std::ifstream input(argv[1]); + Surface_mesh sm; + if (!input || !(input >> sm) || sm.is_empty()) + { + std::cerr << argv[1] << " is not a valid off file.\n"; + return EXIT_FAILURE; + } + + // test one + Surface_mesh obb_sm; + CGAL::optimal_bounding_box(sm, obb_sm); + + std::ofstream("obb.off") << obb_sm; + + return EXIT_SUCCESS; +} From 60845f601d6427b6a16d428d856543fddf74823b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 12:38:50 +0100 Subject: [PATCH 060/150] Move files to better locations --- .../examples/Optimal_bounding_box/obb_example.cpp | 2 +- .../{helper.h => Optimal_bounding_box_traits.h} | 6 +++--- .../CGAL/Optimal_bounding_box/{ => internal}/evolution.h | 6 +++--- .../Optimal_bounding_box/{ => internal}/fitness_function.h | 0 .../{ => internal}/nelder_mead_functions.h | 2 +- .../CGAL/Optimal_bounding_box/{ => internal}/population.h | 0 .../CGAL/{Optimal_bounding_box => }/optimal_bounding_box.h | 6 +++--- 7 files changed, 11 insertions(+), 11 deletions(-) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{helper.h => Optimal_bounding_box_traits.h} (91%) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{ => internal}/evolution.h (97%) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{ => internal}/fitness_function.h (100%) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{ => internal}/nelder_mead_functions.h (98%) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{ => internal}/population.h (100%) rename Optimal_bounding_box/include/CGAL/{Optimal_bounding_box => }/optimal_bounding_box.h (98%) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index 92bd88df424..60c5ec3626c 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -3,7 +3,7 @@ #include #include -#include +#include typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h similarity index 91% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h index d12de45212e..e7393926ed4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/helper.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h @@ -11,8 +11,8 @@ // Author(s) : Konstantinos Katrioplas // Mael Rouxel-Labbé // -#ifndef CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H -#define CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H +#define CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H #include @@ -77,4 +77,4 @@ public: } // end namespace Optimal_bounding_box } // end namespace CGAL -#endif // CGAL_OPTIMAL_BOUNDING_BOX_HELPER_H +#endif // CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h similarity index 97% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index a28535e8242..e34452a034b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -14,9 +14,9 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H #define CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H -#include -#include -#include +#include +#include +#include #include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h similarity index 100% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/fitness_function.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h similarity index 98% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index c3b42b0d671..f902e5c6316 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -14,7 +14,7 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H -#include +#include #include diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h similarity index 100% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/population.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h similarity index 98% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h rename to Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index ec2202781bc..fd125e17015 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -14,9 +14,9 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_OBB_H #define CGAL_OPTIMAL_BOUNDING_BOX_OBB_H -#include -#include -#include +#include +#include +#include #include // @tmp #include From 844cd55f85633923c50423ac70f85d62035335b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 15:43:30 +0100 Subject: [PATCH 061/150] Add license files --- .../CGAL/license/Optimal_bounding_box.h | 54 +++++++++++++++++++ .../include/CGAL/license/gpl_package_list.txt | 1 + 2 files changed, 55 insertions(+) create mode 100644 Installation/include/CGAL/license/Optimal_bounding_box.h diff --git a/Installation/include/CGAL/license/Optimal_bounding_box.h b/Installation/include/CGAL/license/Optimal_bounding_box.h new file mode 100644 index 00000000000..a1403a158c3 --- /dev/null +++ b/Installation/include/CGAL/license/Optimal_bounding_box.h @@ -0,0 +1,54 @@ +// Copyright (c) 2016 GeometryFactory SARL (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org) +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Andreas Fabri +// +// Warning: this file is generated, see include/CGAL/licence/README.md + +#ifndef CGAL_LICENSE_OPTIMAL_BOUNDING_BOX_H +#define CGAL_LICENSE_OPTIMAL_BOUNDING_BOX_H + +#include +#include + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE + +# if CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE < CGAL_RELEASE_DATE + +# if defined(CGAL_LICENSE_WARNING) + + CGAL_pragma_warning("Your commercial license for CGAL does not cover " + "this release of the Optimal Bounding Box package.") +# endif + +# ifdef CGAL_LICENSE_ERROR +# error "Your commercial license for CGAL does not cover this release \ + of the Optimal Bounding Box package. \ + You get this error, as you defined CGAL_LICENSE_ERROR." +# endif // CGAL_LICENSE_ERROR + +# endif // CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE < CGAL_RELEASE_DATE + +#else // no CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE + +# if defined(CGAL_LICENSE_WARNING) + CGAL_pragma_warning("\nThe macro CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE is not defined." + "\nYou use the CGAL Optimal Bounding Box package under " + "the terms of the GPLv3+.") +# endif // CGAL_LICENSE_WARNING + +# ifdef CGAL_LICENSE_ERROR +# error "The macro CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE is not defined.\ + You use the CGAL Optimal Bounding Box package under the terms of \ + the GPLv3+. You get this error, as you defined CGAL_LICENSE_ERROR." +# endif // CGAL_LICENSE_ERROR + +#endif // no CGAL_OPTIMAL_BOUNDING_BOX_COMMERCIAL_LICENSE + +#endif // CGAL_LICENSE_OPTIMAL_BOUNDING_BOX_H diff --git a/Installation/include/CGAL/license/gpl_package_list.txt b/Installation/include/CGAL/license/gpl_package_list.txt index 9841982de7d..0099e282734 100644 --- a/Installation/include/CGAL/license/gpl_package_list.txt +++ b/Installation/include/CGAL/license/gpl_package_list.txt @@ -32,6 +32,7 @@ Minkowski_sum_3 3D Minkowski Sum of Polyhedra Nef_2 2D Boolean Operations on Nef Polygons Nef_3 3D Boolean Operations on Nef Polyhedra Nef_S2 2D Boolean Operations on Nef Polygons Embedded on the Sphere +Optimal_bounding_box Optimal Bounding Box Optimal_transportation_reconstruction_2 Optimal Transportation Curve Reconstruction Partition_2 2D Polygon Partitioning Periodic_2_triangulation_2 2D Periodic Triangulations From c844a98dd8c5deefabd2a92cfc5d439ab2fda1eb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 15:44:56 +0100 Subject: [PATCH 062/150] Add to travis' package list --- .travis/packages.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis/packages.txt b/.travis/packages.txt index 8bcfe911043..3123b8c14e6 100644 --- a/.travis/packages.txt +++ b/.travis/packages.txt @@ -71,6 +71,7 @@ Nef_S2 NewKernel_d Number_types OpenNL +Optimal_bounding_box Optimal_transportation_reconstruction_2 Optimisation_basic Partition_2 From bafb8e2f7e69f824456aa15443d9a47585f6c6e0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 15:45:40 +0100 Subject: [PATCH 063/150] Add some documentation --- Documentation/doc/Documentation/packages.txt | 1 + .../doc/Optimal_bounding_box/Doxyfile.in | 22 +- .../Optimal_bounding_box/NamedParameters.txt | 281 +----------------- .../Optimal_bounding_box.txt | 11 +- .../PackageDescription.txt | 48 ++- .../doc/Optimal_bounding_box/dependencies | 4 +- .../doc/Optimal_bounding_box/examples.txt | 2 +- .../Optimal_bounding_box_traits.h | 44 +-- .../Optimal_bounding_box/internal/evolution.h | 12 +- .../internal/fitness_function.h | 8 +- .../internal/nelder_mead_functions.h | 8 +- .../internal/population.h | 8 +- .../include/CGAL/optimal_bounding_box.h | 168 +++++++---- 13 files changed, 241 insertions(+), 376 deletions(-) diff --git a/Documentation/doc/Documentation/packages.txt b/Documentation/doc/Documentation/packages.txt index 8aa49408b96..f2f3f68af3e 100644 --- a/Documentation/doc/Documentation/packages.txt +++ b/Documentation/doc/Documentation/packages.txt @@ -129,6 +129,7 @@ \package_listing{Box_intersection_d} \package_listing{AABB_tree} \package_listing{Spatial_sorting} +\package_listing{Optimal_bounding_box} \cgalPackageSection{PartGeometricOptimization,Geometric Optimization} diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in b/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in index c01165a4dee..26ad50050b8 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in @@ -3,4 +3,24 @@ PROJECT_NAME = "CGAL ${CGAL_DOC_VERSION} - Optimal Bounding Box" EXTRACT_ALL = false HIDE_UNDOC_CLASSES = true -WARN_IF_UNDOCUMENTED = false +WARN_IF_UNDOCUMENTED = true + +# macros to be used inside the code +ALIASES += "cgalNamedParamsBegin=
Named Parameters
" +ALIASES += "cgalNamedParamsEnd=
" +ALIASES += "cgalParamBegin{1}=\ref OBB_\1 \"\1\"" +ALIASES += "cgalParamEnd=" + +#macros for NamedParameters.txt +ALIASES += "cgalNPTableBegin=
" +ALIASES += "cgalNPTableEnd=
" +ALIASES += "cgalNPBegin{1}=\1 " +ALIASES += "cgalNPEnd=" + +MACRO_EXPANSION = YES +EXPAND_ONLY_PREDEF = YES +EXPAND_AS_DEFINED = CGAL_OBB_NP_TEMPLATE_PARAMETERS \ + CGAL_OBB_NP_CLASS +EXCLUDE = ${CGAL_PACKAGE_INCLUDE_DIR}/CGAL/Optimal_bounding_box/internal +EXCLUDE_SYMBOLS += experimental + diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt index d9b8e95c9ac..68fed836345 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt @@ -1,17 +1,17 @@ /*! -\defgroup pmp_namedparameters Named Parameters for Polygon Mesh Processing -\ingroup PkgPolygonMeshProcessing +\defgroup obb_namedparameters Named Parameters for the package Optimal Bounding Box +\ingroup PkgOptimalBoundingBoxRef In this package, all functions optional parameters are implemented as BGL optional named parameters (see \ref BGLNamedParameters for more information on how to use them). -Since the parameters of the various polygon mesh processing functions defined -in this package are redundant, their long descriptions are centralized below. +Since the parameters of the various functions defined in this package are redundant, +their long descriptions are centralized below. The sequence of named parameters should start with `CGAL::parameters::`. `CGAL::parameters::all_default()` can be used to indicate that default values of optional named parameters must be used. In the following, we assume that the following types are provided as template parameters -of polygon mesh processing functions and classes. Note that, for some of these functions, +of functions and classes. Note that, for some of these functions, the type is more specific:
  • `PolygonMesh` is a model of the concept `FaceGraph`
    • . @@ -19,50 +19,23 @@ the type is more specific: predicates evaluated. Everywhere in this package, a \cgal `Kernel` fulfills the requirements.
-The following named parameters, offered by the package \ref PkgBGLSummary +The following named parameters, offered by the package \ref PkgBGL (see \ref bgl_namedparameters), are used in this package: \cgalNPTableBegin -\cgalNPBegin{vertex_point_map} \anchor PMP_vertex_point_map +\cgalNPBegin{vertex_point_map} \anchor OBB_vertex_point_map is the property map with the points associated to the vertices of the polygon mesh `pmesh`.\n Type: a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` as key type and `GeomTraits::Point_3` as value type. \n Default: \code boost::get(CGAL::vertex_point, pmesh) \endcode \cgalNPEnd - -\cgalNPBegin{vertex_index_map} \anchor PMP_vertex_index_map -is the property map containing the index of each vertex of the input polygon mesh.\n -Type: a class model of `ReadablePropertyMap` with -`boost::graph_traits::%vertex_descriptor` as key type and the value type -\code typename boost::property_traits::type>::value_type \endcode -Default: \code boost::get(CGAL::vertex_index, pmesh)\endcode -\cgalNPEnd - -\cgalNPBegin{face_index_map} \anchor PMP_face_index_map -is the property map containing the index of each face of the input polygon mesh.\n -Type: a class model of `ReadablePropertyMap` with -`boost::graph_traits::%face_descriptor` as key type and the value type: -\code typename boost::property_traits::type>::value_type \endcode -Default: \code boost::get(CGAL::face_index, pmesh)\endcode -If this internal property map exists, its values should be initialized. -\cgalNPEnd - -\cgalNPBegin{edge_is_constrained_map} \anchor PMP_edge_is_constrained_map -is the property map containing information about edges of the input polygon mesh -being marked or not. In `isotropic_remeshing()` and `connected_components()`, -the marked edges are constrained.\n -Type: a class model of `ReadWritePropertyMap` with -`boost::graph_traits::%edge_descriptor` as key type and -`bool` as value type. It should be default constructible.\n -Default: a default property map where no edge is constrained -\cgalNPEnd \cgalNPTableEnd In addition to these named parameters, this package offers the following named parameters: \cgalNPTableBegin -\cgalNPBegin{geom_traits} \anchor PMP_geom_traits +\cgalNPBegin{geom_traits} \anchor OBB_geom_traits is the geometric traits instance in which the mesh processing operation should be performed.\n Type: a Geometric traits class.\n Default: @@ -71,243 +44,13 @@ is the geometric traits instance in which the mesh processing operation should b typename boost::property_map::type>::value_type>::Kernel \endcode \cgalNPEnd -\cgalNPBegin{vertex_incident_patches_map} \anchor PMP_vertex_incident_patches_map -is the property map containing the surface patches incident to each vertex of the input polygon mesh.\n -Type: a class model of `LvaluePropertyMap` with -`boost::graph_traits::%vertex_descriptor` as key type. Its value type -must be a container of `boost::property_traits::%value_type` and have a function `insert()`. -A `std::set` or a `boost::unordered_set` are recommended, as a patch index may be -inserted several times.\n -Default: \code boost::get(CGAL::vertex_incident_patches_t, pmesh)\endcode -\cgalNPEnd - -\cgalNPBegin{vertex_feature_degree_map} \anchor PMP_vertex_feature_degree_map -is the property map containing the number of feature edges being incident to the vertices of the polygon mesh `pmesh`.\n -Type: a class model of `ReadWritePropertyMap` with -`boost::graph_traits::%vertex_descriptor` as key type and -`int` as value type. It should be default constructible.\n -Default: \code boost::get(CGAL::vertex_feature_degree_t(), pmesh) \endcode -\cgalNPEnd - -\cgalNPBegin{vertex_is_constrained_map} \anchor PMP_vertex_is_constrained_map -is the property map containing information about vertices of the input polygon mesh being constrained or not. -Constrained vertices may be replaced by new vertices, but the number and location -of vertices remain unchanged.\n -Type: a class model of `ReadWritePropertyMap` with -`boost::graph_traits::%vertex_descriptor` as key type and -`bool` as value type. It should be default constructible.\n -Default: a default property map where no vertex is constrained is provided. -\cgalNPEnd - -\cgalNPBegin{face_patch_map} \anchor PMP_face_patch_map -is a property map containing information about faces. -It is particularly well-suited for preserving surface patch IDs, -or face colors. -The edges at the interface between surface patches are treated similarly -to the ones of `edge_is_constrained_map`.\n -Type: a class model of `ReadWritePropertyMap` with -`boost::graph_traits::%face_descriptor` as key type and -the desired property, model of `CopyConstructible` as value type.\n -Default: a default property map where each face is associated with the ID of -the connected component it belongs to. Connected components are -computed with respect to the constrained edges listed in the property map -`edge_is_constrained_map` -\cgalNPEnd - -\cgalNPBegin{first_index} \anchor PMP_first_index -is the index of the first surface patch.\n -Type: `std::size_t`\n -Default: 1 -\cgalNPEnd - -\cgalNPBegin{density_control_factor} \anchor PMP_density_control_factor -controls the density of the mesh generated by refinement, with larger values causing denser refinements. -The density of vertices in the refined region is this factor times higher than before refinement.\n -Type: floating scalar value\n -Default: `CGAL::sqrt(2)` -\cgalNPEnd - -\cgalNPBegin{fairing_continuity} \anchor PMP_fairing_continuity -controls the tangential continuity of the output surface in `fair()`. -The possible values are 0, 1 and 2, refering to the C0, C1 -and C2 continuity.\n -Type: \c unsigned \c int between 0 and 2\n -Default: `1` -\cgalNPEnd - -\cgalNPBegin{sparse_linear_solver} \anchor PMP_sparse_linear_solver -is the solver used in `fair()`.\n -Type: a class model of `SparseLinearAlgebraWithFactorTraits_d`.\n -Default: if \ref thirdpartyEigen "Eigen" 3.2 (or greater) is available and -`CGAL_EIGEN3_ENABLED` is defined, then the following overload of `Eigen_solver_traits` -is provided as default value:\n -\code CGAL::Eigen_solver_traits::EigenType, Eigen::COLAMDOrdering > > \endcode -\cgalNPEnd - -\cgalNPBegin{number_of_iterations} \anchor PMP_number_of_iterations -is the number of iterations of the sequence of iterations performed in `isotropic_remeshing()`.\n -Type: \c unsigned \c int \n -Default: `1` -\cgalNPEnd - -\cgalNPBegin{protect_constraints} \anchor PMP_protect_constraints -enables the protection of constraints listed by \ref PMP_edge_is_constrained_map -"edge_is_constrained_map" and boundary edges -in `isotropic_remeshing()`. If `true`, constraint edges cannot be modified at all -during the remeshing process.\n -Type: `bool` \n -Default: `false` -\cgalNPEnd - -\cgalNPBegin{relax_constraints} \anchor PMP_relax_constraints -enables the tangential relaxation step in `isotropic_remeshing()` -to be performed on vertices that are endpoints of constraints listed -by \ref PMP_edge_is_constrained_map "edge_is_constrained_map", and boundary edges. -The vertices move along the constrained polylines they belong to. -Corners (i.e. vertices incident to more than 2 constraints, and vertices listed in -\ref PMP_vertex_is_constrained_map "vertex_is_constrained_map") are not allowed -to move at all. -If \ref PMP_protect_constraints "protect_constraints" is -set to `true`, this parameter is ignored.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{number_of_relaxation_steps} \anchor PMP_number_of_relaxation_steps -is the number of iterations of tangential relaxation that are performed at each iteration -of `isotropic_remeshing()`. A larger number of relaxation steps lead to -a more isotropic mesh.\n -Type: \c unsigned \c int \n -Default: `1` -\cgalNPEnd - -\cgalNPBegin{use_delaunay_triangulation} \anchor PMP_use_delaunay_triangulation -enables the use of the Delaunay triangulation facet search space for hole filling functions.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{use_random_uniform_sampling} \anchor PMP_use_random_uniform_sampling -is a parameter used in `sample_triangle_mesh()` to indicate if points should be picked -in a random uniform way.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{use_grid_sampling} \anchor PMP_use_grid_sampling -is a parameter used in `sample_triangle_mesh()` to indicate if points should be picked -in on a grid in each face.\n -Type: `bool` \n -Default: `false` -\cgalNPEnd - -\cgalNPBegin{use_monte_carlo_sampling} \anchor PMP_use_monte_carlo_sampling -is a parameter used in `sample_triangle_mesh()` to indicate if points should be picked -using a Monte-Carlo approach.\n -Type: `bool` \n -Default: `false` -\cgalNPEnd - -\cgalNPBegin{sample_edges} \anchor PMP_sample_edges -is a parameter used in `sample_triangle_mesh()` to indicate if a dedicated sampling -of edges should be done.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{sample_vertices} \anchor PMP_sample_vertices -is a parameter used in `sample_triangle_mesh()` to indicate if triangle vertices should -be copied in the output iterator.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{sample_faces} \anchor PMP_sample_faces -is a parameter used in `sample_triangle_mesh()` to indicate if the interior of faces -should be considered for the sampling.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{number_of_points_on_faces} \anchor PMP_number_of_points_on_faces -is a parameter used in `sample_triangle_mesh()` to set the number of points picked -using the random uniform method on faces.\n -Type: `std::size_t` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{number_of_points_on_edges} \anchor PMP_number_of_points_on_edges -is a parameter used in `sample_triangle_mesh()` to set the number of points picked -using the random uniform method on edges.\n -Type: `std::size_t` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{number_of_points_per_face} \anchor PMP_number_of_points_per_face -is a parameter used in `sample_triangle_mesh()` to set the number of points picked -per face using the Monte-Carlo method.\n -Type: `std::size_t` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{number_of_points_per_edge} \anchor PMP_number_of_points_per_edge -is a parameter used in `sample_triangle_mesh()` to set the number of points picked -per edge using the Monte-Carlo method.\n -Type: `std::size_t` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{grid_spacing} \anchor PMP_grid_spacing -is a parameter used in `sample_triangle_mesh()` to set the grid spacing when using -the grid sampling method.\n -Type: `double` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{number_of_points_per_area_unit} \anchor PMP_number_of_points_per_area_unit -is a parameter used in `sample_triangle_mesh()` to set the number of points per -area unit to be picked up in faces for the random uniform sampling and -Monte-Carlo methods.\n -Type: `double` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{number_of_points_per_distance_unit} \anchor PMP_number_of_points_per_distance_unit -is a parameter used in `sample_triangle_mesh()` to set the number of points per -distance unit to be picked up on edges for the random uniform sampling and -Monte-Carlo methods.\n -Type: `double` \n -Default: `0` -\cgalNPEnd - -\cgalNPBegin{do_project} \anchor PMP_do_project -is a parameter used in `random_perturbation()` to set whether vertices should be re-projected -to the input surface after their geometric perturbation.\n -Type: `bool` \n -Default: `true` -\cgalNPEnd - -\cgalNPBegin{random_seed} \anchor PMP_random_seed -is a parameter used in `random_perturbation()` to choose a seed to initialize -the random number generator `CGAL::Random()`. -If this parameter is not provided, the perturbation is not deterministic -(i.e. not reproducible from one run to the other).\n -Type: `unsigned int` \n -Default: the random number generator is initialized with `CGAL::Random()` -\cgalNPEnd - -\cgalNPBegin{outward_orientation} \anchor PMP_outward_orientation -Parameter used in orientation functions to choose between an outward or inward orientation. +\cgalNPBegin{use_convex_hull} \anchor OBB_use_convex_hull +Parameter used in optimal bounding box construction to indicate whether the algorithm should +first extract the extreme points (points that are on the 3D convex hull) of the input data range +to accelerate the computation of the bounding box. \n \b Type : `bool` \n \b Default value is `true` - -\cgalNPBegin{do_overlap_test_of_bounded_sides} \anchor PMP_do_overlap_test_of_bounded_sides -Parameter used in intersection test functions to indicate whether overlapping tests of bounded sides -of close meshes should be done in addition to surface intersection tests. -\n -\b Type : `bool` \n -\b Default value is `false` \cgalNPEnd \cgalNPTableEnd diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt index d84814bee40..393a803a971 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt @@ -1,9 +1,16 @@ namespace CGAL { + /*! \mainpage User Manual -\anchor Chapter_OptimalBoundingBox +\anchor Chapter_Building_Optimal_Bounding_Box \cgalAutoToc -\authors +\authors Konstantinos Katrioplas, Mael Rouxel-Labbé + +\section sectionSubIntro Introduction + +AABB and stuff + +\section secOBB Optimal Bounding Box } /* namespace CGAL */ diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index 496066da185..156f50dc13e 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -1,30 +1,50 @@ -/// \defgroup PkgOptimalBoundingBox Optimal Bounding Box Reference +/// \defgroup PkgOptimalBoundingBoxRef Optimal Bounding Box Reference + /// \defgroup PkgOptimalBoundingBoxConcepts Concepts -/// \ingroup PkgOptimalBoundingBox +/// \ingroup PkgOptimalBoundingBoxRef -\cgalPkgDescriptionBegin{Optimal Bounding Box, PkgOptimalBoundingBoxSummary} -\cgalPkgPicture{} +/// \defgroup PkgOptimalBoundingBoxClasses Optimal Bounding Box Classes +/// \ingroup PkgOptimalBoundingBoxRef +/// \defgroup PkgOptimalBoundingBoxFunctions Optimal Bounding Box Methods +/// \ingroup PkgOptimalBoundingBoxRef + +/*! +\addtogroup PkgOptimalBoundingBoxRef +\cgalPkgDescriptionBegin{Optimal Bounding Box,PkgOptimalBoundingBox} +\cgalPkgPicture{Envelope_2.png} \cgalPkgSummaryBegin -\cgalPkgAuthor{} -\cgalPkgDesc{This package provides stuff.} -\cgalPkgManuals{Chapter_OptimalBoundingBox,PkgOptimalBoundingBox} +\cgalPkgAuthor{Konstantinos Katrioplas, Mael Rouxel-Labbé} +\cgalPkgDesc{This package provides functions to compute oriented bounding boxes around a point set or a polygon mesh.} +\cgalPkgManuals{Chapter_Building_Optimal_Bounding_Box,PkgOptimalBoundingBoxRef} \cgalPkgSummaryEnd - \cgalPkgShortInfoBegin -\cgalPkgSince{5.2} +\cgalPkgSince{5.1} \cgalPkgDependsOn{documented for each function;} -\cgalPkgBib{cgal:lty-pmp} +\cgalPkgBib{cgal:obb} \cgalPkgLicense{\ref licensesGPL "GPL"} -\cgalPkgDemo{Polyhedron demo,polyhedron_3.zip} +\cgalPkgDemo{Polyhedron demo, polyhedron_3.zip} \cgalPkgShortInfoEnd - \cgalPkgDescriptionEnd \cgalClassifedRefPages -## Parameters ## +\cgalCRPSection{Parameters} -## Functions ## +Optional parameters of the functions of this package are implemented as \ref BGLNamedParameters. +The page \ref obb_namedparameters describes their usage and provides a list of the parameters +that are used in this package. + +\cgalCRPSection{Concepts} + +- `CGAL::OptimalBoundingBoxTraits` + +\cgalCRPSection{Classes} + +- `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` + +\cgalCRPSection{Methods} + +- `CGAL::optimal_bounding_box()` */ diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies b/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies index 52428e7009d..0379719e9cf 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies @@ -8,7 +8,5 @@ Polyhedron BGL Solver_interface Surface_mesh -Surface_mesh_deformation AABB_tree -Triangulation_2 -Spatial_sorting + diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt index 76aff917caf..4bd9b08df1b 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt @@ -1,4 +1,4 @@ /*! -\example Optimal_bounding_box/example_todo.cpp +\example Optimal_bounding_box/obb_example.cpp */ diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h index e7393926ed4..a570cdc2412 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h @@ -8,55 +8,59 @@ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // -// Author(s) : Konstantinos Katrioplas -// Mael Rouxel-Labbé +// Author(s) : Mael Rouxel-Labbé // #ifndef CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H #define CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H -#include - -#include -#include -#include -#include -#include +#include #ifdef CGAL_EIGEN3_ENABLED #include #include #endif -#include -#include -#include - namespace CGAL { namespace Optimal_bounding_box { -#ifdef CGAL_EIGEN3_ENABLED -// @tmp move the header include too +#if defined(CGAL_EIGEN3_ENABLED) || defined(DOXYGEN_RUNNING) + +/// \ingroup PkgOptimalBoundingBoxClasses +/// +/// The class `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` is a traits type +/// to be used with the functions `CGAL::optimal_bounding_box()`. +/// It uses the third party library \ref thirdpartyEigen "Eigen", which must therefore +/// be available on the system for this class to be used. +/// +/// \tparam K must be a model of `Kernel` +/// +/// \cgalModels `OptimalBoundingBoxTraits` +/// template class Optimal_bounding_box_traits : public K { public: + /// The field number type typedef typename K::FT FT; + + /// The matrix type typedef CGAL::Eigen_matrix Matrix; private: typedef typename Matrix::EigenType EigenType; public: + /// Constructor from the base kernel explicit Optimal_bounding_box_traits(const K& k = K()) : K(k) { } - /// Get the transpose of a `Matrix` matrix + /// Get the transpose of a matrix Matrix transpose(const Matrix& mat) const { return Matrix(mat.eigen_object().transpose()); } - /// Get the determinant of a `Matrix` matrix + /// Get the determinant of a matrix FT determinant(const Matrix& matrix) const { return matrix.eigen_object().determinant(); @@ -72,9 +76,9 @@ public: return Matrix(EigenType(qr.householderQ())); } }; -#endif +#endif // defined(CGAL_EIGEN3_ENABLED) || defined(DOXYGEN_RUNNING) -} // end namespace Optimal_bounding_box -} // end namespace CGAL +} // namespace Optimal_bounding_box +} // namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index e34452a034b..cc1bd28350a 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -14,6 +14,8 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H #define CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H +#include + #include #include #include @@ -28,6 +30,7 @@ namespace CGAL { namespace Optimal_bounding_box { +namespace internal { template class Evolution @@ -36,10 +39,10 @@ public: typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; - typedef Optimal_bounding_box::Population Population; + typedef Population Population; typedef typename Population::Simplex Simplex; - typedef Optimal_bounding_box::Fitness_map Fitness_map; + typedef Fitness_map Fitness_map; Evolution(const PointRange& points, CGAL::Random& rng, @@ -203,7 +206,8 @@ private: const Traits& m_traits; }; -} // end namespace Optimal_bounding_box -} // end namespace CGAL +} // namespace internal +} // namespace Optimal_bounding_box +} // namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h index bd917b6c370..1d5cb9aac75 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h @@ -14,6 +14,8 @@ #ifndef CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H #define CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H +#include + #include #include @@ -21,6 +23,7 @@ namespace CGAL { namespace Optimal_bounding_box { +namespace internal { template typename Traits::FT @@ -103,7 +106,8 @@ private: const PointRange& m_points; }; -} // end namespace Optimal_bounding_box -} // end namespace CGAL +} // namespace internal +} // namespace Optimal_bounding_box +} // namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index f902e5c6316..8f080095320 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -14,6 +14,8 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H +#include + #include #include @@ -23,6 +25,7 @@ namespace CGAL { namespace Optimal_bounding_box { +namespace internal { template Matrix reflection(const Matrix& S_centroid, @@ -157,7 +160,8 @@ void nelder_mead(Simplex& simplex, } // nelder mead iterations } -} // end namespace Optimal_bounding_box -} // end namespace CGAL +} // namespace internal +} // namespace Optimal_bounding_box +} // namespace CGAL #endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h index cd8acaf702d..640b4423a71 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h @@ -14,6 +14,8 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H #define CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H +#include + #include #include @@ -22,6 +24,7 @@ namespace CGAL { namespace Optimal_bounding_box { +namespace internal { template class Population @@ -99,7 +102,8 @@ void Population::show_population() } #endif -} // end namespace Optimal_bounding_box -} // end namespace CGAL +} // namespace internal +} // namespace Optimal_bounding_box +} // namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index fd125e17015..e6723cb8027 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -14,12 +14,14 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_OBB_H #define CGAL_OPTIMAL_BOUNDING_BOX_OBB_H +#include + #include #include #include -#include // @tmp -#include +#include +#include #include #include @@ -27,6 +29,7 @@ #include #include #include +#include #include #include @@ -40,6 +43,11 @@ #include #include +#ifdef DOXYGEN_RUNNING +#define CGAL_BGL_NP_TEMPLATE_PARAMETERS NamedParameters +#define CGAL_BGL_NP_CLASS NamedParameters +#endif + namespace CGAL { namespace Optimal_bounding_box { namespace internal { @@ -100,12 +108,6 @@ void construct_optimal_bounding_box(std::array& obb #endif Evolution search_solution(points, rng, traits); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - std::cout << "constructor: " << timer.time() << std::endl; - timer.reset(); -#endif - search_solution.evolve(max_generations); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS @@ -117,16 +119,13 @@ void construct_optimal_bounding_box(std::array& obb #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "get best: " << timer.time() << std::endl; -#endif - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS timer.reset(); #endif post_processing(rotation, obb_points, points, traits); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - std::cout << "post porcessing: " << timer.time() << std::endl; + std::cout << "post-processing: " << timer.time() << std::endl; #endif } @@ -157,72 +156,134 @@ void construct_optimal_bounding_box(std::array& obb } // namespace Optimal_bounding_box } // namespace internal -/// \ingroup OBB_grp -/// calculates the optimal bounding box. +/// \ingroup PkgOptimalBoundingBoxFunctions +/// +/// constructs a rectangular box that contains all the input points. This bounding box +/// is obtained via an optimization process aiming to get a close approximation to the +/// optimal bounding box. /// /// \tparam PointRange a model of `Range` with value type `Point` -/// \tparam NamedParameters +/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" /// -/// \param points the input points that are included in the optimal bounding box. -/// \param obb_points the eight points of the optimal bounding box to be calculated. +/// \param points the input points that the optimal bounding box will contain +/// \param obb_points the eight points of the resulting englobing box. +/// The order of points is the same as in the function `CGAL::make_hexahedron()` +/// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: +/// +/// \cgalNamedParamsBegin +/// \cgalParamBegin{vertex_point_map} +/// the property map with the points associated to the vertices of `pmesh`. +/// If this parameter is omitted, an internal property map for +/// `CGAL::vertex_point_t` must be available in `PolygonMesh` +/// \cgalParamEnd +/// \cgalParamBegin{geom_traits} +/// a geometric traits class instance, model of the concept `OptimalBoundingBoxTraits`. %Default is +/// `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` where `K` is deduced +/// from the point type, which must be compatible with `CGAL::Kernel_traits`. +/// \cgalParamEnd +/// \cgalParamBegin{use_convex_hull} +/// a Boolean value to indicate whether the algorithm should first extract the so-called extreme +/// points of the data range (i.e. construct the convex hull) to reduce the input data range +/// and accelerate the algorithm. The optimal value of this parameter will depend on the data +/// as it is a balance between two costs. %Default is `true`. +/// \cgalParamEnd +/// \cgalNamedParamsEnd /// template + typename CGAL_BGL_NP_TEMPLATE_PARAMETERS> void optimal_bounding_box(const PointRange& points, std::array& obb_points, - const CGAL_PMP_NP_CLASS& np) + const CGAL_BGL_NP_CLASS& np) { using CGAL::parameters::choose_parameter; using CGAL::parameters::get_parameter; -#if 0 // @fixme - typedef typename GetSvdTraits::type SVD_traits; - CGAL_static_assertion_msg( - !(std::is_same::NoTraits>::value), - "Error: must provide traits or enable Eigen"); - - const SVD_traits traits = choose_parameter(get_parameter(np, svd_traits), SVD_traits()); +#if defined(CGAL_EIGEN3_ENABLED) + typedef typename CGAL::Kernel_traits::type K; + typedef Optimal_bounding_box::Optimal_bounding_box_traits Default_traits; #else - typedef typename CGAL::Kernel_traits::type K; - typedef Optimal_bounding_box::Optimal_bounding_box_traits Traits; - Traits traits; + typedef void Default_traits; #endif - // @fixme - const bool use_ch = true; //choose_parameter(get_parameter(np, internal_np::use_convex_hull), false); - unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); + typedef typename internal_np::Lookup_named_param_def::type Geom_traits; + + CGAL_static_assertion_msg(!(std::is_same::value), + "You must provide a traits class or have Eigen enabled!"); + + Geom_traits traits = choose_parameter(get_parameter(np, internal_np::geom_traits), Geom_traits()); + + const bool use_ch = choose_parameter(get_parameter(np, internal_np::use_convex_hull), false); + const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); // undocumented CGAL::Random rng(seed); + // @todo handle those cases instead + CGAL_assertion(points.size() >= 3); + if(points.size() <= 3) + { + std::cerr << "The optimal bounding box cannot YET be computed for a mesh with fewer than 4 vertices!\n"; + return; + } + return Optimal_bounding_box::internal::construct_optimal_bounding_box(obb_points, use_ch, points, rng, traits); } -template -void optimal_bounding_box(const PolygonMesh& pmesh, - std::array& obb_mesh) -{ - return optimal_bounding_box(pmesh, obb_mesh, CGAL::parameters::all_default()); -} +/// \cond SKIP_IN_MANUAL /////////////////////////////////////////////////////////////////////////////////////////////////// -/// With polygon meshes +/// Convenience overloads for point ranges ///////////////////////////////////////////////////////////////////////////////////////////////// -/// \ingroup OBB_grp -/// calculates the optimal bounding box. +template +void optimal_bounding_box(const PointRange& points, + std::array& obb_points) +{ + return optimal_bounding_box(points, obb_points, CGAL::parameters::all_default()); +} + +/// \endcond + +/// \ingroup PkgOptimalBoundingBoxFunctions +/// +/// constructs a rectangular box that contains the input mesh. This bounding box +/// is obtained via an optimization process aiming to get a close approximation to the +/// optimal bounding box. /// /// \tparam PolygonMesh a model of `FaceListGraph` -/// \tparam NamedParameters +/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" /// -/// \param pmesh the input mesh. -/// \param obb_mesh the hexaedron mesh to be built out of the optimal bounding box. +/// \param pmesh the input mesh +/// \param obb_mesh the eight points of the resulting englobing box. +/// The order of points is the same as in the function `CGAL::make_hexahedron()` +/// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: +/// +/// \cgalNamedParamsBegin +/// \cgalParamBegin{vertex_point_map} +/// the property map with the points associated to the vertices of `pmesh`. +/// If this parameter is omitted, an internal property map for +/// `CGAL::vertex_point_t` must be available in `PolygonMesh` +/// \cgalParamEnd +/// \cgalParamBegin{geom_traits} +/// a geometric traits class instance, model of the concept `OptimalBoundingBoxTraits`. %Default is +/// `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` where `K` is deduced +/// from the point type, which must be compatible with `CGAL::Kernel_traits`. +/// \cgalParamEnd +/// \cgalParamBegin{use_convex_hull} +/// a Boolean value to indicate whether the algorithm should first extract the so-called extreme +/// points of the data range (i.e. construct the convex hull) to reduce the input data range +/// and accelerate the algorithm. The optimal value of this parameter will depend on the data +/// as it is a balance between two costs. %Default is `true`. +/// \cgalParamEnd +/// \cgalNamedParamsEnd /// template + typename CGAL_BGL_NP_TEMPLATE_PARAMETERS> void optimal_bounding_box(const PolygonMesh& pmesh, PolygonMesh& obb_mesh, - const CGAL_PMP_NP_CLASS& np) + const CGAL_BGL_NP_CLASS& np) { namespace PMP = CGAL::Polygon_mesh_processing; @@ -231,18 +292,9 @@ void optimal_bounding_box(const PolygonMesh& pmesh, typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename PMP::GetVertexPointMap::const_type VPM; + typedef typename PMP::GetVertexPointMap::const_type VPM; typedef typename boost::property_traits::value_type Point; - CGAL_assertion(vertices(pmesh).size() >= 3); - - if(vertices(pmesh).size() <= 3) - { - // @fixme is that even true - std::cerr << "The optimal bounding box cannot be computed for a mesh with fewer than 4 vertices!\n"; - return; - } - VPM vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), get_const_property_map(vertex_point, pmesh)); @@ -259,6 +311,8 @@ void optimal_bounding_box(const PolygonMesh& pmesh, obb_points[4], obb_points[5], obb_points[6], obb_points[7], obb_mesh); } +/// \cond SKIP_IN_MANUAL + /////////////////////////////////////////////////////////////////////////////////////////////////// /// Convenience overloads for polygon meshes ///////////////////////////////////////////////////////////////////////////////////////////////// @@ -270,6 +324,8 @@ void optimal_bounding_box(const PolygonMesh& pmesh, return optimal_bounding_box(pmesh, obb_mesh, CGAL::parameters::all_default()); } +/// \endcond + } // end namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_BOX_OBB_H From 408635fe84ba4bb2575122edef00bc3516b5d825 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 16:34:29 +0100 Subject: [PATCH 064/150] Add new NP --- BGL/include/CGAL/boost/graph/parameters_interface.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/BGL/include/CGAL/boost/graph/parameters_interface.h b/BGL/include/CGAL/boost/graph/parameters_interface.h index 87db07d59ad..02ddd8018ff 100644 --- a/BGL/include/CGAL/boost/graph/parameters_interface.h +++ b/BGL/include/CGAL/boost/graph/parameters_interface.h @@ -127,6 +127,9 @@ CGAL_add_named_parameter(max_number_of_proxies_t, max_number_of_proxies, max_num CGAL_add_named_parameter(min_error_drop_t, min_error_drop, min_error_drop) CGAL_add_named_parameter(number_of_relaxations_t, number_of_relaxations, number_of_relaxations) +// List of named parameters used in Optimal_bounding_box package +CGAL_add_named_parameter(use_convex_hull_t, use_convex_hull, use_convex_hull) + // meshing parameters CGAL_add_named_parameter(subdivision_ratio_t, subdivision_ratio, subdivision_ratio) CGAL_add_named_parameter(relative_to_chord_t, relative_to_chord, relative_to_chord) From 325a95f5f1ecaf446ef39c22d9fb8b83292bd79f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 16:38:25 +0100 Subject: [PATCH 065/150] Add missing */ --- .../doc/Optimal_bounding_box/Optimal_bounding_box.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt index 393a803a971..82a8eb6e391 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Optimal_bounding_box.txt @@ -12,5 +12,5 @@ namespace CGAL { AABB and stuff \section secOBB Optimal Bounding Box - +*/ } /* namespace CGAL */ From 9af73856a715dcb5c8ea4b3696854f2d08306bcf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 16:38:42 +0100 Subject: [PATCH 066/150] Add missing header includes --- .../examples/Optimal_bounding_box/obb_example.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index 60c5ec3626c..0f57de2d168 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -5,6 +5,9 @@ #include +#include +#include + typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point; typedef CGAL::Surface_mesh Surface_mesh; From 127bf54e446486f1d921bd9f3962941c6f2418e4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 16:39:19 +0100 Subject: [PATCH 067/150] Give Eigen_sparse_matrix its own file The idea is that it is clearer that Eigen_matrix exists --- Solver_interface/include/CGAL/Eigen_matrix.h | 331 +---------------- .../include/CGAL/Eigen_sparse_matrix.h | 335 ++++++++++++++++++ 2 files changed, 340 insertions(+), 326 deletions(-) create mode 100644 Solver_interface/include/CGAL/Eigen_sparse_matrix.h diff --git a/Solver_interface/include/CGAL/Eigen_matrix.h b/Solver_interface/include/CGAL/Eigen_matrix.h index 3f6431d5a6d..ae661a4a129 100644 --- a/Solver_interface/include/CGAL/Eigen_matrix.h +++ b/Solver_interface/include/CGAL/Eigen_matrix.h @@ -8,341 +8,20 @@ // // Author(s) : Gael Guennebaud -#ifndef CGAL_EIGEN_MATRIX_H -#define CGAL_EIGEN_MATRIX_H +#ifndef CGAL_SOLVER_INTERFACE_EIGEN_MATRIX_H +#define CGAL_SOLVER_INTERFACE_EIGEN_MATRIX_H #include // include basic.h before testing #defines -#include +#include // for backward compatibility + +#include namespace CGAL { /*! \ingroup PkgSolverInterfaceRef -The class `Eigen_sparse_matrix` is a wrapper around `Eigen` matrix type -`Eigen::SparseMatrix` -that represents general matrices, be they symmetric or not. - -\cgalModels `SparseLinearAlgebraTraits_d::Matrix` - -\tparam T Number type. - -\sa `CGAL::Eigen_vector` -\sa `CGAL::Eigen_matrix` -\sa `CGAL::Eigen_sparse_symmetric_matrix` -*/ -template -struct Eigen_sparse_matrix -{ - // Public types -public: - /// \name Types - /// @{ - - /// The internal matrix type from \ref thirdpartyEigen "Eigen". - typedef Eigen::SparseMatrix EigenType; - - typedef T NT; - /// @} - - Eigen_sparse_matrix(const EigenType& et) - : m_is_already_built(true), m_matrix(et), m_is_symmetric(false) - {} - - // Public operations -public: - Eigen_sparse_matrix() : - m_is_already_built(false) - {} - - /// Create a square matrix initialized with zeros. - Eigen_sparse_matrix(std::size_t dim, ///< Matrix dimension. - bool is_symmetric = false) ///< Symmetric/hermitian? - : - m_is_already_built(false), - m_matrix(static_cast(dim), static_cast(dim)) - { - CGAL_precondition(dim > 0); - - m_is_symmetric = is_symmetric; - m_triplets.reserve(dim); // reserve memory for a regular 3D grid - } - - /// Create a square matrix initialized with zeros. - Eigen_sparse_matrix(int dim, ///< Matrix dimension. - bool is_symmetric = false) ///< Symmetric/hermitian? - : m_is_already_built(false), - m_matrix(dim, dim) - { - CGAL_precondition(dim > 0); - - m_is_symmetric = is_symmetric; - // reserve memory for a regular 3D grid - m_triplets.reserve(dim); - } - - /// Create a rectangular matrix initialized with zeros. - /// - /// \pre rows == columns if `is_symmetric` is true. - Eigen_sparse_matrix(std::size_t rows, ///< Number of rows. - std::size_t columns, ///< Number of columns. - bool is_symmetric = false) ///< Symmetric/hermitian? - : m_is_already_built(false), - m_matrix(static_cast(rows), static_cast(columns)) - { - CGAL_precondition(rows > 0); - CGAL_precondition(columns > 0); - if(m_is_symmetric) - { - CGAL_precondition(rows == columns); - } - - m_is_symmetric = is_symmetric; - // reserve memory for a regular 3D grid - m_triplets.reserve(rows); - } - - void swap(Eigen_sparse_matrix& other) - { - std::swap(m_is_already_built, other.m_is_already_built); - std::swap(m_is_symmetric, other.m_is_symmetric); - m_matrix.swap(other.m_matrix); - m_triplets.swap(other.m_triplets); - } - - - /// Delete this object and the wrapped matrix. - ~Eigen_sparse_matrix() { } - - /// Create a rectangular matrix initialized with zeros. - /// - /// \pre rows == columns if `is_symmetric` is true. - Eigen_sparse_matrix(int rows, ///< Number of rows. - int columns, ///< Number of columns. - bool is_symmetric = false) ///< Symmetric/hermitian? - : m_is_already_built(false), - m_matrix(rows,columns) - { - CGAL_precondition(rows > 0); - CGAL_precondition(columns > 0); - if(is_symmetric) - { - CGAL_precondition(rows == columns); - } - - m_is_symmetric = is_symmetric; - // reserve memory for a regular 3D grid - m_triplets.reserve(rows); - } - - /// Return the matrix number of rows - int row_dimension() const { return static_cast(m_matrix.rows()); } - /// Return the matrix number of columns - int column_dimension() const { return static_cast(m_matrix.cols()); } - - /// Write access to a matrix coefficient: a_ij <- val. - /// - /// Users can optimize calls to this function by setting 'new_coef' to `true` - /// if the coefficient does not already exist in the matrix. - /// - /// \warning For symmetric matrices, `Eigen_sparse_matrix` only stores the lower triangle - /// and `set_coef()` does nothing if (i, j) belongs to the upper triangle. - /// - /// \pre 0 <= i < row_dimension(). - /// \pre 0 <= j < column_dimension(). - void set_coef(std::size_t i_, std::size_t j_, T val, bool new_coef = false) - { - int i = static_cast(i_); - int j = static_cast(j_); - CGAL_precondition(i < row_dimension()); - CGAL_precondition(j < column_dimension()); - - if (m_is_symmetric && (j > i)) - return; - - if(m_is_already_built) - { - m_matrix.coeffRef(i,j) = val; - } - else - { - if(new_coef == false) - { - assemble_matrix(); - m_matrix.coeffRef(i,j) = val; - } - else - { - m_triplets.push_back(Triplet(i,j,val)); - } - } - } - - /// Write access to a matrix coefficient: a_ij <- a_ij + val. - /// - /// \warning For symmetric matrices, Eigen_sparse_matrix only stores the lower triangle - /// `add_coef()` does nothing if (i, j) belongs to the upper triangle. - /// - /// \pre 0 <= i < row_dimension(). - /// \pre 0 <= j < column_dimension(). - void add_coef(std::size_t i_, std::size_t j_, T val) - { - int i = static_cast(i_); - int j = static_cast(j_); - if(m_is_symmetric && (j > i)) - return; - - if(m_is_already_built){ - CGAL_precondition(i < row_dimension()); - CGAL_precondition(j < column_dimension()); - m_matrix.coeffRef(i,j) += val; - }else{ - m_triplets.push_back(Triplet(i,j,val)); - } - } - - /// Read access to a matrix coefficient. - /// - /// \warning Complexity: - /// - O(log(n)) if the matrix is already built. - /// - O(n) if the matrix is not built. - /// `n` being the number of entries in the matrix. - /// - /// \pre 0 <= i < row_dimension(). - /// \pre 0 <= j < column_dimension(). - NT get_coef (std::size_t i_, std::size_t j_) const - { - int i = static_cast(i_); - int j = static_cast(j_); - CGAL_precondition(i < row_dimension()); - CGAL_precondition(j < column_dimension()); - - if(m_is_symmetric && j > i) - std::swap(i, j); - - if (m_is_already_built) - return m_matrix.coeffRef(i,j); - else - { - NT val = 0; - for(std::size_t t=0; t release some memory - // -> required for some external solvers - m_matrix.makeCompressed(); - return m_matrix; - } - - /// Return the internal matrix, with type `EigenType`. - EigenType& eigen_object() - { - if(!m_is_already_built) - assemble_matrix(); - - // turns the matrix into compressed mode: - // -> release some memory - // -> required for some external solvers - m_matrix.makeCompressed(); - return m_matrix; - } - - -public: - - /// \cond SKIP_IN_MANUAL - friend Eigen_sparse_matrix - operator*(const T& c, const Eigen_sparse_matrix& M) - { - return Eigen_sparse_matrix(c* M.eigen_object()); - } - - - friend Eigen_sparse_matrix - operator+(const Eigen_sparse_matrix& M0, const Eigen_sparse_matrix& M1) - { - return Eigen_sparse_matrix(M0.eigen_object()+ M1.eigen_object()); - } - /// \endcond - - - // Fields -private: - mutable bool m_is_already_built; - - typedef Eigen::Triplet Triplet; - mutable std::vector m_triplets; - - mutable EigenType m_matrix; - - // Symmetric/hermitian? - bool m_is_symmetric; -}; // Eigen_sparse_matrix - - -/*! -\ingroup PkgSolverInterfaceRef - -The class `Eigen_sparse_symmetric_matrix` is a wrapper around `Eigen` matrix type -`Eigen::SparseMatrix` - -Since the matrix is symmetric, only the lower triangle part is stored. - -\cgalModels `SparseLinearAlgebraTraits_d::Matrix` - -\tparam T Number type. - -\sa `CGAL::Eigen_vector` -\sa `CGAL::Eigen_sparse_matrix` -*/ - -template -struct Eigen_sparse_symmetric_matrix - : public Eigen_sparse_matrix -{ - /// Create a square *symmetric* matrix initialized with zeros. - Eigen_sparse_symmetric_matrix(int dim) ///< Matrix dimension. - : Eigen_sparse_matrix(dim, true /* symmetric */) - { - } - - /// Create a square *symmetric* matrix initialized with zeros. - /// - /// \pre rows == columns. - Eigen_sparse_symmetric_matrix(int rows, ///< Number of rows. - int columns) ///< Number of columns. - : Eigen_sparse_matrix(rows, columns, true /* symmetric */) - { - } -}; - -/*! -\ingroup PkgSolverInterfaceRef - The class `Eigen_matrix` is a wrapper around `Eigen` matrix type `Eigen::Matrix`. diff --git a/Solver_interface/include/CGAL/Eigen_sparse_matrix.h b/Solver_interface/include/CGAL/Eigen_sparse_matrix.h new file mode 100644 index 00000000000..54d8663d5ca --- /dev/null +++ b/Solver_interface/include/CGAL/Eigen_sparse_matrix.h @@ -0,0 +1,335 @@ +// Copyright (c) 2012 INRIA Bordeaux Sud-Ouest (France), All rights reserved. +// +// This file is part of CGAL (www.cgal.org) +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Gael Guennebaud + +#ifndef CGAL_SOLVER_INTERFACE_EIGEN_SPARSE_MATRIX_H +#define CGAL_SOLVER_INTERFACE_EIGEN_SPARSE_MATRIX_H + +#include // include basic.h before testing #defines + +#include + +namespace CGAL { + +/*! +\ingroup PkgSolverInterfaceRef + +The class `Eigen_sparse_matrix` is a wrapper around `Eigen` matrix type +`Eigen::SparseMatrix` +that represents general matrices, be they symmetric or not. + +\cgalModels `SparseLinearAlgebraTraits_d::Matrix` + +\tparam T Number type. + +\sa `CGAL::Eigen_vector` +\sa `CGAL::Eigen_matrix` +\sa `CGAL::Eigen_sparse_symmetric_matrix` +*/ +template +struct Eigen_sparse_matrix +{ + // Public types +public: + /// \name Types + /// @{ + + /// The internal matrix type from \ref thirdpartyEigen "Eigen". + typedef Eigen::SparseMatrix EigenType; + + typedef T NT; + /// @} + + Eigen_sparse_matrix(const EigenType& et) + : m_is_already_built(true), m_matrix(et), m_is_symmetric(false) + {} + + // Public operations +public: + Eigen_sparse_matrix() : m_is_already_built(false) { } + + /// Create a square matrix initialized with zeros. + Eigen_sparse_matrix(std::size_t dim, ///< Matrix dimension. + bool is_symmetric = false) ///< Symmetric/hermitian? + : + m_is_already_built(false), + m_matrix(static_cast(dim), static_cast(dim)) + { + CGAL_precondition(dim > 0); + + m_is_symmetric = is_symmetric; + m_triplets.reserve(dim); // reserve memory for a regular 3D grid + } + + /// Create a square matrix initialized with zeros. + Eigen_sparse_matrix(int dim, ///< Matrix dimension. + bool is_symmetric = false) ///< Symmetric/hermitian? + : m_is_already_built(false), + m_matrix(dim, dim) + { + CGAL_precondition(dim > 0); + + m_is_symmetric = is_symmetric; + // reserve memory for a regular 3D grid + m_triplets.reserve(dim); + } + + /// Create a rectangular matrix initialized with zeros. + /// + /// \pre rows == columns if `is_symmetric` is true. + Eigen_sparse_matrix(std::size_t rows, ///< Number of rows. + std::size_t columns, ///< Number of columns. + bool is_symmetric = false) ///< Symmetric/hermitian? + : m_is_already_built(false), + m_matrix(static_cast(rows), static_cast(columns)) + { + CGAL_precondition(rows > 0); + CGAL_precondition(columns > 0); + if(m_is_symmetric) + { + CGAL_precondition(rows == columns); + } + + m_is_symmetric = is_symmetric; + // reserve memory for a regular 3D grid + m_triplets.reserve(rows); + } + + void swap(Eigen_sparse_matrix& other) + { + std::swap(m_is_already_built, other.m_is_already_built); + std::swap(m_is_symmetric, other.m_is_symmetric); + m_matrix.swap(other.m_matrix); + m_triplets.swap(other.m_triplets); + } + + /// Delete this object and the wrapped matrix. + ~Eigen_sparse_matrix() { } + + /// Create a rectangular matrix initialized with zeros. + /// + /// \pre rows == columns if `is_symmetric` is true. + Eigen_sparse_matrix(int rows, ///< Number of rows. + int columns, ///< Number of columns. + bool is_symmetric = false) ///< Symmetric/hermitian? + : m_is_already_built(false), + m_matrix(rows,columns) + { + CGAL_precondition(rows > 0); + CGAL_precondition(columns > 0); + if(is_symmetric) + { + CGAL_precondition(rows == columns); + } + + m_is_symmetric = is_symmetric; + // reserve memory for a regular 3D grid + m_triplets.reserve(rows); + } + + /// Return the matrix number of rows + int row_dimension() const { return static_cast(m_matrix.rows()); } + /// Return the matrix number of columns + int column_dimension() const { return static_cast(m_matrix.cols()); } + + /// Write access to a matrix coefficient: a_ij <- val. + /// + /// Users can optimize calls to this function by setting 'new_coef' to `true` + /// if the coefficient does not already exist in the matrix. + /// + /// \warning For symmetric matrices, `Eigen_sparse_matrix` only stores the lower triangle + /// and `set_coef()` does nothing if (i, j) belongs to the upper triangle. + /// + /// \pre 0 <= i < row_dimension(). + /// \pre 0 <= j < column_dimension(). + void set_coef(std::size_t i_, std::size_t j_, T val, bool new_coef = false) + { + int i = static_cast(i_); + int j = static_cast(j_); + CGAL_precondition(i < row_dimension()); + CGAL_precondition(j < column_dimension()); + + if (m_is_symmetric && (j > i)) + return; + + if(m_is_already_built) + { + m_matrix.coeffRef(i,j) = val; + } + else + { + if(new_coef == false) + { + assemble_matrix(); + m_matrix.coeffRef(i,j) = val; + } + else + { + m_triplets.push_back(Triplet(i,j,val)); + } + } + } + + /// Write access to a matrix coefficient: a_ij <- a_ij + val. + /// + /// \warning For symmetric matrices, Eigen_sparse_matrix only stores the lower triangle + /// `add_coef()` does nothing if (i, j) belongs to the upper triangle. + /// + /// \pre 0 <= i < row_dimension(). + /// \pre 0 <= j < column_dimension(). + void add_coef(std::size_t i_, std::size_t j_, T val) + { + int i = static_cast(i_); + int j = static_cast(j_); + if(m_is_symmetric && (j > i)) + return; + + if(m_is_already_built){ + CGAL_precondition(i < row_dimension()); + CGAL_precondition(j < column_dimension()); + m_matrix.coeffRef(i,j) += val; + }else{ + m_triplets.push_back(Triplet(i,j,val)); + } + } + + /// Read access to a matrix coefficient. + /// + /// \warning Complexity: + /// - O(log(n)) if the matrix is already built. + /// - O(n) if the matrix is not built. + /// `n` being the number of entries in the matrix. + /// + /// \pre 0 <= i < row_dimension(). + /// \pre 0 <= j < column_dimension(). + NT get_coef (std::size_t i_, std::size_t j_) const + { + int i = static_cast(i_); + int j = static_cast(j_); + CGAL_precondition(i < row_dimension()); + CGAL_precondition(j < column_dimension()); + + if(m_is_symmetric && j > i) + std::swap(i, j); + + if (m_is_already_built) + return m_matrix.coeffRef(i,j); + else + { + NT val = 0; + for(std::size_t t=0; t release some memory + // -> required for some external solvers + m_matrix.makeCompressed(); + return m_matrix; + } + + /// Return the internal matrix, with type `EigenType`. + EigenType& eigen_object() + { + if(!m_is_already_built) + assemble_matrix(); + + // turns the matrix into compressed mode: + // -> release some memory + // -> required for some external solvers + m_matrix.makeCompressed(); + return m_matrix; + } + +public: + /// \cond SKIP_IN_MANUAL + friend Eigen_sparse_matrix + operator*(const T& c, const Eigen_sparse_matrix& M) + { + return Eigen_sparse_matrix(c* M.eigen_object()); + } + + friend Eigen_sparse_matrix + operator+(const Eigen_sparse_matrix& M0, const Eigen_sparse_matrix& M1) + { + return Eigen_sparse_matrix(M0.eigen_object()+ M1.eigen_object()); + } + /// \endcond + + // Fields +private: + mutable bool m_is_already_built; + + typedef Eigen::Triplet Triplet; + mutable std::vector m_triplets; + + mutable EigenType m_matrix; + + // Symmetric/hermitian? + bool m_is_symmetric; +}; // Eigen_sparse_matrix + + +/*! +\ingroup PkgSolverInterfaceRef + +The class `Eigen_sparse_symmetric_matrix` is a wrapper around `Eigen` matrix type +`Eigen::SparseMatrix` + +Since the matrix is symmetric, only the lower triangle part is stored. + +\cgalModels `SparseLinearAlgebraTraits_d::Matrix` + +\tparam T Number type. + +\sa `CGAL::Eigen_vector` +\sa `CGAL::Eigen_sparse_matrix` +*/ +template +struct Eigen_sparse_symmetric_matrix + : public Eigen_sparse_matrix +{ + /// Create a square *symmetric* matrix initialized with zeros. + Eigen_sparse_symmetric_matrix(int dim) ///< Matrix dimension. + : Eigen_sparse_matrix(dim, true /* symmetric */) + { } + + /// Create a square *symmetric* matrix initialized with zeros. + /// + /// \pre rows == columns. + Eigen_sparse_symmetric_matrix(int rows, ///< Number of rows. + int columns) ///< Number of columns. + : Eigen_sparse_matrix(rows, columns, true /* symmetric */) + { } +}; + +} //namespace CGAL + +#endif // CGAL_SOLVER_INTERFACE_EIGEN_SPARSE_MATRIX_H From 566b6e89fb68644bcd0fdcde35baef461496a860 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 18:43:46 +0100 Subject: [PATCH 068/150] Doc changes --- Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in | 4 ++-- Optimal_bounding_box/include/CGAL/optimal_bounding_box.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in b/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in index 26ad50050b8..d90bd9a87c0 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Doxyfile.in @@ -19,8 +19,8 @@ ALIASES += "cgalNPEnd=" MACRO_EXPANSION = YES EXPAND_ONLY_PREDEF = YES -EXPAND_AS_DEFINED = CGAL_OBB_NP_TEMPLATE_PARAMETERS \ - CGAL_OBB_NP_CLASS +EXPAND_AS_DEFINED = CGAL_BGL_NP_TEMPLATE_PARAMETERS \ + CGAL_BGL_NP_CLASS EXCLUDE = ${CGAL_PACKAGE_INCLUDE_DIR}/CGAL/Optimal_bounding_box/internal EXCLUDE_SYMBOLS += experimental diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index e6723cb8027..72243171163 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -159,7 +159,7 @@ void construct_optimal_bounding_box(std::array& obb /// \ingroup PkgOptimalBoundingBoxFunctions /// /// constructs a rectangular box that contains all the input points. This bounding box -/// is obtained via an optimization process aiming to get a close approximation to the +/// is obtained via an optimization process aiming to get a close approximation of the /// optimal bounding box. /// /// \tparam PointRange a model of `Range` with value type `Point` @@ -249,7 +249,7 @@ void optimal_bounding_box(const PointRange& points, /// \ingroup PkgOptimalBoundingBoxFunctions /// /// constructs a rectangular box that contains the input mesh. This bounding box -/// is obtained via an optimization process aiming to get a close approximation to the +/// is obtained via an optimization process aiming to get a close approximation of the /// optimal bounding box. /// /// \tparam PolygonMesh a model of `FaceListGraph` From ba1c21f3bd9138ff6e11262adfbbf4e3553f4f9b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 18:48:46 +0100 Subject: [PATCH 069/150] Enhance CGAL::Eigen_matrix --- Solver_interface/include/CGAL/Eigen_matrix.h | 48 ++++++++++++++++---- 1 file changed, 38 insertions(+), 10 deletions(-) diff --git a/Solver_interface/include/CGAL/Eigen_matrix.h b/Solver_interface/include/CGAL/Eigen_matrix.h index ae661a4a129..c360a056872 100644 --- a/Solver_interface/include/CGAL/Eigen_matrix.h +++ b/Solver_interface/include/CGAL/Eigen_matrix.h @@ -28,36 +28,64 @@ The class `Eigen_matrix` is a wrapper around `Eigen` matrix type \cgalModels `SvdTraits::Matrix` \tparam T Number type. +\tparam D1 Number of rows, or Dynamic +\tparam D2 Number of columns, or Dynamic \sa `CGAL::Eigen_vector` \sa `CGAL::Eigen_sparse_matrix` \sa `CGAL::Eigen_sparse_symmetric_matrix` */ -template +template struct Eigen_matrix - : public ::Eigen::Matrix + : public ::Eigen::Matrix { /// The internal matrix type from \ref thirdpartyEigen "Eigen". - typedef ::Eigen::Matrix EigenType; + typedef ::Eigen::Matrix EigenType; - /// Construct a matrix with `nr` rows and `nc` columns. + /// Constructs a null matrix. + Eigen_matrix() { } + + /// Constructs an uninitialized matrix with `nr` rows and `nc` columns. + /// This is useful for dynamic-size matrices. + /// For fixed-size matrices, it is redundant to pass these parameters. Eigen_matrix(std::size_t nr, std::size_t nc) : EigenType(nr, nc) { } - /// Return the matrix number of rows. + /// Constructs a matrix from an Eigen matrix. + Eigen_matrix(const EigenType& b) : EigenType(b) { } + + /// Returns the matrix number of rows. std::size_t number_of_rows() const { return this->rows(); } - /// Return the matrix number of columns. + /// Returns the matrix number of columns. std::size_t number_of_columns() const { return this->cols(); } - /// Return the value of the matrix at position (i,j). + /// Returns the value of the matrix at position (i,j). FT operator()( std::size_t i , std::size_t j ) const { return EigenType::operator()(i,j); } - /// Write access to a matrix coefficient: `a_ij` <- `val`. + /// Writes access to a matrix coefficient: `a_ij` <- `val`. void set(std::size_t i, std::size_t j, FT value) { this->coeffRef(i,j) = value; } - /// Return the internal matrix, with type `EigenType`. + /// Returns the internal matrix, with type `EigenType`. const EigenType& eigen_object() const { return static_cast(*this); } + +public: + /// \cond SKIP_IN_MANUAL + friend Eigen_matrix operator*(const FT c, const Eigen_matrix& M) + { + return Eigen_matrix(c * M.eigen_object()); + } + + friend Eigen_matrix operator*(const Eigen_matrix& M0, const Eigen_matrix& M1) + { + return Eigen_matrix(M0.eigen_object() * M1.eigen_object()); + } + + friend Eigen_matrix operator+(const Eigen_matrix& M0, const Eigen_matrix& M1) + { + return Eigen_matrix(M0.eigen_object() + M1.eigen_object()); + } + /// \endcond }; } //namespace CGAL -#endif // CGAL_EIGEN_MATRIX_H +#endif // CGAL_SOLVER_INTERFACE_EIGEN_MATRIX_H From 6923b144f8f7e9da7013a1d1905c7772eda74a04 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 18:49:22 +0100 Subject: [PATCH 070/150] Add optimal bounding box traits concept --- .../Concepts/OptimalBoundingBoxTraits.h | 37 +++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h new file mode 100644 index 00000000000..8fcb42b3bc2 --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h @@ -0,0 +1,37 @@ +namespace CGAL { + +/*! +\ingroup PkgOptimalBoundingBoxConcepts +\cgalConcept + +The concept `OptimalBoundingBoxTraits` describes the requirements of the traits class +used in the function `CGAL::optimal_bounding_box()`, and in particular the need for +a 3x3 matrix type with a number of supporting functions (determinant and transposed matrix +computations, etc.). + +\cgalRefines `Kernel` + +\cgalHasModel `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` + +*/ +class OptimalBoundingBoxTraits +{ +public: + /// The field number type; must be a model of the concept `FieldNumberType`. + typedef unspecified_type FT; + + /// A 3x3 matrix type; must be a model of the concept `SvdTraits::Matrix` and support + /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. + typedef unspecified_type Matrix; + + /// Returns the transpose of a matrix. + Matrix transpose(const Matrix& mat) const; + + /// Returns the determinant of a matrix. + FT determinant(const Matrix& matrix) const; + + /// Returns the unary matrix Q obtained in the QR decompoisiton of the matrix `A`. + Matrix qr_factorization(const Matrix& A) const; +}; + +} // namespace CGAL From db943b3b6fe328389bb155fd6ee03e1be47e6811 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Dec 2019 18:54:46 +0100 Subject: [PATCH 071/150] Doc changes --- .../Concepts/OptimalBoundingBoxTraits.h | 8 ++++---- .../Optimal_bounding_box/PackageDescription.txt | 2 +- .../Optimal_bounding_box_traits.h | 6 +++--- .../Optimal_bounding_box/internal/evolution.h | 4 ++-- .../internal/nelder_mead_functions.h | 8 ++++---- .../Optimal_bounding_box/internal/population.h | 2 +- .../include/CGAL/optimal_bounding_box.h | 15 +++++++++------ .../test_linear_algebra_functions.cpp | 8 ++++---- .../test_optimization_algorithms.cpp | 6 +++--- 9 files changed, 31 insertions(+), 28 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h index 8fcb42b3bc2..e41a29d0e4b 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h @@ -18,20 +18,20 @@ class OptimalBoundingBoxTraits { public: /// The field number type; must be a model of the concept `FieldNumberType`. - typedef unspecified_type FT; + typedef unspecified_type FT; /// A 3x3 matrix type; must be a model of the concept `SvdTraits::Matrix` and support /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. - typedef unspecified_type Matrix; + typedef unspecified_type Matrix; /// Returns the transpose of a matrix. Matrix transpose(const Matrix& mat) const; /// Returns the determinant of a matrix. - FT determinant(const Matrix& matrix) const; + FT compute_determinant(const Matrix& matrix) const; /// Returns the unary matrix Q obtained in the QR decompoisiton of the matrix `A`. - Matrix qr_factorization(const Matrix& A) const; + Matrix get_Q(const Matrix& A) const; }; } // namespace CGAL diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index 156f50dc13e..dfa00bd717d 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -20,7 +20,7 @@ \cgalPkgSummaryEnd \cgalPkgShortInfoBegin \cgalPkgSince{5.1} -\cgalPkgDependsOn{documented for each function;} +\cgalPkgDependsOn{\ref PkgConvexHull3} \cgalPkgBib{cgal:obb} \cgalPkgLicense{\ref licensesGPL "GPL"} \cgalPkgDemo{Polyhedron demo, polyhedron_3.zip} diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h index a570cdc2412..9d06fc69ab6 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h @@ -61,17 +61,17 @@ public: } /// Get the determinant of a matrix - FT determinant(const Matrix& matrix) const + FT compute_determinant(const Matrix& matrix) const { return matrix.eigen_object().determinant(); } /// Performs QR decomposition of matrix A to a unitary matrix and an upper triagonal /// and returns the unitary matrix. - Matrix qr_factorization(const Matrix& A) const + Matrix get_Q(const Matrix& A) const { Eigen::HouseholderQR qr(A.eigen_object()); - CGAL_assertion(CGAL::abs(determinant(Matrix(EigenType(qr.householderQ()))) - 1.) < 0.000001); + CGAL_assertion(CGAL::abs(compute_determinant(Matrix(EigenType(qr.householderQ()))) - 1.) < 0.000001); return Matrix(EigenType(qr.householderQ())); } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index cc1bd28350a..cfd1b4b590e 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -129,7 +129,7 @@ public: new_vertex.set(2, 1, lambda * lm(2, 1) + rambda * rm(2, 1)); new_vertex.set(2, 2, lambda * lm(2, 2) + rambda * rm(2, 2)); - offspring[j] = m_traits.qr_factorization(new_vertex); + offspring[j] = m_traits.get_Q(new_vertex); } new_simplices[first_group_size + i] = std::move(offspring); @@ -177,7 +177,7 @@ public: //pop.show_population(); //std::cout << std::endl; const Matrix& R_now = fitness_map.get_best(); - std::cout << "det = " << m_traits.determinant(R_now) << std::endl; + std::cout << "det = " << m_traits.compute_determinant(R_now) << std::endl; #endif new_fit_value = fitness_map.get_best_fitness_value(); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index 8f080095320..b6966b71940 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -61,8 +61,8 @@ Matrix mean(const Matrix& m1, CGAL_assertion(m2.number_of_rows() == 3 && m2.number_of_columns() == 3); const Matrix reduction = 0.5 * m1 + 0.5 * m2; - const Matrix Q = traits.qr_factorization(reduction); - const typename Traits::FT det = traits.determinant(Q); + const Matrix Q = traits.get_Q(reduction); + const typename Traits::FT det = traits.compute_determinant(Q); return (1. / det) * Q; } @@ -74,8 +74,8 @@ const Matrix nm_centroid(const Matrix& S1, const Traits& traits) { const Matrix mean = (1./3.) * (S1 + S2 + S3); - const Matrix Q = traits.qr_factorization(mean); - const typename Traits::FT det = traits.determinant(Q); + const Matrix Q = traits.get_Q(mean); + const typename Traits::FT det = traits.compute_determinant(Q); return (1. / det) * Q; } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h index 640b4423a71..1244c289230 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h @@ -54,7 +54,7 @@ private: { Simplex simplex; for(std::size_t i=0; i<4; ++i) - simplex[i] = m_traits.qr_factorization(create_vertex(rng)); + simplex[i] = m_traits.get_Q(create_vertex(rng)); return simplex; } diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index 72243171163..63ceaa998a4 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -160,12 +160,13 @@ void construct_optimal_bounding_box(std::array& obb /// /// constructs a rectangular box that contains all the input points. This bounding box /// is obtained via an optimization process aiming to get a close approximation of the -/// optimal bounding box. +/// optimal bounding box, which is defined as the smallest (in terms of volume) +/// of all the rectangular boxes containing the input points. /// /// \tparam PointRange a model of `Range` with value type `Point` /// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" /// -/// \param points the input points that the optimal bounding box will contain +/// \param points the input points /// \param obb_points the eight points of the resulting englobing box. /// The order of points is the same as in the function `CGAL::make_hexahedron()` /// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: @@ -179,7 +180,7 @@ void construct_optimal_bounding_box(std::array& obb /// \cgalParamBegin{geom_traits} /// a geometric traits class instance, model of the concept `OptimalBoundingBoxTraits`. %Default is /// `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` where `K` is deduced -/// from the point type, which must be compatible with `CGAL::Kernel_traits`. +/// from the point type, which must then be compatible with `CGAL::Kernel_traits`. /// \cgalParamEnd /// \cgalParamBegin{use_convex_hull} /// a Boolean value to indicate whether the algorithm should first extract the so-called extreme @@ -189,6 +190,8 @@ void construct_optimal_bounding_box(std::array& obb /// \cgalParamEnd /// \cgalNamedParamsEnd /// +/// \pre the value type of `PointRange` is `Point` +/// template @@ -250,14 +253,14 @@ void optimal_bounding_box(const PointRange& points, /// /// constructs a rectangular box that contains the input mesh. This bounding box /// is obtained via an optimization process aiming to get a close approximation of the -/// optimal bounding box. +/// optimal bounding box, which is defined as the smallest (in terms of volume) +/// of all the rectangular boxes containing the input mesh. /// /// \tparam PolygonMesh a model of `FaceListGraph` /// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" /// /// \param pmesh the input mesh -/// \param obb_mesh the eight points of the resulting englobing box. -/// The order of points is the same as in the function `CGAL::make_hexahedron()` +/// \param obb_mesh the resulting enclosing bounding box (an hexahedron) /// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: /// /// \cgalNamedParamsBegin diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp index 5ae7753271f..9482f15ff49 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp @@ -9,7 +9,7 @@ bool assert_doubles(double d1, double d2, double epsilon) return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; } -void test_qr_factorization() +void test_get_Q() { typedef CGAL::Eigen_dense_matrix Mat; Mat A(3, 3); @@ -23,7 +23,7 @@ void test_qr_factorization() A.set_coef(2, 1, 0.0202949); A.set_coef(2, 2, 0.9240308); - CGAL_assertion_code(Mat Q = CGAL::Eigen_linear_algebra_traits::qr_factorization(A)); + CGAL_assertion_code(Mat Q = CGAL::Eigen_linear_algebra_traits::get_Q(A)); CGAL_assertion_code(double epsilon = 1e-6); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); @@ -243,7 +243,7 @@ void test_eigen_matrix_interface() C.set_coef(2, 1, 0.0202949); C.set_coef(2, 2, 0.9240308); - CGAL_assertion_code(Matrix Q = CGAL::Eigen_linear_algebra_traits::qr_factorization(C)); + CGAL_assertion_code(Matrix Q = CGAL::Eigen_linear_algebra_traits::get_Q(C)); CGAL_assertion_code(double epsilon = 1e-5); CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); @@ -291,7 +291,7 @@ void test_eigen_matrix_interface() int main() { - test_qr_factorization(); + test_get_Q(); test_fitness_function(); test_simplex_operations(); test_centroid(); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index fd8eb60b8f0..7284bbc5fe3 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -208,7 +208,7 @@ void test_random_unit_tetra() Matrix R = evolution.get_best(); const double epsilon = 1e-3; - assert(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); + assert(assert_doubles(Linear_algebra_traits::compute_determinant(R), 1, epsilon)); assert(assert_doubles(R(0,0), -0.25791, epsilon)); assert(assert_doubles(R(0,1), 0.796512, epsilon)); assert(assert_doubles(R(0,2), -0.546855, epsilon)); @@ -249,7 +249,7 @@ void test_reference_tetrahedron(const char* fname) Matrix R = experiment.get_best(); double epsilon = 1e-5; - assert(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); + assert(assert_doubles(Linear_algebra_traits::compute_determinant(R), 1, epsilon)); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST // postprocessing @@ -282,7 +282,7 @@ void test_long_tetrahedron(const std::string fname) Matrix R = experiment.get_best(); double epsilon = 1e-3; - assert(assert_doubles(Linear_algebra_traits::determinant(R), 1, epsilon)); + assert(assert_doubles(Linear_algebra_traits::compute_determinant(R), 1, epsilon)); assert(assert_doubles(R(0,0), -1, epsilon)); assert(assert_doubles(R(0,1), 0, epsilon)); assert(assert_doubles(R(0,2), 0, epsilon)); From 4f56fdff8ebe1ef52aacc7671011a70b767b7976 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 08:18:53 +0100 Subject: [PATCH 072/150] Minor addition to the SVD::Matrix concept --- Solver_interface/doc/Solver_interface/Concepts/SvdTraits.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Solver_interface/doc/Solver_interface/Concepts/SvdTraits.h b/Solver_interface/doc/Solver_interface/Concepts/SvdTraits.h index d6f9b934330..7811be49788 100644 --- a/Solver_interface/doc/Solver_interface/Concepts/SvdTraits.h +++ b/Solver_interface/doc/Solver_interface/Concepts/SvdTraits.h @@ -86,6 +86,9 @@ public: \cgalConcept Concept of matrix type used by the concept `SvdTraits`. +\cgalRefines `DefaultConstructible` +\cgalRefines `Assignable` + \cgalHasModel `CGAL::Eigen_matrix` */ class SvdTraits::Matrix From 0ae811604ac61d88481ce22ed0b2ff8a4d5bc2ac Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 13:32:55 +0100 Subject: [PATCH 073/150] Update code/doc after pre-review --- .../Concepts/OptimalBoundingBoxTraits.h | 37 -- .../Concepts/OrientedBoundingBoxTraits.h | 45 +++ .../Optimal_bounding_box/NamedParameters.txt | 2 +- .../PackageDescription.txt | 9 +- .../Optimal_bounding_box/obb_example.cpp | 18 +- ...raits.h => Oriented_bounding_box_traits.h} | 29 +- .../Optimal_bounding_box/internal/evolution.h | 17 +- .../internal/fitness_function.h | 4 +- .../oriented_bounding_box.h | 370 ++++++++++++++++++ .../include/CGAL/optimal_bounding_box.h | 322 +-------------- 10 files changed, 477 insertions(+), 376 deletions(-) delete mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{Optimal_bounding_box_traits.h => Oriented_bounding_box_traits.h} (70%) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h deleted file mode 100644 index e41a29d0e4b..00000000000 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OptimalBoundingBoxTraits.h +++ /dev/null @@ -1,37 +0,0 @@ -namespace CGAL { - -/*! -\ingroup PkgOptimalBoundingBoxConcepts -\cgalConcept - -The concept `OptimalBoundingBoxTraits` describes the requirements of the traits class -used in the function `CGAL::optimal_bounding_box()`, and in particular the need for -a 3x3 matrix type with a number of supporting functions (determinant and transposed matrix -computations, etc.). - -\cgalRefines `Kernel` - -\cgalHasModel `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` - -*/ -class OptimalBoundingBoxTraits -{ -public: - /// The field number type; must be a model of the concept `FieldNumberType`. - typedef unspecified_type FT; - - /// A 3x3 matrix type; must be a model of the concept `SvdTraits::Matrix` and support - /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. - typedef unspecified_type Matrix; - - /// Returns the transpose of a matrix. - Matrix transpose(const Matrix& mat) const; - - /// Returns the determinant of a matrix. - FT compute_determinant(const Matrix& matrix) const; - - /// Returns the unary matrix Q obtained in the QR decompoisiton of the matrix `A`. - Matrix get_Q(const Matrix& A) const; -}; - -} // namespace CGAL diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h new file mode 100644 index 00000000000..5c8ed9ecda9 --- /dev/null +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -0,0 +1,45 @@ +namespace CGAL { + +/*! +\ingroup PkgOrientedBoundingBoxConcepts +\cgalConcept + +The concept `OrientedBoundingBoxTraits` describes the requirements of the traits class +used in the function `CGAL::oriented_bounding_box()`, and in particular the need for +a 3x3 matrix type with a number of supporting functions (determinant and transposed matrix +computations, etc.). + +\cgalRefines `Kernel` + +\cgalHasModel `CGAL::Oriented_bounding_box_traits` + +*/ +class OrientedBoundingBoxTraits +{ +public: + /// The field number type; must be a model of the concept `FieldNumberType`. + typedef unspecified_type FT; + + /// The 3D point type; must be model of `Point_3` + typedef unspecified_type Point_3; + + /// A construction object that must provide the function operator: + /// `CGAL::Bbox_3 operator()(const Point_3&)`, + /// which returns an axis-aligned bounding that contains the point + typedef unspecified_type Construct_bbox_3; + + /// A 3x3 matrix type; model of the concept `SvdTraits::Matrix` and which supports + /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. + typedef unspecified_type Matrix; + + /// Returns the transpose of a matrix. + Matrix transpose(const Matrix& mat) const; + + /// Returns the determinant of a matrix. + FT compute_determinant(const Matrix& matrix) const; + + /// Returns the unary matrix Q obtained in the QR decomposition of the matrix `A`. + Matrix get_Q(const Matrix& A) const; +}; + +} // namespace CGAL diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt index 68fed836345..3ef83f1f9ae 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt @@ -45,7 +45,7 @@ is the geometric traits instance in which the mesh processing operation should b \cgalNPEnd \cgalNPBegin{use_convex_hull} \anchor OBB_use_convex_hull -Parameter used in optimal bounding box construction to indicate whether the algorithm should +Parameter used in the construction of oriented bounding box to indicate whether the algorithm should first extract the extreme points (points that are on the 3D convex hull) of the input data range to accelerate the computation of the bounding box. \n diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index dfa00bd717d..e5b5e9f4b5c 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -9,6 +9,9 @@ /// \defgroup PkgOptimalBoundingBoxFunctions Optimal Bounding Box Methods /// \ingroup PkgOptimalBoundingBoxRef +/// \defgroup PkgOptimalBoundingBox_Oriented_bounding_box Oriented Bounding Box Methods +/// \ingroup PkgOptimalBoundingBoxFunctions + /*! \addtogroup PkgOptimalBoundingBoxRef \cgalPkgDescriptionBegin{Optimal Bounding Box,PkgOptimalBoundingBox} @@ -37,14 +40,14 @@ that are used in this package. \cgalCRPSection{Concepts} -- `CGAL::OptimalBoundingBoxTraits` +- `CGAL::OrientedBoundingBoxTraits` \cgalCRPSection{Classes} -- `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` +- `CGAL::Oriented_bounding_box_traits` \cgalCRPSection{Methods} -- `CGAL::optimal_bounding_box()` +- \link PkgOptimalBoundingBox_Oriented_bounding_box `CGAL::oriented_bounding_box()` \endlink */ diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index 0f57de2d168..9cf1ddfd825 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -4,12 +4,14 @@ #include #include +#include #include #include typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point; +typedef K::Aff_transformation_3 Aff_transformation; typedef CGAL::Surface_mesh Surface_mesh; int main(int argc, char** argv) @@ -22,9 +24,21 @@ int main(int argc, char** argv) return EXIT_FAILURE; } - // test one + Aff_transformation aff; + + // API test + CGAL::Real_timer timer; + timer.start(); + + std::array obb_points; + CGAL::oriented_bounding_box(sm, obb_points); + + std::cout << "Elapsed time: " << timer.time() << std::endl; + + // Make a mesh out of the oriented bounding box Surface_mesh obb_sm; - CGAL::optimal_bounding_box(sm, obb_sm); + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], obb_sm); std::ofstream("obb.off") << obb_sm; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h similarity index 70% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h index 9d06fc69ab6..63e5bae7ec4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Optimal_bounding_box_traits.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h @@ -21,29 +21,36 @@ #endif namespace CGAL { -namespace Optimal_bounding_box { #if defined(CGAL_EIGEN3_ENABLED) || defined(DOXYGEN_RUNNING) /// \ingroup PkgOptimalBoundingBoxClasses /// -/// The class `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` is a traits type -/// to be used with the functions `CGAL::optimal_bounding_box()`. +/// The class `CGAL::Oriented_bounding_box_traits` is a traits type +/// to be used with the functions `CGAL::oriented_bounding_box()`. /// It uses the third party library \ref thirdpartyEigen "Eigen", which must therefore /// be available on the system for this class to be used. /// /// \tparam K must be a model of `Kernel` /// -/// \cgalModels `OptimalBoundingBoxTraits` +/// \cgalModels `OrientedBoundingBoxTraits` /// template -class Optimal_bounding_box_traits - : public K +class Oriented_bounding_box_traits { public: /// The field number type typedef typename K::FT FT; + /// The point type + typedef typename K::Point_3 Point_3; + + /// The affine transformation type + typedef typename K::Aff_transformation_3 Aff_transformation_3; + + /// The axis-aligned bounding box construction object + typedef typename K::Construct_bbox_3 Construct_bbox_3; + /// The matrix type typedef CGAL::Eigen_matrix Matrix; @@ -52,15 +59,18 @@ private: public: /// Constructor from the base kernel - explicit Optimal_bounding_box_traits(const K& k = K()) : K(k) { } + explicit Oriented_bounding_box_traits() { } - /// Get the transpose of a matrix + /// Offers `construct_bbox_3_object()(const Point_3&)` + Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } + + /// Returns the transpose of a matrix Matrix transpose(const Matrix& mat) const { return Matrix(mat.eigen_object().transpose()); } - /// Get the determinant of a matrix + /// Returns the determinant of a matrix FT compute_determinant(const Matrix& matrix) const { return matrix.eigen_object().determinant(); @@ -78,7 +88,6 @@ public: }; #endif // defined(CGAL_EIGEN3_ENABLED) || defined(DOXYGEN_RUNNING) -} // namespace Optimal_bounding_box } // namespace CGAL #endif // CGAL_OPTIMAL_BOUNDING_BOX_BOUNDING_BOX_TRAITS_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index cfd1b4b590e..b8c0ecae405 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -49,7 +49,7 @@ public: const Traits& traits) : m_population(traits), - m_rng(rng), // @todo just a parameter of genetic_algorithm() ? + m_rng(rng), m_points(points), m_traits(traits) { } @@ -144,12 +144,12 @@ public: const std::size_t population_size = 50; // hardcoded nelder_mead_iterations - const std::size_t nelder_mead_iterations = 20; + const std::size_t nelder_mead_iterations = 150; // stopping criteria prameters double prev_fit_value = 0.; double new_fit_value = 0.; - const double tolerance = 1e-2; + const double tolerance = 1e-9; int stale = 0; for(std::size_t t=0; t= 3); FT xmin, ymin, zmin, xmax, ymax, zmax; - xmin = ymin = zmin = std::numeric_limits::max(); - xmax = ymax = zmax = std::numeric_limits::lowest(); + xmin = ymin = zmin = FT(std::numeric_limits::max()); + xmax = ymax = zmax = FT(std::numeric_limits::lowest()); for(const Point& pt : points) { diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h new file mode 100644 index 00000000000..2f2771d3a8e --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -0,0 +1,370 @@ +// Copyright (c) 2018-2019 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : Mael Rouxel-Labbé +// +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_ORIENTED_BOUNDING_BOX_H +#define CGAL_OPTIMAL_BOUNDING_BOX_ORIENTED_BOUNDING_BOX_H + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS +#include +#endif + +#include +#include +#include +#include +#include + +#ifdef DOXYGEN_RUNNING +#define CGAL_BGL_NP_TEMPLATE_PARAMETERS NamedParameters +#define CGAL_BGL_NP_CLASS NamedParameters +#endif + +namespace CGAL { +namespace Optimal_bounding_box { +namespace internal { + +template +void construct_oriented_bounding_box(std::array& obb_points, + const typename Traits::Aff_transformation_3& transformation, + const typename Traits::Aff_transformation_3& inverse_transformation, + const PointRange& points, + const Traits& traits) +{ + typedef typename Traits::FT FT; + typedef typename Traits::Point_3 Point; + + // Construct the bbox of the transformed point set + CGAL::Bbox_3 bbox; + for(const Point& pt : points) + { + const Point rotated_pt = transformation.transform(pt); + bbox += traits.construct_bbox_3_object()(rotated_pt); + } + + obb_points[0] = Point(bbox.xmin(), bbox.ymin(), bbox.zmin()); + obb_points[1] = Point(bbox.xmax(), bbox.ymin(), bbox.zmin()); + obb_points[2] = Point(bbox.xmax(), bbox.ymax(), bbox.zmin()); + obb_points[3] = Point(bbox.xmin(), bbox.ymax(), bbox.zmin()); + + obb_points[4] = Point(bbox.xmin(), bbox.ymax(), bbox.zmax()); // see order in make_hexahedron()... + obb_points[5] = Point(bbox.xmin(), bbox.ymin(), bbox.zmax()); + obb_points[6] = Point(bbox.xmax(), bbox.ymin(), bbox.zmax()); + obb_points[7] = Point(bbox.xmax(), bbox.ymax(), bbox.zmax()); + + // Apply the inverse rotation to the rotated axis aligned bounding box + for(std::size_t i=0; i<8; ++i) + obb_points[i] = inverse_transformation.transform(obb_points[i]); +} + +template +void compute_best_transformation(typename Traits::Aff_transformation_3& transformation, + typename Traits::Aff_transformation_3& inverse_transformation, + const PointRange& points, + CGAL::Random& rng, + const Traits& traits) +{ + typedef typename Traits::Matrix Matrix; + typedef typename Traits::Aff_transformation_3 Aff_transformation_3; + + const std::size_t max_generations = 50; // @todo hidden NP + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS + CGAL::Real_timer timer; + timer.start(); +#endif + + Evolution search_solution(points, rng, traits); + search_solution.evolve(max_generations); + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS + std::cout << "evolve: " << timer.time() << std::endl; + timer.reset(); +#endif + + const Matrix& rot = search_solution.get_best(); + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS + std::cout << "get best: " << timer.time() << std::endl; +#endif + + transformation = Aff_transformation_3(rot(0, 0), rot(0, 1), rot(0, 2), + rot(1, 0), rot(1, 1), rot(1, 2), + rot(2, 0), rot(2, 1), rot(2, 2)); + + // inverse transformation is simply the transposed since the matrix is unary + inverse_transformation = Aff_transformation_3(rot(0, 0), rot(1, 0), rot(2, 0), + rot(0, 1), rot(1, 1), rot(2, 1), + rot(0, 2), rot(1, 2), rot(2, 2)); +} + +// Following two functions are overload to dispatch depending on return type +template +void construct_oriented_bounding_box(typename Traits::Aff_transformation_3& transformation, + const PointRange& points, + CGAL::Random& rng, + const Traits& traits) +{ + typename Traits::Aff_transformation_3 inverse_transformation; + compute_best_transformation(transformation, inverse_transformation, points, rng, traits); +} + +template +void construct_oriented_bounding_box(std::array& obb_points, + const PointRange& points, + CGAL::Random& rng, + const Traits& traits) +{ + typename Traits::Aff_transformation_3 transformation, inverse_transformation; + compute_best_transformation(transformation, inverse_transformation, points, rng, traits); + + construct_oriented_bounding_box(obb_points, transformation, inverse_transformation, points, traits); +} + +// Entry point, decide whether to compute the CH_3 or not +template +void construct_oriented_bounding_box(Output& output, + const bool use_ch, + const PointRange& points, + CGAL::Random& rng, + const Traits& traits) +{ + typedef typename Traits::Matrix Matrix; + typedef typename Traits::Point_3 Point; + + CGAL_static_assertion((std::is_same::type, Point>::value)); + + if(use_ch) // construct the convex hull to reduce the number of points + { + std::vector ch_points; + extreme_points_3(points, std::back_inserter(ch_points)); + std::cout << "points on CH: " << ch_points.size() << std::endl; + return construct_oriented_bounding_box(output, ch_points, rng, traits); + } + else + { + return construct_oriented_bounding_box(output, points, rng, traits); + } +} + +} // namespace Optimal_bounding_box +} // namespace internal + +/// \addtogroup PkgOptimalBoundingBox_Oriented_bounding_box +/// +/// The function `oriented_bounding_box` computes an approximation of the optimal bounding box, +/// which is defined as the rectangular box with smallest volume of all the rectangular boxes containing +/// the input points. +/// +/// Internally, the algorithm uses an optimization process to find a transformation (rotation) +/// \f$ {\mathcal R}_b\f$ such that the axis-aligned box of the rotated input point set +/// has a volume that is as small as possible. +/// +/// \cgalHeading{Input} +/// +/// The input can be either a range of points, or a polygon mesh. +/// +/// \cgalHeading{Output} +/// +/// The result of the algorithm can be obtained as either: +/// - the best affine transformation (\f$ {\mathcal R}_b\f$) that the algorithm has found; +/// - an array of eight points, representing the best oriented bounding box (\f$ {\mathcal B}_b\f$) +/// that the algorithm has constructed, which is related to (\f$ {\mathcal R}_b\f$) as it is +/// the inverse transformation of the axis-aligned bounding box of the transformed point set. +/// The order of the points in the array is the same as in the function +/// \link PkgBGLHelperFct `CGAL::make_hexahedron()` \endlink, +/// which is a useful function to construct a mesh from these points. +/// +/// Note that when returning an array of points, these points are constructed from the axis-aligned +/// bounding box and some precision loss should be expected if a kernel not providing exact constructions +/// is used. + +/// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box +/// +/// See above. +/// +/// \tparam PointRange a model of `Range` +/// \tparam Output `std::array` with `Point` being equivalent to the traits' `Point_3` type, +/// or `CGAL::Affine_transformation_3` with `K` being a kernel compatible with the point type. +/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +/// +/// \param points the input points +/// \param out the resulting array of points or affine transformation +/// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: +/// +/// \cgalNamedParamsBegin +/// \cgalParamBegin{vertex_point_map} +/// the property map with the points associated to the vertices of `pmesh`. +/// If this parameter is omitted, an internal property map for +/// `CGAL::vertex_point_t` must be available in `PolygonMesh` +/// \cgalParamEnd +/// \cgalParamBegin{geom_traits} +/// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits`. +/// %Default is `CGAL::Oriented_bounding_box_traits` where `K` is deduced from the point type. +/// \cgalParamEnd +/// \cgalParamBegin{use_convex_hull} +/// a Boolean value to indicate whether the algorithm should first extract the so-called extreme +/// points of the data range (i.e. construct the convex hull) to reduce the input data range +/// and accelerate the algorithm. %Default is `true`. +/// \cgalParamEnd +/// \cgalNamedParamsEnd +/// +template +void oriented_bounding_box(const PointRange& points, + Output& out, + const CGAL_BGL_NP_CLASS& np, +#ifndef DOXYGEN_RUNNING + typename boost::enable_if< + typename boost::has_range_iterator + >::type* = 0 +#endif + ) +{ + using CGAL::parameters::choose_parameter; + using CGAL::parameters::get_parameter; + +#if defined(CGAL_EIGEN3_ENABLED) + typedef typename boost::range_value::type Point; + typedef typename CGAL::Kernel_traits::type K; + typedef Oriented_bounding_box_traits Default_traits; +#else + typedef void Default_traits; +#endif + + typedef typename internal_np::Lookup_named_param_def::type Geom_traits; + + CGAL_static_assertion_msg(!(std::is_same::value), + "You must provide a traits class or have Eigen enabled!"); + + Geom_traits traits = choose_parameter(get_parameter(np, internal_np::geom_traits), Geom_traits()); + + const bool use_ch = choose_parameter(get_parameter(np, internal_np::use_convex_hull), true); + const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); // undocumented + + CGAL::Random rng(seed); + + // @todo handle those cases instead + CGAL_assertion(points.size() >= 3); + if(points.size() <= 3) + { + std::cerr << "The oriented bounding box cannot YET be computed for a mesh with fewer than 4 vertices!\n"; + return; + } + + return Optimal_bounding_box::internal::construct_oriented_bounding_box(out, use_ch, points, rng, traits); +} + +/// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box +/// +/// Extracts the vertices of the mesh as a point range and calls the other overload. +/// +/// \tparam PolygonMesh a model of `VertexListGraph` +/// \tparam Output `std::array` with `Point` being equivalent to the traits' `Point_3` type, +/// or `CGAL::Affine_transformation_3` with `K` being a kernel compatible with the point type. +/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +/// +/// \param pmesh the input mesh +/// \param out the resulting array of points or affine transformation +/// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: +/// +/// \cgalNamedParamsBegin +/// \cgalParamBegin{vertex_point_map} +/// the property map with the points associated to the vertices of `pmesh`. +/// If this parameter is omitted, an internal property map for +/// `CGAL::vertex_point_t` must be available in `PolygonMesh` +/// \cgalParamEnd +/// \cgalParamBegin{geom_traits} +/// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits`. +/// %Default is `CGAL::Oriented_bounding_box_traits` where `K` is deduced from the point type. +/// \cgalParamEnd +/// \cgalParamBegin{use_convex_hull} +/// a Boolean value to indicate whether the algorithm should first extract the so-called extreme +/// points of the data range (i.e. construct the convex hull) to reduce the input data range +/// and accelerate the algorithm. %Default is `true`. +/// \cgalParamEnd +/// \cgalNamedParamsEnd +/// +template +void oriented_bounding_box(const PolygonMesh& pmesh, + Output& out, + const CGAL_BGL_NP_CLASS& np, +#ifndef DOXYGEN_RUNNING + typename boost::disable_if< + typename boost::has_range_iterator + >::type* = 0 +#endif + ) +{ + namespace PMP = CGAL::Polygon_mesh_processing; + + using CGAL::parameters::choose_parameter; + using CGAL::parameters::get_parameter; + + typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; + + typedef typename PMP::GetVertexPointMap::const_type VPM; + typedef typename boost::property_traits::value_type Point; + + VPM vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), + get_const_property_map(vertex_point, pmesh)); + + std::vector points; + points.reserve(num_vertices(pmesh)); + + for(vertex_descriptor v : vertices(pmesh)) + points.push_back(get(vpm, v)); + + oriented_bounding_box(points, out, np); +} + +/// \cond SKIP_IN_MANUAL + +/////////////////////////////////////////////////////////////////////////////////////////////////// +/// Convenience overloads +///////////////////////////////////////////////////////////////////////////////////////////////// + +template +void oriented_bounding_box(const InputData& data, + OutputType& out) +{ + return oriented_bounding_box(data, out, CGAL::parameters::all_default()); +} + +/// \endcond + +} // end namespace CGAL + +#endif // CGAL_OPTIMAL_BOUNDING_BOX_ORIENTED_BOUNDING_BOX_H diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index 63ceaa998a4..c4c1a33affe 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -14,321 +14,13 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_OBB_H #define CGAL_OPTIMAL_BOUNDING_BOX_OBB_H -#include +/** +* \ingroup PkgOptimalBoundingBoxRef +* \file CGAL/optimal_bounding_box.h +* Convenience header file including the headers for all the free functions of this package. +*/ -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS -#include -#endif - -#include -#include -#include -#include -#include - -#ifdef DOXYGEN_RUNNING -#define CGAL_BGL_NP_TEMPLATE_PARAMETERS NamedParameters -#define CGAL_BGL_NP_CLASS NamedParameters -#endif - -namespace CGAL { -namespace Optimal_bounding_box { -namespace internal { - -// works on matrices only -template -void post_processing(const typename Traits::Matrix& R, - std::array& obb, - const PointRange& points, - const Traits& traits) -{ - typedef typename Traits::FT FT; - typedef typename Traits::Point_3 Point; - typedef typename Traits::Matrix Matrix; - - CGAL_assertion(R.number_of_rows() == 3 && R.number_of_columns() == 3); - - const Matrix Rt = traits.transpose(R); - - CGAL::Bbox_3 bbox; - for(const Point& pt : points) - { - // @fixme should it be R here Rt at the other one... ? - const FT x = pt.x(), y = pt.y(), z = pt.z(); - Point rotated_pt(x*R(0, 0) + y*R(0, 1) + z*R(0, 2), - x*R(1, 0) + y*R(1, 1) + z*R(1, 2), - x*R(2, 0) + y*R(2, 1) + z*R(2, 2)); - - bbox += traits.construct_bbox_3_object()(rotated_pt); - } - - // @todo could avoid building a cuboid - typename Traits::Iso_cuboid_3 ic(bbox); - - // 3) apply inverse rotation to rotated AABB - for(std::size_t i = 0; i<8; ++i) - { - const FT x = ic[i].x(), y = ic[i].y(), z = ic[i].z(); - obb[i] = Point(x*Rt(0, 0) + y*Rt(0, 1) + z*Rt(0, 2), - x*Rt(1, 0) + y*Rt(1, 1) + z*Rt(1, 2), - x*Rt(2, 0) + y*Rt(2, 1) + z*Rt(2, 2)); - } -} - -template -void construct_optimal_bounding_box(std::array& obb_points, - const PointRange& points, - CGAL::Random& rng, - const Traits& traits) -{ - typedef typename Traits::Matrix Matrix; - - const std::size_t max_generations = 100; - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - CGAL::Real_timer timer; - timer.start(); -#endif - - Evolution search_solution(points, rng, traits); - search_solution.evolve(max_generations); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - std::cout << "evolve: " << timer.time() << std::endl; - timer.reset(); -#endif - - const Matrix& rotation = search_solution.get_best(); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - std::cout << "get best: " << timer.time() << std::endl; - timer.reset(); -#endif - - post_processing(rotation, obb_points, points, traits); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS - std::cout << "post-processing: " << timer.time() << std::endl; -#endif -} - -template -void construct_optimal_bounding_box(std::array& obb_points, - const bool use_ch, - const PointRange& points, - CGAL::Random& rng, - const Traits& traits) -{ - typedef typename Traits::Matrix Matrix; - typedef typename Traits::Point_3 Point; - - CGAL_static_assertion((std::is_same::type, Point>::value)); - - if(use_ch) // construct the convex hull to reduce the number of points - { - std::vector ch_points; - extreme_points_3(points, std::back_inserter(ch_points)); - return construct_optimal_bounding_box(obb_points, ch_points, rng, traits); - } - else - { - return construct_optimal_bounding_box(obb_points, points, rng, traits); - } -} - -} // namespace Optimal_bounding_box -} // namespace internal - -/// \ingroup PkgOptimalBoundingBoxFunctions -/// -/// constructs a rectangular box that contains all the input points. This bounding box -/// is obtained via an optimization process aiming to get a close approximation of the -/// optimal bounding box, which is defined as the smallest (in terms of volume) -/// of all the rectangular boxes containing the input points. -/// -/// \tparam PointRange a model of `Range` with value type `Point` -/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" -/// -/// \param points the input points -/// \param obb_points the eight points of the resulting englobing box. -/// The order of points is the same as in the function `CGAL::make_hexahedron()` -/// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: -/// -/// \cgalNamedParamsBegin -/// \cgalParamBegin{vertex_point_map} -/// the property map with the points associated to the vertices of `pmesh`. -/// If this parameter is omitted, an internal property map for -/// `CGAL::vertex_point_t` must be available in `PolygonMesh` -/// \cgalParamEnd -/// \cgalParamBegin{geom_traits} -/// a geometric traits class instance, model of the concept `OptimalBoundingBoxTraits`. %Default is -/// `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` where `K` is deduced -/// from the point type, which must then be compatible with `CGAL::Kernel_traits`. -/// \cgalParamEnd -/// \cgalParamBegin{use_convex_hull} -/// a Boolean value to indicate whether the algorithm should first extract the so-called extreme -/// points of the data range (i.e. construct the convex hull) to reduce the input data range -/// and accelerate the algorithm. The optimal value of this parameter will depend on the data -/// as it is a balance between two costs. %Default is `true`. -/// \cgalParamEnd -/// \cgalNamedParamsEnd -/// -/// \pre the value type of `PointRange` is `Point` -/// -template -void optimal_bounding_box(const PointRange& points, - std::array& obb_points, - const CGAL_BGL_NP_CLASS& np) -{ - using CGAL::parameters::choose_parameter; - using CGAL::parameters::get_parameter; - -#if defined(CGAL_EIGEN3_ENABLED) - typedef typename CGAL::Kernel_traits::type K; - typedef Optimal_bounding_box::Optimal_bounding_box_traits Default_traits; -#else - typedef void Default_traits; -#endif - - typedef typename internal_np::Lookup_named_param_def::type Geom_traits; - - CGAL_static_assertion_msg(!(std::is_same::value), - "You must provide a traits class or have Eigen enabled!"); - - Geom_traits traits = choose_parameter(get_parameter(np, internal_np::geom_traits), Geom_traits()); - - const bool use_ch = choose_parameter(get_parameter(np, internal_np::use_convex_hull), false); - const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); // undocumented - - CGAL::Random rng(seed); - - // @todo handle those cases instead - CGAL_assertion(points.size() >= 3); - if(points.size() <= 3) - { - std::cerr << "The optimal bounding box cannot YET be computed for a mesh with fewer than 4 vertices!\n"; - return; - } - - return Optimal_bounding_box::internal::construct_optimal_bounding_box(obb_points, use_ch, points, rng, traits); -} - -/// \cond SKIP_IN_MANUAL - -/////////////////////////////////////////////////////////////////////////////////////////////////// -/// Convenience overloads for point ranges -///////////////////////////////////////////////////////////////////////////////////////////////// - -template -void optimal_bounding_box(const PointRange& points, - std::array& obb_points) -{ - return optimal_bounding_box(points, obb_points, CGAL::parameters::all_default()); -} - -/// \endcond - -/// \ingroup PkgOptimalBoundingBoxFunctions -/// -/// constructs a rectangular box that contains the input mesh. This bounding box -/// is obtained via an optimization process aiming to get a close approximation of the -/// optimal bounding box, which is defined as the smallest (in terms of volume) -/// of all the rectangular boxes containing the input mesh. -/// -/// \tparam PolygonMesh a model of `FaceListGraph` -/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" -/// -/// \param pmesh the input mesh -/// \param obb_mesh the resulting enclosing bounding box (an hexahedron) -/// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: -/// -/// \cgalNamedParamsBegin -/// \cgalParamBegin{vertex_point_map} -/// the property map with the points associated to the vertices of `pmesh`. -/// If this parameter is omitted, an internal property map for -/// `CGAL::vertex_point_t` must be available in `PolygonMesh` -/// \cgalParamEnd -/// \cgalParamBegin{geom_traits} -/// a geometric traits class instance, model of the concept `OptimalBoundingBoxTraits`. %Default is -/// `CGAL::Optimal_bounding_box::Optimal_bounding_box_traits` where `K` is deduced -/// from the point type, which must be compatible with `CGAL::Kernel_traits`. -/// \cgalParamEnd -/// \cgalParamBegin{use_convex_hull} -/// a Boolean value to indicate whether the algorithm should first extract the so-called extreme -/// points of the data range (i.e. construct the convex hull) to reduce the input data range -/// and accelerate the algorithm. The optimal value of this parameter will depend on the data -/// as it is a balance between two costs. %Default is `true`. -/// \cgalParamEnd -/// \cgalNamedParamsEnd -/// -template -void optimal_bounding_box(const PolygonMesh& pmesh, - PolygonMesh& obb_mesh, - const CGAL_BGL_NP_CLASS& np) -{ - namespace PMP = CGAL::Polygon_mesh_processing; - - using CGAL::parameters::choose_parameter; - using CGAL::parameters::get_parameter; - - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - - typedef typename PMP::GetVertexPointMap::const_type VPM; - typedef typename boost::property_traits::value_type Point; - - VPM vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), - get_const_property_map(vertex_point, pmesh)); - - std::vector points; - points.reserve(num_vertices(pmesh)); - - for(vertex_descriptor v : vertices(pmesh)) - points.push_back(get(vpm, v)); - - std::array obb_points; - optimal_bounding_box(points, obb_points, np); - - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], obb_mesh); -} - -/// \cond SKIP_IN_MANUAL - -/////////////////////////////////////////////////////////////////////////////////////////////////// -/// Convenience overloads for polygon meshes -///////////////////////////////////////////////////////////////////////////////////////////////// - -template -void optimal_bounding_box(const PolygonMesh& pmesh, - PolygonMesh& obb_mesh) -{ - return optimal_bounding_box(pmesh, obb_mesh, CGAL::parameters::all_default()); -} - -/// \endcond - -} // end namespace CGAL +#include +#include #endif // CGAL_OPTIMAL_BOUNDING_BOX_OBB_H From 4020a8fb0d135703f6b744369a4a7ca3fcaff468 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 13:41:37 +0100 Subject: [PATCH 074/150] Add biblio for the paper --- Documentation/doc/biblio/cgal_manual.bib | 11 +++++++++++ .../CGAL/Optimal_bounding_box/oriented_bounding_box.h | 2 ++ 2 files changed, 13 insertions(+) diff --git a/Documentation/doc/biblio/cgal_manual.bib b/Documentation/doc/biblio/cgal_manual.bib index ec232cbda8e..c78a75ca599 100644 --- a/Documentation/doc/biblio/cgal_manual.bib +++ b/Documentation/doc/biblio/cgal_manual.bib @@ -405,6 +405,17 @@ Boissonnat} ,update = "97.08 kettner" } +@article{ cgal:cgm-fobbo-11, + title={Fast oriented bounding box optimization on the rotation group SO (3, ℝ)}, + author={Chang, Chia-Tche and Gorissen, Bastien and Melchior, Samuel}, + journal={ACM Transactions on Graphics (TOG)}, + volume={30}, + number={5}, + pages={122}, + year={2011}, + publisher={ACM} +} + @article{ cgal:cht-oacov-90 ,author = {M. Chang and N. Huang and C. Tang} ,title = {An optimal algorithm for constructing oriented Voronoi diagrams diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 2f2771d3a8e..152df7a6bd2 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -205,6 +205,8 @@ void construct_oriented_bounding_box(Output& output, /// Note that when returning an array of points, these points are constructed from the axis-aligned /// bounding box and some precision loss should be expected if a kernel not providing exact constructions /// is used. +/// +/// The algorithm is based on a paper by Chang, Gorissen, and Melchior \cgalCite{cgal:cgm-fobbo-11}. /// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box /// From bb7bb9721ba427a4d20db24be14c4a3a99dfd2e0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 13:41:59 +0100 Subject: [PATCH 075/150] Traits doesn't need to refine Kernel --- .../Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index 5c8ed9ecda9..f5ef85a757a 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -9,8 +9,6 @@ used in the function `CGAL::oriented_bounding_box()`, and in particular the need a 3x3 matrix type with a number of supporting functions (determinant and transposed matrix computations, etc.). -\cgalRefines `Kernel` - \cgalHasModel `CGAL::Oriented_bounding_box_traits` */ From ffc7e9a934feeb9549e657c3a9c43992e7c11ccc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 14:40:47 +0100 Subject: [PATCH 076/150] Minor doc changes --- .../Concepts/OrientedBoundingBoxTraits.h | 4 ++++ .../PackageDescription.txt | 4 ++-- .../fig/optimal_bounding_box.png | Bin 0 -> 11012 bytes .../Oriented_bounding_box_traits.h | 3 --- .../oriented_bounding_box.h | 18 +++++++++--------- 5 files changed, 15 insertions(+), 14 deletions(-) create mode 100644 Optimal_bounding_box/doc/Optimal_bounding_box/fig/optimal_bounding_box.png diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index f5ef85a757a..4744f230071 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -21,6 +21,10 @@ public: /// The 3D point type; must be model of `Point_3` typedef unspecified_type Point_3; + /// The 3D affine transformation type; the template parameter `K` must be a model of `Kernel` + /// and be compatible with the type `Point_3`. + typedef CGAL::Aff_transformation_3 Aff_transformation_3; + /// A construction object that must provide the function operator: /// `CGAL::Bbox_3 operator()(const Point_3&)`, /// which returns an axis-aligned bounding that contains the point diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index e5b5e9f4b5c..438f248e4c5 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -15,10 +15,10 @@ /*! \addtogroup PkgOptimalBoundingBoxRef \cgalPkgDescriptionBegin{Optimal Bounding Box,PkgOptimalBoundingBox} -\cgalPkgPicture{Envelope_2.png} +\cgalPkgPicture{optimal_bounding_box.png} \cgalPkgSummaryBegin \cgalPkgAuthor{Konstantinos Katrioplas, Mael Rouxel-Labbé} -\cgalPkgDesc{This package provides functions to compute oriented bounding boxes around a point set or a polygon mesh.} +\cgalPkgDesc{This package provides functions to compute tight oriented bounding boxes around a point set or a polygon mesh.} \cgalPkgManuals{Chapter_Building_Optimal_Bounding_Box,PkgOptimalBoundingBoxRef} \cgalPkgSummaryEnd \cgalPkgShortInfoBegin diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/fig/optimal_bounding_box.png b/Optimal_bounding_box/doc/Optimal_bounding_box/fig/optimal_bounding_box.png new file mode 100644 index 0000000000000000000000000000000000000000..a85355c06ed639add2ac1be40e06f480a91530f2 GIT binary patch literal 11012 zcmV+fEBn-mP)pST zkxRrU#BojsB)%28;_;i{vd3S7c_F_D_(e~t+{H>4vkEter-@^RUSsX^h?|5}b7h(8 zIL!&z$RmR^Wuc&kP3UltplVWPy?x1+ZwXcMF#21lgOj6-3VGwC)~KsWRU=)cPe)zk z{y$G!o1O8xhtt5|tLuJF0>OQt*>K(8Q`c>t0f86b+U)qNl+*k->5YySI|iaVz~xOx 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zyK_XH7%QHdt*2N)%`C@TuA-phEx<$>XwL>-jtJMoZ|+o-Z2--C^vF?&CctH5Yidqm$TIbA`Po9fQ6A9n3|oP z1<&@P4cNZs#``#d#w~yz>5Fo)#3r5o41^Bx%&nZom?n$U(I6UZk9W5L>2ThykJ$)i z2IqbdPEU6a9z1mX*s)WmPJbO_!&d_|2#+wVMRD{{;bCPNMh?ixJMFl4Xp>zXrdvsl z&Mh8ia;J5`e|Bbic7A>inBnB9Q%4q#%+Jp^8V&YsIlds!pi+$=7CSbe+ zFkY}?-}8Z6pZ%*di0knahYvpk0mWngLWplW(726v`Q5q@3Qr~zu;O~XabW)7-+cFf zoIH8*$dMy6Gc!;4i=n@DK+nvicx0~Qv|8=cr=B};;shXj;J|_X`})Oi?(xOHb9Ou) yU%q@9LIyy#162F;*e9T$9*-s;o` with `Point` being equivalent to the traits' `Point_3` type, -/// or `CGAL::Affine_transformation_3` with `K` being a kernel compatible with the point type. +/// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, +/// or the traits' `Affine_transformation_3` type /// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" /// /// \param points the input points @@ -292,8 +292,8 @@ void oriented_bounding_box(const PointRange& points, /// Extracts the vertices of the mesh as a point range and calls the other overload. /// /// \tparam PolygonMesh a model of `VertexListGraph` -/// \tparam Output `std::array` with `Point` being equivalent to the traits' `Point_3` type, -/// or `CGAL::Affine_transformation_3` with `K` being a kernel compatible with the point type. +/// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, +/// or the traits' `Affine_transformation_3` type /// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" /// /// \param pmesh the input mesh From b33ddb6b434f57d941f9fdb95f30d3621cc9c3ca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 14:47:11 +0100 Subject: [PATCH 077/150] Run generate_travis.sh --- .travis.yml | 44 ++++++++++++++++++++++---------------------- .travis/packages.txt | 2 +- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/.travis.yml b/.travis.yml index 80677c4c030..a5d9284d182 100644 --- a/.travis.yml +++ b/.travis.yml @@ -30,28 +30,28 @@ env: - PACKAGE='Minkowski_sum_2 Minkowski_sum_3 Modifier ' - PACKAGE='Modular_arithmetic Nef_2 Nef_3 ' - PACKAGE='Nef_S2 NewKernel_d Number_types ' - - PACKAGE='OpenNL Optimal_transportation_reconstruction_2 Optimisation_basic ' - - PACKAGE='Partition_2 Periodic_2_triangulation_2 Periodic_3_mesh_3 ' - - PACKAGE='Periodic_3_triangulation_3 Periodic_4_hyperbolic_triangulation_2 Point_set_2 ' - - PACKAGE='Point_set_3 Point_set_processing_3 Poisson_surface_reconstruction_3 ' - - PACKAGE='Polygon Polygon_mesh_processing Polygonal_surface_reconstruction ' - - PACKAGE='Polyhedron Polyhedron_IO Polyline_simplification_2 ' - - PACKAGE='Polynomial Polytope_distance_d Principal_component_analysis ' - - PACKAGE='Principal_component_analysis_LGPL Profiling_tools Property_map ' - - PACKAGE='QP_solver Random_numbers Ridges_3 ' - - PACKAGE='STL_Extension Scale_space_reconstruction_3 Scripts ' - - PACKAGE='SearchStructures Segment_Delaunay_graph_2 Segment_Delaunay_graph_Linf_2 ' - - PACKAGE='Set_movable_separability_2 Shape_detection Skin_surface_3 ' - - PACKAGE='Snap_rounding_2 Solver_interface Spatial_searching ' - - PACKAGE='Spatial_sorting Straight_skeleton_2 Stream_lines_2 ' - - PACKAGE='Stream_support Subdivision_method_3 Surface_mesh ' - - PACKAGE='Surface_mesh_approximation Surface_mesh_deformation Surface_mesh_parameterization ' - - PACKAGE='Surface_mesh_segmentation Surface_mesh_shortest_path Surface_mesh_simplification ' - - PACKAGE='Surface_mesh_skeletonization Surface_mesher Surface_sweep_2 ' - - PACKAGE='TDS_2 TDS_3 Testsuite ' - - PACKAGE='Three Triangulation Triangulation_2 ' - - PACKAGE='Triangulation_3 Union_find Visibility_2 ' - - PACKAGE='Voronoi_diagram_2 wininst ' + - PACKAGE='OpenNL Optimal_bounding_box Optimal_transportation_reconstruction_2 ' + - PACKAGE='Optimisation_basic Partition_2 Periodic_2_triangulation_2 ' + - PACKAGE='Periodic_3_mesh_3 Periodic_3_triangulation_3 Periodic_4_hyperbolic_triangulation_2 ' + - PACKAGE='Point_set_2 Point_set_3 Point_set_processing_3 ' + - PACKAGE='Poisson_surface_reconstruction_3 Polygon Polygon_mesh_processing ' + - PACKAGE='Polygonal_surface_reconstruction Polyhedron Polyhedron_IO ' + - PACKAGE='Polyline_simplification_2 Polynomial Polytope_distance_d ' + - PACKAGE='Principal_component_analysis Principal_component_analysis_LGPL Profiling_tools ' + - PACKAGE='Property_map QP_solver Random_numbers ' + - PACKAGE='Ridges_3 STL_Extension Scale_space_reconstruction_3 ' + - PACKAGE='Scripts SearchStructures Segment_Delaunay_graph_2 ' + - PACKAGE='Segment_Delaunay_graph_Linf_2 Set_movable_separability_2 Shape_detection ' + - PACKAGE='Skin_surface_3 Snap_rounding_2 Solver_interface ' + - PACKAGE='Spatial_searching Spatial_sorting Straight_skeleton_2 ' + - PACKAGE='Stream_lines_2 Stream_support Subdivision_method_3 ' + - PACKAGE='Surface_mesh Surface_mesh_approximation Surface_mesh_deformation ' + - PACKAGE='Surface_mesh_parameterization Surface_mesh_segmentation Surface_mesh_shortest_path ' + - PACKAGE='Surface_mesh_simplification Surface_mesh_skeletonization Surface_mesher ' + - PACKAGE='Surface_sweep_2 TDS_2 TDS_3 ' + - PACKAGE='Testsuite Three Triangulation ' + - PACKAGE='Triangulation_2 Triangulation_3 Union_find ' + - PACKAGE='Visibility_2 Voronoi_diagram_2 wininst ' compiler: clang install: - echo "$PWD" diff --git a/.travis/packages.txt b/.travis/packages.txt index 3123b8c14e6..6f8827fd0fd 100644 --- a/.travis/packages.txt +++ b/.travis/packages.txt @@ -71,7 +71,7 @@ Nef_S2 NewKernel_d Number_types OpenNL -Optimal_bounding_box +Optimal_bounding_box Optimal_transportation_reconstruction_2 Optimisation_basic Partition_2 From feddb97792b5f6db00f7316ed7fd1a790386650b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 15:19:52 +0100 Subject: [PATCH 078/150] Update dependencies --- .../Optimal_bounding_box/dependencies | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies b/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies index e69de29bb2d..12c0af8bdbb 100644 --- a/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies +++ b/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies @@ -0,0 +1,29 @@ +Algebraic_foundations +Arithmetic_kernel +BGL +Cartesian_kernel +Circulator +Convex_hull_2 +Convex_hull_3 +Distance_2 +Distance_3 +Filtered_kernel +Hash_map +Homogeneous_kernel +Installation +Intersections_2 +Intersections_3 +Interval_support +Kernel_23 +Kernel_d +Modular_arithmetic +Number_types +Optimal_bounding_box +Profiling_tools +Property_map +Random_numbers +STL_Extension +Solver_interface +Stream_support +TDS_2 +Triangulation_2 From f476132cab7ef837d8ed787e318e4ba40ae90dc2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 15:50:50 +0100 Subject: [PATCH 079/150] Partial test fixes --- .../test/Optimal_bounding_box/CMakeLists.txt | 4 +- .../Optimal_bounding_box/test_OBB_traits.cpp | 135 ++++++++ .../test_linear_algebra_functions.cpp | 301 ------------------ .../Optimal_bounding_box/test_nelder_mead.cpp | 195 ++++++++++++ .../test_optimization_algorithms.cpp | 122 +------ 5 files changed, 334 insertions(+), 423 deletions(-) create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp delete mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt index dc0d5800453..79faf94bfad 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt @@ -21,6 +21,8 @@ else() include(${EIGEN3_USE_FILE}) endif() -create_single_source_cgal_program("test_linear_algebra_functions.cpp") +create_single_source_cgal_program("test_nelder_mead.cpp") +create_single_source_cgal_program("test_OBB_traits.cpp") create_single_source_cgal_program("test_optimization_algorithms.cpp") + diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp new file mode 100644 index 00000000000..41b0474ba07 --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp @@ -0,0 +1,135 @@ +#include +#include +#include + +#include + +bool assert_doubles(double d1, double d2, double epsilon) +{ + return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; +} + +void test_fitness_function() +{ + typedef typename CGAL::Eigen_linear_algebra_traits::MatrixXd MatrixXd; + MatrixXd data_points(4, 3); + + data_points.set_coef(0, 0, 0.866802); + data_points.set_coef(0, 1, 0.740808); + data_points.set_coef(0, 2, 0.895304); + + data_points.set_coef(1, 0, 0.912651); + data_points.set_coef(1, 1, 0.761565); + data_points.set_coef(1, 2, 0.160330); + + data_points.set_coef(2, 0, 0.093661); + data_points.set_coef(2, 1, 0.892578); + data_points.set_coef(2, 2, 0.737412); + + data_points.set_coef(3, 0, 0.166461); + data_points.set_coef(3, 1, 0.149912); + data_points.set_coef(3, 2, 0.364944); + + typedef typename CGAL::Eigen_linear_algebra_traits::Matrix3d Matrix3d; + Matrix3d rotation; + rotation.set_coef(0, 0, -0.809204); + rotation.set_coef(0, 1, 0.124296); + rotation.set_coef(0, 2, 0.574230); + rotation.set_coef(1, 0, -0.574694); + rotation.set_coef(1, 1, 0.035719); + rotation.set_coef(1, 2, -0.817589); + rotation.set_coef(2, 0, -0.122134); + rotation.set_coef(2, 1, -0.991602); + rotation.set_coef(2, 2, 0.042528); + + CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); + CGAL_assertion_code(double fitness = CGAL::Optimal_bounding_box:: + compute_fitness (rotation, data_points)); + CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); +} + + + +void test_eigen_matrix_interface() +{ + CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); + typedef CGAL::Eigen_dense_matrix Matrix; + + Matrix A(3, 3); + A.set_coef(0, 0, 0.1); + A.set_coef(0, 1, 0.2); + A.set_coef(0, 2, 0.3); + A.set_coef(1, 0, 0.4); + A.set_coef(1, 1, 0.5); + A.set_coef(1, 2, 0.6); + A.set_coef(2, 0, 0.7); + A.set_coef(2, 1, 0.8); + A.set_coef(2, 2, 0.9); + CGAL_assertion_code(Matrix B); + CGAL_assertion_code(B = CGAL::Eigen_linear_algebra_traits::transpose(A)); + CGAL_assertion_code(Matrix S); + CGAL_assertion_code(S = 0.5 * A); + Matrix C(3,3); + C.set_coef(0, 0, 0.3011944); + C.set_coef(0, 1, 0.9932761); + C.set_coef(0, 2, 0.5483701); + C.set_coef(1, 0, 0.5149142); + C.set_coef(1, 1, 0.5973263); + C.set_coef(1, 2, 0.5162336); + C.set_coef(2, 0, 0.0039213); + C.set_coef(2, 1, 0.0202949); + C.set_coef(2, 2, 0.9240308); + + CGAL_assertion_code(Matrix Q = CGAL::Eigen_linear_algebra_traits::get_Q(C)); + CGAL_assertion_code(double epsilon = 1e-5); + CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); + CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); + CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); + CGAL_assertion(assert_doubles(Q(1,0), -0.863156, epsilon)); + CGAL_assertion(assert_doubles(Q(1,1), -0.504894, epsilon)); + CGAL_assertion(assert_doubles(Q(1,2), 0.006687, epsilon)); + CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); + CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); + CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); + + Matrix D(3,3); + D.set_coef(0, 0, -0.809204); + D.set_coef(0, 1, 0.124296); + D.set_coef(0, 2, 0.574230); + D.set_coef(1, 0, -0.574694); + D.set_coef(1, 1, 0.035719); + D.set_coef(1, 2, -0.817589); + D.set_coef(2, 0, -0.122134); + D.set_coef(2, 1, -0.991602); + D.set_coef(2, 2, 0.042528); + + Matrix E(3,3); + E.set_coef(0, 0, -0.45070); + E.set_coef(0, 1, -0.32769); + E.set_coef(0, 2, -0.83035); + E.set_coef(1, 0, -0.13619); + E.set_coef(1, 1, -0.89406); + E.set_coef(1, 2, 0.42675); + E.set_coef(2, 0, -0.88222); + E.set_coef(2, 1, 0.30543); + E.set_coef(2, 2, 0.35833); + + CGAL_assertion_code(Matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E)); + CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); + CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); + CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,0), -0.60307, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,1), -0.11875, epsilon)); + CGAL_assertion(assert_doubles(Sr(1,2), 0.78880, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,0), -0.78642, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); + CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); +} + +int main() +{ + test_fitness_function(); + test_eigen_matrix_interface(); + + return 0; +} diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp deleted file mode 100644 index 9482f15ff49..00000000000 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_linear_algebra_functions.cpp +++ /dev/null @@ -1,301 +0,0 @@ -#include -#include -#include - -#include - -bool assert_doubles(double d1, double d2, double epsilon) -{ - return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; -} - -void test_get_Q() -{ - typedef CGAL::Eigen_dense_matrix Mat; - Mat A(3, 3); - A.set_coef(0, 0, 0.3011944); - A.set_coef(0, 1, 0.9932761); - A.set_coef(0, 2, 0.5483701); - A.set_coef(1, 0, 0.5149142); - A.set_coef(1, 1, 0.5973263); - A.set_coef(1, 2, 0.5162336); - A.set_coef(2, 0, 0.0039213); - A.set_coef(2, 1, 0.0202949); - A.set_coef(2, 2, 0.9240308); - - CGAL_assertion_code(Mat Q = CGAL::Eigen_linear_algebra_traits::get_Q(A)); - CGAL_assertion_code(double epsilon = 1e-6); - CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); - CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); - CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); - CGAL_assertion(assert_doubles(Q(1,0), -0.863156, epsilon)); - CGAL_assertion(assert_doubles(Q(1,1), -0.504894, epsilon)); - CGAL_assertion(assert_doubles(Q(1,2), 0.006687, epsilon)); - CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); - CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); - CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); -} - -void test_fitness_function() -{ - typedef typename CGAL::Eigen_linear_algebra_traits::MatrixXd MatrixXd; - MatrixXd data_points(4, 3); - - data_points.set_coef(0, 0, 0.866802); - data_points.set_coef(0, 1, 0.740808); - data_points.set_coef(0, 2, 0.895304); - - data_points.set_coef(1, 0, 0.912651); - data_points.set_coef(1, 1, 0.761565); - data_points.set_coef(1, 2, 0.160330); - - data_points.set_coef(2, 0, 0.093661); - data_points.set_coef(2, 1, 0.892578); - data_points.set_coef(2, 2, 0.737412); - - data_points.set_coef(3, 0, 0.166461); - data_points.set_coef(3, 1, 0.149912); - data_points.set_coef(3, 2, 0.364944); - - typedef typename CGAL::Eigen_linear_algebra_traits::Matrix3d Matrix3d; - Matrix3d rotation; - rotation.set_coef(0, 0, -0.809204); - rotation.set_coef(0, 1, 0.124296); - rotation.set_coef(0, 2, 0.574230); - rotation.set_coef(1, 0, -0.574694); - rotation.set_coef(1, 1, 0.035719); - rotation.set_coef(1, 2, -0.817589); - rotation.set_coef(2, 0, -0.122134); - rotation.set_coef(2, 1, -0.991602); - rotation.set_coef(2, 2, 0.042528); - - CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); - CGAL_assertion_code(double fitness = CGAL::Optimal_bounding_box:: - compute_fitness (rotation, data_points)); - CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); -} - -void test_simplex_operations() -{ - CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); - typedef CGAL::Eigen_dense_matrix Matrix; - - Matrix Sc(3, 3); - Sc.set_coef(0, 0, -0.809204); - Sc.set_coef(0, 1, 0.124296); - Sc.set_coef(0, 2, 0.574230); - Sc.set_coef(1, 0, -0.574694); - Sc.set_coef(1, 1, 0.035719); - Sc.set_coef(1, 2, -0.817589); - Sc.set_coef(2, 0, -0.122134); - Sc.set_coef(2, 1, -0.991602); - Sc.set_coef(2, 2, 0.042528); - - Matrix S_worst(3, 3); - S_worst.set_coef(0, 0, -0.45070); - S_worst.set_coef(0, 1, -0.32769); - S_worst.set_coef(0, 2, -0.83035); - S_worst.set_coef(1, 0, -0.13619); - S_worst.set_coef(1, 1, -0.89406); - S_worst.set_coef(1, 2, 0.42675); - S_worst.set_coef(2, 0, -0.88222); - S_worst.set_coef(2, 1, 0.30543); - S_worst.set_coef(2, 2, 0.35833); - - CGAL_assertion_code(Matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst)); - CGAL_assertion_code(double epsilon = 1e-5); - CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); - CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); - CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,0), -0.60307, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,1), -0.11875, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,2), 0.78880, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,0), -0.78642, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); - - CGAL_assertion_code(Matrix Se = - CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr)); - CGAL_assertion(assert_doubles(Se(0,0), -0.87991, epsilon)); - CGAL_assertion(assert_doubles(Se(0,1), 0.36105, epsilon)); - CGAL_assertion(assert_doubles(Se(0,2), -0.30888, epsilon)); - CGAL_assertion(assert_doubles(Se(1,0), -0.11816, epsilon)); - CGAL_assertion(assert_doubles(Se(1,1), -0.79593, epsilon)); - CGAL_assertion(assert_doubles(Se(1,2), -0.59375, epsilon)); - CGAL_assertion(assert_doubles(Se(2,0), -0.460215, epsilon)); - CGAL_assertion(assert_doubles(Se(2,1), -0.48595, epsilon)); - CGAL_assertion(assert_doubles(Se(2,2), 0.74300, epsilon)); - - Matrix S_a(3, 3); - S_a.set_coef(0, 0, -0.277970); - S_a.set_coef(0, 1, 0.953559); - S_a.set_coef(0, 2, 0.116010); - S_a.set_coef(1, 0, -0.567497); - S_a.set_coef(1, 1, -0.065576); - S_a.set_coef(1, 2, -0.820760); - S_a.set_coef(2, 0, -0.775035); - S_a.set_coef(2, 1, -0.293982); - S_a.set_coef(2, 2, 0.559370); - - Matrix S_b(3, 3); - S_b.set_coef(0, 0, -0.419979); - S_b.set_coef(0, 1, 0.301765); - S_b.set_coef(0, 2, -0.8558940); - S_b.set_coef(1, 0, -0.653011); - S_b.set_coef(1, 1, -0.755415); - S_b.set_coef(1, 2, 0.054087); - S_b.set_coef(2, 0, -0.630234); - S_b.set_coef(2, 1, 0.581624); - S_b.set_coef(2, 2, 0.514314); - - CGAL_assertion_code(Matrix S_c = - CGAL::Optimal_bounding_box::mean(S_a, S_b)); - CGAL_assertion(assert_doubles(S_c(0,0), -0.35111, epsilon)); - CGAL_assertion(assert_doubles(S_c(0,1), 0.79308, epsilon)); - CGAL_assertion(assert_doubles(S_c(0,2), -0.49774, epsilon)); - CGAL_assertion(assert_doubles(S_c(1,0), -0.61398, epsilon)); - CGAL_assertion(assert_doubles(S_c(1,1), -0.59635, epsilon)); - CGAL_assertion(assert_doubles(S_c(1,2), -0.51710, epsilon)); - CGAL_assertion(assert_doubles(S_c(2,0), -0.70693, epsilon)); - CGAL_assertion(assert_doubles(S_c(2,1), 0.12405, epsilon)); - CGAL_assertion(assert_doubles(S_c(2,2), 0.69632, epsilon)); -} - -void test_centroid() -{ - CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); - typedef CGAL::Eigen_dense_matrix Matrix; - - Matrix S_a; - S_a.set_coef(0, 0, -0.588443); - S_a.set_coef(0, 1, 0.807140); - S_a.set_coef(0, 2, -0.047542); - S_a.set_coef(1, 0, -0.786228); - S_a.set_coef(1, 1, -0.584933); - S_a.set_coef(1, 2, -0.199246); - S_a.set_coef(2, 0, -0.188629); - S_a.set_coef(2, 1, -0.079867); - S_a.set_coef(2, 2, 0.978795); - - Matrix S_b(3, 3); - S_b.set_coef(0, 0, -0.2192721); - S_b.set_coef(0, 1, 0.2792986); - S_b.set_coef(0, 2, -0.9348326); - S_b.set_coef(1, 0, -0.7772152); - S_b.set_coef(1, 1, -0.6292092); - S_b.set_coef(1, 2, -0.005686); - S_b.set_coef(2, 0, -0.5897934); - S_b.set_coef(2, 1, 0.7253193); - S_b.set_coef(2, 2, 0.3550431); - - Matrix S_c(3, 3); - S_c.set_coef(0, 0, -0.32657); - S_c.set_coef(0, 1, -0.60013); - S_c.set_coef(0, 2, -0.730206); - S_c.set_coef(1, 0, -0.20022); - S_c.set_coef(1, 1, -0.71110); - S_c.set_coef(1, 2, 0.67398); - S_c.set_coef(2, 0, -0.92372); - S_c.set_coef(2, 1, 0.36630); - S_c.set_coef(2, 2, 0.11207); - - CGAL_assertion_code(Matrix S_centroid = - CGAL::Optimal_bounding_box::nm_centroid(S_a, S_b, S_c)); - CGAL_assertion_code(double epsilon = 1e-5); - CGAL_assertion(assert_doubles(S_centroid(0,0), -0.419979, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(0,1), 0.301765, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(0,2), -0.855894, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(1,0), -0.653011, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(1,1), -0.755415, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(1,2), 0.054087, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(2,0), -0.630234, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(2,1), 0.581624, epsilon)); - CGAL_assertion(assert_doubles(S_centroid(2,2), 0.514314, epsilon)); -} - -void test_eigen_matrix_interface() -{ - CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); - typedef CGAL::Eigen_dense_matrix Matrix; - - Matrix A(3, 3); - A.set_coef(0, 0, 0.1); - A.set_coef(0, 1, 0.2); - A.set_coef(0, 2, 0.3); - A.set_coef(1, 0, 0.4); - A.set_coef(1, 1, 0.5); - A.set_coef(1, 2, 0.6); - A.set_coef(2, 0, 0.7); - A.set_coef(2, 1, 0.8); - A.set_coef(2, 2, 0.9); - CGAL_assertion_code(Matrix B); - CGAL_assertion_code(B = CGAL::Eigen_linear_algebra_traits::transpose(A)); - CGAL_assertion_code(Matrix S); - CGAL_assertion_code(S = 0.5 * A); - Matrix C(3,3); - C.set_coef(0, 0, 0.3011944); - C.set_coef(0, 1, 0.9932761); - C.set_coef(0, 2, 0.5483701); - C.set_coef(1, 0, 0.5149142); - C.set_coef(1, 1, 0.5973263); - C.set_coef(1, 2, 0.5162336); - C.set_coef(2, 0, 0.0039213); - C.set_coef(2, 1, 0.0202949); - C.set_coef(2, 2, 0.9240308); - - CGAL_assertion_code(Matrix Q = CGAL::Eigen_linear_algebra_traits::get_Q(C)); - CGAL_assertion_code(double epsilon = 1e-5); - CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); - CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); - CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); - CGAL_assertion(assert_doubles(Q(1,0), -0.863156, epsilon)); - CGAL_assertion(assert_doubles(Q(1,1), -0.504894, epsilon)); - CGAL_assertion(assert_doubles(Q(1,2), 0.006687, epsilon)); - CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); - CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); - CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); - - Matrix D(3,3); - D.set_coef(0, 0, -0.809204); - D.set_coef(0, 1, 0.124296); - D.set_coef(0, 2, 0.574230); - D.set_coef(1, 0, -0.574694); - D.set_coef(1, 1, 0.035719); - D.set_coef(1, 2, -0.817589); - D.set_coef(2, 0, -0.122134); - D.set_coef(2, 1, -0.991602); - D.set_coef(2, 2, 0.042528); - - Matrix E(3,3); - E.set_coef(0, 0, -0.45070); - E.set_coef(0, 1, -0.32769); - E.set_coef(0, 2, -0.83035); - E.set_coef(1, 0, -0.13619); - E.set_coef(1, 1, -0.89406); - E.set_coef(1, 2, 0.42675); - E.set_coef(2, 0, -0.88222); - E.set_coef(2, 1, 0.30543); - E.set_coef(2, 2, 0.35833); - - CGAL_assertion_code(Matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E)); - CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); - CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); - CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,0), -0.60307, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,1), -0.11875, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,2), 0.78880, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,0), -0.78642, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); -} - -int main() -{ - test_get_Q(); - test_fitness_function(); - test_simplex_operations(); - test_centroid(); - test_eigen_matrix_interface(); - - return 0; -} diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp new file mode 100644 index 00000000000..ad1751f915c --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp @@ -0,0 +1,195 @@ +#include +#include + +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::Point_3 Point_3; + +typedef CGAL::Oriented_bounding_box_traits Traits; +typedef Traits::Matrix Matrix; + +bool are_equal(double d1, double d2, double epsilon) +{ + return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; +} + +void test_simplex_operations() +{ + const double epsilon = 1e-5; + + Matrix Sc(3, 3); + Sc.set(0, 0, -0.809204); Sc.set(0, 1, 0.124296); Sc.set(0, 2, 0.574230); + Sc.set(1, 0, -0.574694); Sc.set(1, 1, 0.035719); Sc.set(1, 2, -0.817589); + Sc.set(2, 0, -0.122134); Sc.set(2, 1, -0.991602); Sc.set(2, 2, 0.042528); + + Matrix S_worst(3, 3); + S_worst.set(0, 0, -0.45070); S_worst.set(0, 1, -0.32769); S_worst.set(0, 2, -0.83035); + S_worst.set(1, 0, -0.13619); S_worst.set(1, 1, -0.89406); S_worst.set(1, 2, 0.42675); + S_worst.set(2, 0, -0.88222); S_worst.set(2, 1, 0.30543); S_worst.set(2, 2, 0.35833); + + Matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); + assert(are_equal(Sr(0,0), -0.13359, epsilon)); + assert(are_equal(Sr(0,1), -0.95986, epsilon)); + assert(are_equal(Sr(0,2), -0.24664, epsilon)); + assert(are_equal(Sr(1,0), -0.60307, epsilon)); + assert(are_equal(Sr(1,1), -0.11875, epsilon)); + assert(are_equal(Sr(1,2), 0.78880, epsilon)); + assert(are_equal(Sr(2,0), -0.78642, epsilon)); + assert(are_equal(Sr(2,1), 0.25411, epsilon)); + assert(are_equal(Sr(2,2), -0.56300, epsilon)); + + Matrix Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); + assert(are_equal(Se(0,0), -0.87991, epsilon)); + assert(are_equal(Se(0,1), 0.36105, epsilon)); + assert(are_equal(Se(0,2), -0.30888, epsilon)); + assert(are_equal(Se(1,0), -0.11816, epsilon)); + assert(are_equal(Se(1,1), -0.79593, epsilon)); + assert(are_equal(Se(1,2), -0.59375, epsilon)); + assert(are_equal(Se(2,0), -0.460215, epsilon)); + assert(are_equal(Se(2,1), -0.48595, epsilon)); + assert(are_equal(Se(2,2), 0.74300, epsilon)); + + Matrix S_a(3, 3); + S_a.set(0, 0, -0.277970); S_a.set(0, 1, 0.953559); S_a.set(0, 2, 0.116010); + S_a.set(1, 0, -0.567497); S_a.set(1, 1, -0.065576); S_a.set(1, 2, -0.820760); + S_a.set(2, 0, -0.775035); S_a.set(2, 1, -0.293982); S_a.set(2, 2, 0.559370); + + Matrix S_b(3, 3); + S_b.set(0, 0, -0.419979); S_b.set(0, 1, 0.301765); S_b.set(0, 2, -0.8558940); + S_b.set(1, 0, -0.653011); S_b.set(1, 1, -0.755415); S_b.set(1, 2, 0.054087); + S_b.set(2, 0, -0.630234); S_b.set(2, 1, 0.581624); S_b.set(2, 2, 0.514314); + + Matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); + assert(are_equal(S_c(0,0), -0.35111, epsilon)); + assert(are_equal(S_c(0,1), 0.79308, epsilon)); + assert(are_equal(S_c(0,2), -0.49774, epsilon)); + assert(are_equal(S_c(1,0), -0.61398, epsilon)); + assert(are_equal(S_c(1,1), -0.59635, epsilon)); + assert(are_equal(S_c(1,2), -0.51710, epsilon)); + assert(are_equal(S_c(2,0), -0.70693, epsilon)); + assert(are_equal(S_c(2,1), 0.12405, epsilon)); + assert(are_equal(S_c(2,2), 0.69632, epsilon)); +} + +void test_centroid() +{ + const double epsilon = 1e-5; + + Matrix S_a; + S_a.set(0, 0, -0.588443); S_a.set(0, 1, 0.807140); S_a.set(0, 2, -0.047542); + S_a.set(1, 0, -0.786228); S_a.set(1, 1, -0.584933); S_a.set(1, 2, -0.199246); + S_a.set(2, 0, -0.188629); S_a.set(2, 1, -0.079867); S_a.set(2, 2, 0.978795); + + Matrix S_b(3, 3); + S_b.set(0, 0, -0.2192721); S_b.set(0, 1, 0.2792986); S_b.set(0, 2, -0.9348326); + S_b.set(1, 0, -0.7772152); S_b.set(1, 1, -0.6292092); S_b.set(1, 2, -0.005686); + S_b.set(2, 0, -0.5897934); S_b.set(2, 1, 0.7253193); S_b.set(2, 2, 0.3550431); + + Matrix S_c(3, 3); + S_c.set(0, 0, -0.32657); S_c.set(0, 1, -0.60013); S_c.set(0, 2, -0.730206); + S_c.set(1, 0, -0.20022); S_c.set(1, 1, -0.71110); S_c.set(1, 2, 0.67398); + S_c.set(2, 0, -0.92372); S_c.set(2, 1, 0.36630); S_c.set(2, 2, 0.11207); + + Matrix S_centroid = CGAL::Optimal_bounding_box::nm_centroid(S_a, S_b, S_c); + assert(are_equal(S_centroid(0,0), -0.419979, epsilon)); + assert(are_equal(S_centroid(0,1), 0.301765, epsilon)); + assert(are_equal(S_centroid(0,2), -0.855894, epsilon)); + assert(are_equal(S_centroid(1,0), -0.653011, epsilon)); + assert(are_equal(S_centroid(1,1), -0.755415, epsilon)); + assert(are_equal(S_centroid(1,2), 0.054087, epsilon)); + assert(are_equal(S_centroid(2,0), -0.630234, epsilon)); + assert(are_equal(S_centroid(2,1), 0.581624, epsilon)); + assert(are_equal(S_centroid(2,2), 0.514314, epsilon)); +} + +void test_nelder_mead() +{ + std::array points; + points[0] = Point_3(0.866802, 0.740808, 0.895304); + points[1] = Point_3(0.912651, 0.761565, 0.160330); + points[2] = Point_3(0.093661, 0.892578, 0.737412); + points[3] = Point_3(0.166461, 0.149912, 0.364944); + + // one simplex + std::array simplex; + + Matrix v0, v1, v2, v3; + v0(0,0) = -0.2192721; v0(0,1) = 0.2792986; v0(0,2) = -0.9348326; + v0(1,0) = -0.7772152; v0(1,1) = -0.6292092; v0(1,2) = -0.0056861; + v0(2,0) = -0.5897934; v0(2,1) = 0.7253193; v0(2,2) = 0.3550431; + + v1(0,0) = -0.588443; v1(0,1) = 0.807140; v1(0,2) = -0.047542; + v1(1,0) = -0.786228; v1(1,1) = -0.584933; v1(1,2) = -0.199246; + v1(2,0) = -0.188629; v1(2,1) = -0.079867; v1(2,2) = 0.978795; + + v2(0,0) = -0.277970; v2(0,1) = 0.953559; v2(0,2) = 0.116010; + v2(1,0) = -0.567497; v2(1,1) = -0.065576; v2(1,2) = -0.820760; + v2(2,0) = -0.775035; v2(2,1) = -0.293982; v2(2,2) = 0.559370; + + v3(0,0) = -0.32657; v3(0,1) = -0.60013; v3(0,2) = -0.73020; + v3(1,0) = -0.20022; v3(1,1) = -0.71110; v3(1,2) = 0.67398; + v3(2,0) = -0.92372; v3(2,1) = 0.36630; v3(2,2) = 0.11207; + + simplex[0] = v0; + simplex[1] = v1; + simplex[2] = v2; + simplex[3] = v3; + + std::size_t nm_iterations = 19; + CGAL::Optimal_bounding_box::internal::nelder_mead(simplex, data_points, nm_iterations); + + double epsilon = 1e-5; + const Matrix& v0_new = simplex[0]; + assert(assert_doubles(v0_new(0,0), -0.288975, epsilon)); + assert(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); + assert(assert_doubles(v0_new(0,2), -0.541076, epsilon)); + assert(assert_doubles(v0_new(1,0), -0.9407046, epsilon)); + assert(assert_doubles(v0_new(1,1), -0.3391466, epsilon)); + assert(assert_doubles(v0_new(1,2), 0.0073817, epsilon)); + assert(assert_doubles(v0_new(2,0), -0.1776743, epsilon)); + assert(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); + assert(assert_doubles(v0_new(2,2), 0.84094, epsilon)); + + const Matrix& v1_new = simplex[1]; + assert(assert_doubles(v1_new(0,0), -0.458749, epsilon)); + assert(assert_doubles(v1_new(0,1), 0.823283, epsilon)); + assert(assert_doubles(v1_new(0,2), -0.334296, epsilon)); + assert(assert_doubles(v1_new(1,0), -0.885235, epsilon)); + assert(assert_doubles(v1_new(1,1), -0.455997, epsilon)); + assert(assert_doubles(v1_new(1,2), 0.091794, epsilon)); + assert(assert_doubles(v1_new(2,0), -0.076866, epsilon)); + assert(assert_doubles(v1_new(2,1), 0.338040, epsilon)); + assert(assert_doubles(v1_new(2,2), 0.937987, epsilon)); + + const Matrix& v2_new = simplex[2]; + assert(assert_doubles(v2_new(0,0), -0.346582, epsilon)); + assert(assert_doubles(v2_new(0,1), 0.878534, epsilon)); + assert(assert_doubles(v2_new(0,2), -0.328724, epsilon)); + assert(assert_doubles(v2_new(1,0), -0.936885, epsilon)); + assert(assert_doubles(v2_new(1,1), -0.341445, epsilon)); + assert(assert_doubles(v2_new(1,2), 0.075251, epsilon)); + assert(assert_doubles(v2_new(2,0), -0.046131, epsilon)); + assert(assert_doubles(v2_new(2,1), 0.334057, epsilon)); + assert(assert_doubles(v2_new(2,2), 0.941423, epsilon)); + + const Matrix& v3_new = simplex[3]; + assert(assert_doubles(v3_new(0,0), -0.394713, epsilon)); + assert(assert_doubles(v3_new(0,1), 0.791782, epsilon)); + assert(assert_doubles(v3_new(0,2), -0.466136, epsilon)); + assert(assert_doubles(v3_new(1,0), -0.912112, epsilon)); + assert(assert_doubles(v3_new(1,1), -0.398788, epsilon)); + assert(assert_doubles(v3_new(1,2), 0.094972, epsilon)); + assert(assert_doubles(v3_new(2,0), -0.110692, epsilon)); + assert(assert_doubles(v3_new(2,1), 0.462655, epsilon)); + assert(assert_doubles(v3_new(2,2), 0.879601, epsilon)); +} + +int main() +{ + test_simplex_operations(); + test_centroid(); + test_nelder_mead(); + + return 0; +} diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 7284bbc5fe3..6dbbec359b0 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -18,126 +18,6 @@ bool assert_doubles(double d1, double d2, double epsilon) return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; } -void test_nelder_mead() -{ - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::Matrix Matrix; - - Matrix data_points(4,3); - data_points(0,0) = 0.866802; - data_points(0,1) = 0.740808; - data_points(0,2) = 0.895304; - data_points(1,0) = 0.912651; - data_points(1,1) = 0.761565; - data_points(1,2) = 0.160330; - data_points(2,0) = 0.093661; - data_points(2,1) = 0.892578; - data_points(2,2) = 0.737412; - data_points(3,0) = 0.166461; - data_points(3,1) = 0.149912; - data_points(3,2) = 0.364944; - - // one simplex - std::vector simplex(4); - Matrix v0(3,3); - Matrix v1(3,3); - Matrix v2(3,3); - Matrix v3(3,3); - - v0(0,0) = -0.2192721; - v0(0,1) = 0.2792986; - v0(0,2) = -0.9348326; - v0(1,0) = -0.7772152; - v0(1,1) = -0.6292092; - v0(1,2) = -0.0056861; - v0(2,0) = -0.5897934; - v0(2,1) = 0.7253193; - v0(2,2) = 0.3550431; - - v1(0,0) = -0.588443; - v1(0,1) = 0.807140; - v1(0,2) = -0.047542; - v1(1,0) = -0.786228; - v1(1,1) = -0.584933; - v1(1,2) = -0.199246; - v1(2,0) = -0.188629; - v1(2,1) = -0.079867; - v1(2,2) = 0.978795; - - v2(0,0) = -0.277970; - v2(0,1) = 0.953559; - v2(0,2) = 0.116010; - v2(1,0) = -0.567497; - v2(1,1) = -0.065576; - v2(1,2) = -0.820760; - v2(2,0) = -0.775035; - v2(2,1) = -0.293982; - v2(2,2) = 0.559370; - - v3(0,0) = -0.32657; - v3(0,1) = -0.60013; - v3(0,2) = -0.73020; - v3(1,0) = -0.20022; - v3(1,1) = -0.71110; - v3(1,2) = 0.67398; - v3(2,0) = -0.92372; - v3(2,1) = 0.36630; - v3(2,2) = 0.11207; - - simplex[0] = v0; - simplex[1] = v1; - simplex[2] = v2; - simplex[3] = v3; - - std::size_t nm_iterations = 19; - CGAL::Optimal_bounding_box::nelder_mead(simplex, data_points, nm_iterations); - - double epsilon = 1e-5; - const Matrix& v0_new = simplex[0]; - assert(assert_doubles(v0_new(0,0), -0.288975, epsilon)); - assert(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); - assert(assert_doubles(v0_new(0,2), -0.541076, epsilon)); - assert(assert_doubles(v0_new(1,0), -0.9407046, epsilon)); - assert(assert_doubles(v0_new(1,1), -0.3391466, epsilon)); - assert(assert_doubles(v0_new(1,2), 0.0073817, epsilon)); - assert(assert_doubles(v0_new(2,0), -0.1776743, epsilon)); - assert(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); - assert(assert_doubles(v0_new(2,2), 0.84094, epsilon)); - - const Matrix& v1_new = simplex[1]; - assert(assert_doubles(v1_new(0,0), -0.458749, epsilon)); - assert(assert_doubles(v1_new(0,1), 0.823283, epsilon)); - assert(assert_doubles(v1_new(0,2), -0.334296, epsilon)); - assert(assert_doubles(v1_new(1,0), -0.885235, epsilon)); - assert(assert_doubles(v1_new(1,1), -0.455997, epsilon)); - assert(assert_doubles(v1_new(1,2), 0.091794, epsilon)); - assert(assert_doubles(v1_new(2,0), -0.076866, epsilon)); - assert(assert_doubles(v1_new(2,1), 0.338040, epsilon)); - assert(assert_doubles(v1_new(2,2), 0.937987, epsilon)); - - const Matrix& v2_new = simplex[2]; - assert(assert_doubles(v2_new(0,0), -0.346582, epsilon)); - assert(assert_doubles(v2_new(0,1), 0.878534, epsilon)); - assert(assert_doubles(v2_new(0,2), -0.328724, epsilon)); - assert(assert_doubles(v2_new(1,0), -0.936885, epsilon)); - assert(assert_doubles(v2_new(1,1), -0.341445, epsilon)); - assert(assert_doubles(v2_new(1,2), 0.075251, epsilon)); - assert(assert_doubles(v2_new(2,0), -0.046131, epsilon)); - assert(assert_doubles(v2_new(2,1), 0.334057, epsilon)); - assert(assert_doubles(v2_new(2,2), 0.941423, epsilon)); - - const Matrix& v3_new = simplex[3]; - assert(assert_doubles(v3_new(0,0), -0.394713, epsilon)); - assert(assert_doubles(v3_new(0,1), 0.791782, epsilon)); - assert(assert_doubles(v3_new(0,2), -0.466136, epsilon)); - assert(assert_doubles(v3_new(1,0), -0.912112, epsilon)); - assert(assert_doubles(v3_new(1,1), -0.398788, epsilon)); - assert(assert_doubles(v3_new(1,2), 0.094972, epsilon)); - assert(assert_doubles(v3_new(2,0), -0.110692, epsilon)); - assert(assert_doubles(v3_new(2,1), 0.462655, epsilon)); - assert(assert_doubles(v3_new(2,2), 0.879601, epsilon)); -} - void test_genetic_algorithm() { CGAL::Eigen_dense_matrix data_points(4, 3); // -1 = dynamic size at run time @@ -412,8 +292,8 @@ void test_function_defaults_traits(const std::string fname1, int main() { - test_nelder_mead(); test_genetic_algorithm(); + test_random_unit_tetra(); test_reference_tetrahedron("data/reference_tetrahedron.off"); test_long_tetrahedron("data/long_tetrahedron.off"); From c6f3a429fa94daee466c886d21ea52249bc9459a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 15:51:34 +0100 Subject: [PATCH 080/150] Update demo plugin to new API --- .../demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp index 41ed97b2727..a24db1457e1 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/PCA/Create_obb_mesh_plugin.cpp @@ -14,7 +14,7 @@ #include -#include +#include using namespace CGAL::Three; @@ -138,7 +138,7 @@ void Create_obb_mesh_plugin::obb() // find obb std::array obb_points; - CGAL::optimal_bounding_box(points, obb_points); + CGAL::oriented_bounding_box(points, obb_points); Scene_facegraph_item* item; SMesh* p = new SMesh; From 47b483a11e454cd92d13c1bac1610449232104e7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 15:56:09 +0100 Subject: [PATCH 081/150] Tiny doc fixes --- .../CGAL/Optimal_bounding_box/oriented_bounding_box.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 709ca28a74c..a2f76b829c6 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -214,8 +214,8 @@ void construct_oriented_bounding_box(Output& output, /// /// \tparam PointRange a model of `Range` /// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, -/// or the traits' `Affine_transformation_3` type -/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +/// or the traits' `Aff_transformation_3` type +/// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param points the input points /// \param out the resulting array of points or affine transformation @@ -293,8 +293,8 @@ void oriented_bounding_box(const PointRange& points, /// /// \tparam PolygonMesh a model of `VertexListGraph` /// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, -/// or the traits' `Affine_transformation_3` type -/// \tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +/// or the traits' `Aff_transformation_3` type +/// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param pmesh the input mesh /// \param out the resulting array of points or affine transformation From 1ef4ac905b9c67965ce428fe32525cd3eac54c51 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 15:57:58 +0100 Subject: [PATCH 082/150] Clean example --- .../examples/Optimal_bounding_box/obb_example.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index 9cf1ddfd825..e6efa798e8d 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -11,7 +11,6 @@ typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point; -typedef K::Aff_transformation_3 Aff_transformation; typedef CGAL::Surface_mesh Surface_mesh; int main(int argc, char** argv) @@ -24,9 +23,6 @@ int main(int argc, char** argv) return EXIT_FAILURE; } - Aff_transformation aff; - - // API test CGAL::Real_timer timer; timer.start(); From 121fe1cb708e68b2c7c69d524018031cddbe4928 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Dec 2019 16:01:57 +0100 Subject: [PATCH 083/150] Test new NP --- BGL/test/BGL/test_cgal_bgl_named_params.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/BGL/test/BGL/test_cgal_bgl_named_params.cpp b/BGL/test/BGL/test_cgal_bgl_named_params.cpp index 70b757b4af0..36b270a903e 100644 --- a/BGL/test/BGL/test_cgal_bgl_named_params.cpp +++ b/BGL/test/BGL/test_cgal_bgl_named_params.cpp @@ -96,6 +96,9 @@ void test(const NamedParameters& np) assert(get_parameter(np, CGAL::internal_np::get_cost_policy).v == 34); assert(get_parameter(np, CGAL::internal_np::get_placement_policy).v == 35); + // Named parameters that we use in the package 'Optimal_bounding_box' + assert(get_parameter(np, CGAL::internal_np::use_convex_hull).v == 58); + // To-be-documented named parameters assert(get_parameter(np, CGAL::internal_np::face_normal).v == 36); assert(get_parameter(np, CGAL::internal_np::random_seed).v == 37); @@ -180,6 +183,9 @@ void test(const NamedParameters& np) check_same_type<34>(get_parameter(np, CGAL::internal_np::get_cost_policy)); check_same_type<35>(get_parameter(np, CGAL::internal_np::get_placement_policy)); + // Named parameters that we use in the package 'Optimal_bounding_box' + check_same_type<58>(get_parameter(np, CGAL::internal_np::use_convex_hull)); + // To-be-documented named parameters check_same_type<36>(get_parameter(np, CGAL::internal_np::face_normal)); check_same_type<37>(get_parameter(np, CGAL::internal_np::random_seed)); @@ -260,11 +266,12 @@ int main() .use_bool_op_to_clip_surface(A<50>(50)) .use_binary_mode(A<51>(51)) .face_size_map(A<52>(52)) - .snapping_tolerance(A<57>(57)) .use_angle_smoothing(A<53>(53)) .use_area_smoothing(A<54>(54)) .use_Delaunay_flips(A<55>(55)) - .use_safety_constraints(A<56>(56)) + .use_safety_constraints(A<56>(56) + .snapping_tolerance(A<57>(57)) + .use_convex_hull(A<58>(58)) ); return EXIT_SUCCESS; From d2072be6265d2d6d0a1686c512d1d3dc74384278 Mon Sep 17 00:00:00 2001 From: Mael Date: Wed, 11 Dec 2019 09:08:29 +0100 Subject: [PATCH 084/150] Add missing license --- Optimal_bounding_box/include/CGAL/optimal_bounding_box.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index c4c1a33affe..97619cef85f 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -20,6 +20,8 @@ * Convenience header file including the headers for all the free functions of this package. */ +#include + #include #include From b63751295240aee550ab8d2370aff9d89fb51c9a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Dec 2019 09:49:59 +0100 Subject: [PATCH 085/150] Tiny concept unification --- .../Concepts/OrientedBoundingBoxTraits.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index 4744f230071..544b8ef7dd0 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -34,14 +34,14 @@ public: /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. typedef unspecified_type Matrix; - /// Returns the transpose of a matrix. - Matrix transpose(const Matrix& mat) const; + /// Returns the transpose of the matrix `m`. + Matrix transpose(const Matrix& m) const; - /// Returns the determinant of a matrix. - FT compute_determinant(const Matrix& matrix) const; + /// Returns the determinant of the matrix `m`. + FT compute_determinant(const Matrix& m) const; - /// Returns the unary matrix Q obtained in the QR decomposition of the matrix `A`. - Matrix get_Q(const Matrix& A) const; + /// Returns the unary matrix `Q` obtained in the QR-decomposition of the matrix `m`. + Matrix get_Q(const Matrix& m) const; }; } // namespace CGAL From aa8efee5c192119b4479cd7c58af432c3d089fa3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Dec 2019 11:17:36 +0100 Subject: [PATCH 086/150] Fix concept link --- .../Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index 544b8ef7dd0..c72e96808a8 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -1,7 +1,7 @@ namespace CGAL { /*! -\ingroup PkgOrientedBoundingBoxConcepts +\ingroup PkgOptimalBoundingBoxConcepts \cgalConcept The concept `OrientedBoundingBoxTraits` describes the requirements of the traits class From ba99311da567fb7b6ed33bea18584833c897a80a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Dec 2019 11:18:29 +0100 Subject: [PATCH 087/150] Simplify OBB concept, remove useless determinant() need --- .../Concepts/OrientedBoundingBoxTraits.h | 11 +---- .../Oriented_bounding_box_traits.h | 22 ++-------- .../Optimal_bounding_box/internal/evolution.h | 2 +- .../Optimal_bounding_box/internal/helper.h | 39 ++++++++++++++++ .../internal/nelder_mead_functions.h | 44 +++++++------------ .../oriented_bounding_box.h | 2 +- .../include/CGAL/optimal_bounding_box.h | 8 ++-- 7 files changed, 68 insertions(+), 60 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/helper.h diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index c72e96808a8..9ab9366cc19 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -6,8 +6,7 @@ namespace CGAL { The concept `OrientedBoundingBoxTraits` describes the requirements of the traits class used in the function `CGAL::oriented_bounding_box()`, and in particular the need for -a 3x3 matrix type with a number of supporting functions (determinant and transposed matrix -computations, etc.). +a 3x3 matrix type. \cgalHasModel `CGAL::Oriented_bounding_box_traits` @@ -34,13 +33,7 @@ public: /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. typedef unspecified_type Matrix; - /// Returns the transpose of the matrix `m`. - Matrix transpose(const Matrix& m) const; - - /// Returns the determinant of the matrix `m`. - FT compute_determinant(const Matrix& m) const; - - /// Returns the unary matrix `Q` obtained in the QR-decomposition of the matrix `m`. + /// Returns the unitary matrix `Q` obtained in the QR-decomposition of the matrix `m`. Matrix get_Q(const Matrix& m) const; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h index b76670cdda0..6ab7c1862b4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h @@ -46,7 +46,7 @@ public: typedef typename K::Point_3 Point_3; /// The affine transformation type - typedef typename K::Aff_transformation_3 Aff_transformation_3; + typedef typename CGAL::Aff_transformation_3 Aff_transformation_3; /// The axis-aligned bounding box construction object typedef typename K::Construct_bbox_3 Construct_bbox_3; @@ -61,25 +61,11 @@ public: /// Offers `construct_bbox_3_object()(const Point_3&)` Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } - /// Returns the transpose of a matrix - Matrix transpose(const Matrix& mat) const - { - return Matrix(mat.eigen_object().transpose()); - } - - /// Returns the determinant of a matrix - FT compute_determinant(const Matrix& matrix) const - { - return matrix.eigen_object().determinant(); - } - - /// Performs QR decomposition of matrix A to a unitary matrix and an upper triagonal + /// Performs QR-decomposition of matrix `m` to a unitary matrix and an upper triagonal /// and returns the unitary matrix. - Matrix get_Q(const Matrix& A) const + Matrix get_Q(const Matrix& m) const { - Eigen::HouseholderQR qr(A.eigen_object()); - CGAL_assertion(CGAL::abs(compute_determinant(Matrix(EigenType(qr.householderQ()))) - 1.) < 0.000001); - + Eigen::HouseholderQR qr(m.eigen_object()); return Matrix(EigenType(qr.householderQ())); } }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index b8c0ecae405..cbe47f035a2 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -17,6 +17,7 @@ #include #include +#include #include #include @@ -184,7 +185,6 @@ public: #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG const Matrix& R_now = fitness_map.get_best(); std::cout << "new best: " << R_now << std::endl; - std::cout << "det = " << m_traits.compute_determinant(R_now) << std::endl; std::cout << "value difference with previous: " << difference << std::endl; #endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/helper.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/helper.h new file mode 100644 index 00000000000..6e05149f064 --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/helper.h @@ -0,0 +1,39 @@ +// Copyright (c) 2018-2019 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// +// Author(s) : Konstantinos Katrioplas +// Mael Rouxel-Labbé +// +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_INTERNAL_HELPER_H +#define CGAL_OPTIMAL_BOUNDING_BOX_INTERNAL_HELPER_H + +#include + +namespace CGAL { +namespace Optimal_bounding_box { +namespace internal { + +template +Matrix transpose(const Matrix& m) +{ + Matrix tm; + + tm.set(0, 0, m(0, 0)); tm.set(0, 1, m(1, 0)); tm.set(0, 2, m(2, 0)); + tm.set(1, 0, m(0, 1)); tm.set(1, 1, m(1, 1)); tm.set(1, 2, m(2, 1)); + tm.set(2, 0, m(0, 2)); tm.set(2, 1, m(1, 2)); tm.set(2, 2, m(2, 2)); + + return tm; +} + +} // namespace internal +} // namespace Optimal_bounding_box +} // namespace CGAL + +#endif // CGAL_OPTIMAL_BOUNDING_BOX_INTERNAL_HELPER_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index b6966b71940..8ea3761a931 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -17,6 +17,7 @@ #include #include +#include #include @@ -27,28 +28,19 @@ namespace CGAL { namespace Optimal_bounding_box { namespace internal { -template +template Matrix reflection(const Matrix& S_centroid, - const Matrix& S_worst, - const Traits& traits) + const Matrix& S_worst) { - CGAL_assertion(S_centroid.number_of_rows() == 3 && S_centroid.number_of_columns() == 3); - CGAL_assertion(S_worst.number_of_rows() == 3 && S_worst.number_of_columns() == 3); - - return S_centroid * traits.transpose(S_worst) * S_centroid; + return S_centroid * transpose(S_worst) * S_centroid; } -template +template Matrix expansion(const Matrix& S_centroid, const Matrix& S_worst, - const Matrix& S_reflection, - const Traits& traits) + const Matrix& S_reflection) { - CGAL_assertion(S_centroid.number_of_rows() == 3 && S_centroid.number_of_columns() == 3); - CGAL_assertion(S_worst.number_of_rows() == 3 && S_worst.number_of_columns() == 3); - CGAL_assertion(S_reflection.number_of_rows() == 3 && S_reflection.number_of_columns() == 3); - - return S_centroid * traits.transpose(S_worst) * S_reflection; + return S_centroid * transpose(S_worst) * S_reflection; } template @@ -56,15 +48,11 @@ Matrix mean(const Matrix& m1, const Matrix& m2, const Traits& traits) { - // same API for reduction - CGAL_assertion(m1.number_of_rows() == 3 && m1.number_of_columns() == 3); - CGAL_assertion(m2.number_of_rows() == 3 && m2.number_of_columns() == 3); + typedef typename Traits::FT FT; - const Matrix reduction = 0.5 * m1 + 0.5 * m2; - const Matrix Q = traits.get_Q(reduction); - const typename Traits::FT det = traits.compute_determinant(Q); + const Matrix reduction = 0.5 * (m1 + m2); - return (1. / det) * Q; + return traits.get_Q(reduction); } template @@ -73,11 +61,11 @@ const Matrix nm_centroid(const Matrix& S1, const Matrix& S3, const Traits& traits) { - const Matrix mean = (1./3.) * (S1 + S2 + S3); - const Matrix Q = traits.get_Q(mean); - const typename Traits::FT det = traits.compute_determinant(Q); + typedef typename Traits::FT FT; - return (1. / det) * Q; + const Matrix mean = (1./3.) * (S1 + S2 + S3); + + return traits.get_Q(mean); } // It's a 3D simplex with 4 rotation matrices as vertices @@ -120,7 +108,7 @@ void nelder_mead(Simplex& simplex, // find worst's vertex reflection const Matrix& v_worst = simplex[3]; - const Matrix v_refl = reflection(v_centroid, v_worst, traits); + const Matrix v_refl = reflection(v_centroid, v_worst); const FT f_refl = compute_fitness(v_refl, points); if(f_refl < fitness[2]) @@ -133,7 +121,7 @@ void nelder_mead(Simplex& simplex, else { // expansion - const Matrix v_expand = expansion(v_centroid, v_worst, v_refl, traits); + const Matrix v_expand = expansion(v_centroid, v_worst, v_refl); const FT f_expand = compute_fitness(v_expand, points); if(f_expand < f_refl) simplex[3] = std::move(v_expand); diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index a2f76b829c6..7f9cb043429 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -119,7 +119,7 @@ void compute_best_transformation(typename Traits::Aff_transformation_3& transfor rot(1, 0), rot(1, 1), rot(1, 2), rot(2, 0), rot(2, 1), rot(2, 2)); - // inverse transformation is simply the transposed since the matrix is unary + // inverse transformation is simply the transposed since the matrix is unitary inverse_transformation = Aff_transformation_3(rot(0, 0), rot(1, 0), rot(2, 0), rot(0, 1), rot(1, 1), rot(2, 1), rot(0, 2), rot(1, 2), rot(2, 2)); diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index 97619cef85f..6e836de4a54 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -14,14 +14,16 @@ #ifndef CGAL_OPTIMAL_BOUNDING_BOX_OBB_H #define CGAL_OPTIMAL_BOUNDING_BOX_OBB_H +#ifndef DOXYGEN_RUNNING +#include +#endif + /** * \ingroup PkgOptimalBoundingBoxRef * \file CGAL/optimal_bounding_box.h -* Convenience header file including the headers for all the free functions of this package. +* Convenience header file including the headers for all the classes and functions of this package. */ -#include - #include #include From 528b9b694923cd394501a5ad65c085096debc958 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Dec 2019 12:25:46 +0100 Subject: [PATCH 088/150] Misc tiny changes --- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 7f9cb043429..ae2d064b467 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -15,8 +15,8 @@ #include -#include #include +#include #include #include @@ -165,7 +165,6 @@ void construct_oriented_bounding_box(Output& output, { std::vector ch_points; extreme_points_3(points, std::back_inserter(ch_points)); - std::cout << "points on CH: " << ch_points.size() << std::endl; return construct_oriented_bounding_box(output, ch_points, rng, traits); } else From 03aad10541ada75cfd26235bac9384d36469977e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Dec 2019 12:25:59 +0100 Subject: [PATCH 089/150] Generalize oriented_bounding_box to Range + point_map Doc only, implementation later --- .../Optimal_bounding_box/oriented_bounding_box.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index ae2d064b467..fb26db1efa2 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -211,20 +211,20 @@ void construct_oriented_bounding_box(Output& output, /// /// See above. /// -/// \tparam PointRange a model of `Range` +/// \tparam PointRange a model of `Range`. The value type may not be equal to the traits' `Point_3` type +/// if a point map is provided via named parameters (see below) to access points. /// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, /// or the traits' `Aff_transformation_3` type /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// -/// \param points the input points +/// \param points the input range /// \param out the resulting array of points or affine transformation /// \param np an optional sequence of \ref obb_namedparameters "Named Parameters" among the ones listed below: /// /// \cgalNamedParamsBegin -/// \cgalParamBegin{vertex_point_map} -/// the property map with the points associated to the vertices of `pmesh`. -/// If this parameter is omitted, an internal property map for -/// `CGAL::vertex_point_t` must be available in `PolygonMesh` +/// \cgalParamBegin{point_map} +/// a model of `ReadPropertyMap` with value type `geom_traits::Point_3`. If this parameter is omitted, +/// `CGAL::Identity_property_map` is used. /// \cgalParamEnd /// \cgalParamBegin{geom_traits} /// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits`. @@ -288,7 +288,7 @@ void oriented_bounding_box(const PointRange& points, /// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box /// -/// Extracts the vertices of the mesh as a point range and calls the other overload. +/// Extracts the vertices of the mesh as a point range and calls the overload above. /// /// \tparam PolygonMesh a model of `VertexListGraph` /// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, From 99128f9c2027bd3343dc79eff525dbcac960b8ec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Dec 2019 12:30:16 +0100 Subject: [PATCH 090/150] Add point_map to OBB's NP --- .../doc/Optimal_bounding_box/NamedParameters.txt | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt index 3ef83f1f9ae..430ab9e4922 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt @@ -30,6 +30,13 @@ is the property map with the points associated to the vertices of the polygon me `GeomTraits::Point_3` as value type. \n Default: \code boost::get(CGAL::vertex_point, pmesh) \endcode \cgalNPEnd + +\cgalNPBegin{point_map} \anchor OBB_point_map + is the property map containing the points associated to the elements of the point range `points`.\n +\b Type: a class model of `ReadablePropertyMap` with `PointRange::iterator::value_type` as key type + and `geom_traits::Point_3` as value type. \n +Default value: \code CGAL::Identity_property_map\endcode +\cgalNPEnd \cgalNPTableEnd In addition to these named parameters, this package offers the following named parameters: From 011bdc865b1660c64067c52ed8d29033defc3e03 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 7 Jan 2020 15:52:22 +0100 Subject: [PATCH 091/150] Various minor doc fixes --- .../doc/Optimal_bounding_box/dependencies | 1 + .../oriented_bounding_box.h | 18 +++++++++--------- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies b/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies index 0379719e9cf..1c28ee0c9b6 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/dependencies @@ -9,4 +9,5 @@ BGL Solver_interface Surface_mesh AABB_tree +Property_map diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index fb26db1efa2..d6a2d12ece8 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -193,13 +193,13 @@ void construct_oriented_bounding_box(Output& output, /// \cgalHeading{Output} /// /// The result of the algorithm can be retrieved as either: -/// - the best affine transformation (\f$ {\mathcal R}_b\f$) that the algorithm has found; -/// - an array of eight points, representing the best oriented bounding box (\f$ {\mathcal B}_b\f$) -/// that the algorithm has constructed, which is related to (\f$ {\mathcal R}_b\f$) as it is +/// - the best affine transformation \f${\mathcal R}_b\f$ that the algorithm has found; +/// - an array of eight points, representing the best oriented bounding box (\f${\mathcal B}_b\f$) +/// that the algorithm has constructed, which is related to \f$ {\mathcal R}_b\f$ as it is /// the inverse transformation of the axis-aligned bounding box of the transformed point set. /// The order of the points in the array is the same as in the function /// \link PkgBGLHelperFct `CGAL::make_hexahedron()` \endlink, -/// which is a useful function to construct a mesh from these points. +/// which can be used to construct a mesh from these points. /// /// Note that when returning an array of points, these points are constructed from the axis-aligned /// bounding box and some precision loss should therefore be expected if a kernel not providing @@ -213,8 +213,8 @@ void construct_oriented_bounding_box(Output& output, /// /// \tparam PointRange a model of `Range`. The value type may not be equal to the traits' `Point_3` type /// if a point map is provided via named parameters (see below) to access points. -/// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, -/// or the traits' `Aff_transformation_3` type +/// \tparam Output either the traits' `Aff_transformation_3` type, +/// or `std::array` with `Point` being equivalent to the traits' `Point_3` type /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param points the input range @@ -223,7 +223,7 @@ void construct_oriented_bounding_box(Output& output, /// /// \cgalNamedParamsBegin /// \cgalParamBegin{point_map} -/// a model of `ReadPropertyMap` with value type `geom_traits::Point_3`. If this parameter is omitted, +/// a model of `ReadablePropertyMap` with value type `geom_traits::Point_3`. If this parameter is omitted, /// `CGAL::Identity_property_map` is used. /// \cgalParamEnd /// \cgalParamBegin{geom_traits} @@ -291,8 +291,8 @@ void oriented_bounding_box(const PointRange& points, /// Extracts the vertices of the mesh as a point range and calls the overload above. /// /// \tparam PolygonMesh a model of `VertexListGraph` -/// \tparam Output either `std::array` with `Point` being equivalent to the traits' `Point_3` type, -/// or the traits' `Aff_transformation_3` type +/// \tparam Output either the traits' `Aff_transformation_3` type, +/// or `std::array` with `Point` being equivalent to the traits' `Point_3` type /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param pmesh the input mesh From f883bc9c237ac4da36eba47c36abc64d135c8791 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 7 Jan 2020 15:59:21 +0100 Subject: [PATCH 092/150] Fix some header includes --- .../CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h | 2 ++ .../test/Optimal_bounding_box/test_nelder_mead.cpp | 5 +++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h index 6ab7c1862b4..9b616562569 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h @@ -15,6 +15,8 @@ #include +#include + #ifdef CGAL_EIGEN3_ENABLED #include #include diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp index ad1751f915c..bb41c4a021a 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp @@ -1,5 +1,6 @@ -#include -#include +#include + +#include #include From a9b1701980a7bdd2956ba7571fbe75fef25cbd5a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 7 Jan 2020 17:00:45 +0100 Subject: [PATCH 093/150] Move concept out of ::CGAL:: namespace --- .../Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h | 4 ---- .../doc/Optimal_bounding_box/PackageDescription.txt | 2 +- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index 9ab9366cc19..c68e63ffec8 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -1,5 +1,3 @@ -namespace CGAL { - /*! \ingroup PkgOptimalBoundingBoxConcepts \cgalConcept @@ -36,5 +34,3 @@ public: /// Returns the unitary matrix `Q` obtained in the QR-decomposition of the matrix `m`. Matrix get_Q(const Matrix& m) const; }; - -} // namespace CGAL diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index 438f248e4c5..f75add083e8 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -40,7 +40,7 @@ that are used in this package. \cgalCRPSection{Concepts} -- `CGAL::OrientedBoundingBoxTraits` +- `OrientedBoundingBoxTraits` \cgalCRPSection{Classes} From ae19de584a8f67d9c539f1f4f1700a78a0d929f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 10 Jan 2020 10:11:00 +0100 Subject: [PATCH 094/150] Change after review 1 https://cgal.geometryfactory.com/CGAL/Members/wiki/Features/Optimal_bounding_box/1st_round/Answer_to_review_1 --- .../Concepts/OrientedBoundingBoxTraits.h | 17 +++++---- .../PackageDescription.txt | 4 +-- ...its.h => Oriented_bounding_box_traits_3.h} | 10 +++--- .../Optimal_bounding_box/internal/evolution.h | 26 +++++++------- .../internal/nelder_mead_functions.h | 4 +-- .../oriented_bounding_box.h | 35 ++++++++++--------- .../include/CGAL/optimal_bounding_box.h | 2 +- .../Optimal_bounding_box/test_nelder_mead.cpp | 2 +- 8 files changed, 53 insertions(+), 47 deletions(-) rename Optimal_bounding_box/include/CGAL/Optimal_bounding_box/{Oriented_bounding_box_traits.h => Oriented_bounding_box_traits_3.h} (87%) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index c68e63ffec8..215a5b38fd5 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -2,24 +2,24 @@ \ingroup PkgOptimalBoundingBoxConcepts \cgalConcept -The concept `OrientedBoundingBoxTraits` describes the requirements of the traits class +The concept `OrientedBoundingBoxTraits_3` describes the requirements of the traits class used in the function `CGAL::oriented_bounding_box()`, and in particular the need for a 3x3 matrix type. -\cgalHasModel `CGAL::Oriented_bounding_box_traits` +\cgalHasModel `CGAL::Oriented_bounding_box_traits_3` */ -class OrientedBoundingBoxTraits +class OrientedBoundingBoxTraits_3 { public: - /// The field number type; must be a model of the concept `FieldNumberType`. + /// The field number type; must be a model of the concept `FieldNumberType` typedef unspecified_type FT; /// The 3D point type; must be model of `Point_3` typedef unspecified_type Point_3; /// The 3D affine transformation type; the template parameter `K` must be a model of `Kernel` - /// and be compatible with the type `Point_3`. + /// and be compatible with the type `Point_3` typedef CGAL::Aff_transformation_3 Aff_transformation_3; /// A construction object that must provide the function operator: @@ -28,9 +28,12 @@ public: typedef unspecified_type Construct_bbox_3; /// A 3x3 matrix type; model of the concept `SvdTraits::Matrix` and which supports - /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition. + /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition typedef unspecified_type Matrix; - /// Returns the unitary matrix `Q` obtained in the QR-decomposition of the matrix `m`. + /// Returns the unitary matrix `Q` obtained in the QR-decomposition of the matrix `m` Matrix get_Q(const Matrix& m) const; + + /// Gives access to the `Construct_bbox_3` construction object + Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } }; diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index f75add083e8..b5d53fd80e3 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -40,11 +40,11 @@ that are used in this package. \cgalCRPSection{Concepts} -- `OrientedBoundingBoxTraits` +- `OrientedBoundingBoxTraits_3` \cgalCRPSection{Classes} -- `CGAL::Oriented_bounding_box_traits` +- `CGAL::Oriented_bounding_box_traits_3` \cgalCRPSection{Methods} diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h similarity index 87% rename from Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h rename to Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h index 9b616562569..80092165d64 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h @@ -28,17 +28,17 @@ namespace CGAL { /// \ingroup PkgOptimalBoundingBoxClasses /// -/// The class `CGAL::Oriented_bounding_box_traits` is a traits type -/// to be used with the functions `CGAL::oriented_bounding_box()`. +/// The class `CGAL::Oriented_bounding_box_traits_3` is a traits type +/// to be used with the overloads of the function `CGAL::oriented_bounding_box()`. /// It uses the third party library \ref thirdpartyEigen "Eigen", which must therefore /// be available on the system for this class to be used. /// /// \tparam K must be a model of `Kernel` /// -/// \cgalModels `OrientedBoundingBoxTraits` +/// \cgalModels `OrientedBoundingBoxTraits_3` /// template -class Oriented_bounding_box_traits +class Oriented_bounding_box_traits_3 { public: /// The field number type @@ -60,7 +60,7 @@ private: typedef typename Matrix::EigenType EigenType; public: - /// Offers `construct_bbox_3_object()(const Point_3&)` + /// Returns a default-constructed construction object Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } /// Performs QR-decomposition of matrix `m` to a unitary matrix and an upper triagonal diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index cbe47f035a2..f3563f57c79 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -75,7 +75,7 @@ public: std::generate(group4.begin(), group4.end(), [&]{ return m_rng.get_int(0, im); }); // crossover I - double bias = 0.1; + FT bias = FT(0.1); std::vector new_simplices(m); @@ -84,10 +84,10 @@ public: std::array offspring; for(int j=0; j<4; ++j) { - const double r = m_rng.get_double(); - const double fitnessA = compute_fitness(m_population[group1[i]][j], m_points); - const double fitnessB = compute_fitness(m_population[group2[i]][j], m_points); - const double threshold = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); + const FT r = FT(m_rng.get_double()); + const FT fitnessA = compute_fitness(m_population[group1[i]][j], m_points); + const FT fitnessB = compute_fitness(m_population[group2[i]][j], m_points); + const FT threshold = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); if(r < threshold) offspring[j] = m_population[group1[i]][j]; @@ -106,10 +106,10 @@ public: std::array offspring; for(int j=0; j<4; ++j) { - const double fitnessA = compute_fitness(m_population[group3[i]][j], m_points); - const double fitnessB = compute_fitness(m_population[group4[i]][j], m_points); - const double lambda = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); - const double rambda = 1 - lambda; // the 'l' in 'lambda' stands for left + const FT fitnessA = compute_fitness(m_population[group3[i]][j], m_points); + const FT fitnessB = compute_fitness(m_population[group4[i]][j], m_points); + const FT lambda = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); + const FT rambda = 1 - lambda; // the 'l' in 'lambda' stands for left // combine information from A and B Matrix new_vertex(3, 3); @@ -148,9 +148,9 @@ public: const std::size_t nelder_mead_iterations = 150; // stopping criteria prameters - double prev_fit_value = 0.; - double new_fit_value = 0.; - const double tolerance = 1e-9; + FT prev_fit_value = 0.; + FT new_fit_value = 0.; + const FT tolerance = 1e-9; int stale = 0; for(std::size_t t=0; t #include -#include +#include #include #include @@ -58,7 +58,6 @@ void construct_oriented_bounding_box(std::array& ob const PointRange& points, const Traits& traits) { - typedef typename Traits::FT FT; typedef typename Traits::Point_3 Point; // Construct the bbox of the transformed point set @@ -209,12 +208,16 @@ void construct_oriented_bounding_box(Output& output, /// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box /// -/// See above. +/// The function `oriented_bounding_box` computes an approximation of the optimal bounding box, +/// which is defined as the rectangular box with smallest volume of all the rectangular boxes containing +/// the input points. /// -/// \tparam PointRange a model of `Range`. The value type may not be equal to the traits' `Point_3` type +/// See \ref PkgOptimalBoundingBox_Oriented_bounding_box for more information. +/// +/// \tparam PointRange a model of `Range`. The value type may not be equal to the type `%Point_3` of the traits class /// if a point map is provided via named parameters (see below) to access points. -/// \tparam Output either the traits' `Aff_transformation_3` type, -/// or `std::array` with `Point` being equivalent to the traits' `Point_3` type +/// \tparam Output either the type `Aff_transformation_3` of the traits class, +/// or `std::array` with `Point` being equivalent to the type `%Point_3` of the traits class /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param points the input range @@ -223,12 +226,12 @@ void construct_oriented_bounding_box(Output& output, /// /// \cgalNamedParamsBegin /// \cgalParamBegin{point_map} -/// a model of `ReadablePropertyMap` with value type `geom_traits::Point_3`. If this parameter is omitted, -/// `CGAL::Identity_property_map` is used. +/// a model of `ReadablePropertyMap` with value type the type`%Point_3` of the traits class. +/// If this parameter is omitted, `CGAL::Identity_property_map<%Point_3>` is used. /// \cgalParamEnd /// \cgalParamBegin{geom_traits} -/// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits`. -/// %Default is `CGAL::Oriented_bounding_box_traits` where `K` is deduced from the point type. +/// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits_3`. +/// %Default is `CGAL::Oriented_bounding_box_traits_3` where `K` is deduced from the point type. /// \cgalParamEnd /// \cgalParamBegin{use_convex_hull} /// a Boolean value to indicate whether the algorithm should first extract the so-called extreme @@ -256,7 +259,7 @@ void oriented_bounding_box(const PointRange& points, #if defined(CGAL_EIGEN3_ENABLED) typedef typename boost::range_value::type Point; typedef typename CGAL::Kernel_traits::type K; - typedef Oriented_bounding_box_traits Default_traits; + typedef Oriented_bounding_box_traits_3 Default_traits; #else typedef void Default_traits; #endif @@ -288,11 +291,11 @@ void oriented_bounding_box(const PointRange& points, /// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box /// -/// Extracts the vertices of the mesh as a point range and calls the overload above. +/// Extracts the vertices of the mesh as a point range and calls the overload using points as input. /// /// \tparam PolygonMesh a model of `VertexListGraph` -/// \tparam Output either the traits' `Aff_transformation_3` type, -/// or `std::array` with `Point` being equivalent to the traits' `Point_3` type +/// \tparam Output either the type `Aff_transformation_3` of the traits class, +/// or `std::array` with `Point` being equivalent to the type `%Point_3` of the traits class /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param pmesh the input mesh @@ -306,8 +309,8 @@ void oriented_bounding_box(const PointRange& points, /// `CGAL::vertex_point_t` must be available in `PolygonMesh` /// \cgalParamEnd /// \cgalParamBegin{geom_traits} -/// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits`. -/// %Default is `CGAL::Oriented_bounding_box_traits` where `K` is deduced from the point type. +/// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits_3`. +/// %Default is `CGAL::Oriented_bounding_box_traits_3` where `K` is deduced from the point type. /// \cgalParamEnd /// \cgalParamBegin{use_convex_hull} /// a Boolean value to indicate whether the algorithm should first extract the so-called extreme diff --git a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h index 6e836de4a54..ba9a4d1d813 100644 --- a/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/optimal_bounding_box.h @@ -24,7 +24,7 @@ * Convenience header file including the headers for all the classes and functions of this package. */ -#include +#include #include #endif // CGAL_OPTIMAL_BOUNDING_BOX_OBB_H diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp index bb41c4a021a..a84cb83b5ea 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp @@ -7,7 +7,7 @@ typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point_3; -typedef CGAL::Oriented_bounding_box_traits Traits; +typedef CGAL::Oriented_bounding_box_traits_3 Traits; typedef Traits::Matrix Matrix; bool are_equal(double d1, double d2, double epsilon) From c483680ad814ca402df0e450ec69db8622641eff Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 29 Jan 2020 13:18:42 +0100 Subject: [PATCH 095/150] Fixes after review #2 --- .../Concepts/OrientedBoundingBoxTraits.h | 6 +++--- .../doc/Optimal_bounding_box/NamedParameters.txt | 10 +++++----- .../doc/Optimal_bounding_box/PackageDescription.txt | 4 ++-- .../Oriented_bounding_box_traits_3.h | 6 +++--- .../CGAL/Optimal_bounding_box/oriented_bounding_box.h | 6 ++++-- 5 files changed, 17 insertions(+), 15 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index 215a5b38fd5..b2ebf4ab60b 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -15,7 +15,7 @@ public: /// The field number type; must be a model of the concept `FieldNumberType` typedef unspecified_type FT; - /// The 3D point type; must be model of `Point_3` + /// The 3D point type; must be model of `Kernel::Point_3` typedef unspecified_type Point_3; /// The 3D affine transformation type; the template parameter `K` must be a model of `Kernel` @@ -24,7 +24,7 @@ public: /// A construction object that must provide the function operator: /// `CGAL::Bbox_3 operator()(const Point_3&)`, - /// which returns an axis-aligned bounding that contains the point + /// which returns an axis-aligned bounding box that contains the point typedef unspecified_type Construct_bbox_3; /// A 3x3 matrix type; model of the concept `SvdTraits::Matrix` and which supports @@ -35,5 +35,5 @@ public: Matrix get_Q(const Matrix& m) const; /// Gives access to the `Construct_bbox_3` construction object - Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } + Construct_bbox_3 construct_bbox_3_object() const; }; diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt index 430ab9e4922..1194850104a 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/NamedParameters.txt @@ -33,9 +33,9 @@ is the property map with the points associated to the vertices of the polygon me \cgalNPBegin{point_map} \anchor OBB_point_map is the property map containing the points associated to the elements of the point range `points`.\n -\b Type: a class model of `ReadablePropertyMap` with `PointRange::iterator::value_type` as key type +Type: a class model of `ReadablePropertyMap` with `PointRange::iterator::value_type` as key type and `geom_traits::Point_3` as value type. \n -Default value: \code CGAL::Identity_property_map\endcode +Default: \code CGAL::Identity_property_map\endcode \cgalNPEnd \cgalNPTableEnd @@ -45,7 +45,7 @@ In addition to these named parameters, this package offers the following named p \cgalNPBegin{geom_traits} \anchor OBB_geom_traits is the geometric traits instance in which the mesh processing operation should be performed.\n Type: a Geometric traits class.\n -Default: +Default: \code typename CGAL::Kernel_traits< typename boost::property_traits< typename boost::property_map::type>::value_type>::Kernel \endcode @@ -56,8 +56,8 @@ Parameter used in the construction of oriented bounding box to indicate whether first extract the extreme points (points that are on the 3D convex hull) of the input data range to accelerate the computation of the bounding box. \n -\b Type : `bool` \n -\b Default value is `true` +Type: `bool` \n +Default: `true` \cgalNPEnd \cgalNPTableEnd diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt index b5d53fd80e3..d06675df4c7 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/PackageDescription.txt @@ -6,10 +6,10 @@ /// \defgroup PkgOptimalBoundingBoxClasses Optimal Bounding Box Classes /// \ingroup PkgOptimalBoundingBoxRef -/// \defgroup PkgOptimalBoundingBoxFunctions Optimal Bounding Box Methods +/// \defgroup PkgOptimalBoundingBoxFunctions Optimal Bounding Box Functions /// \ingroup PkgOptimalBoundingBoxRef -/// \defgroup PkgOptimalBoundingBox_Oriented_bounding_box Oriented Bounding Box Methods +/// \defgroup PkgOptimalBoundingBox_Oriented_bounding_box Oriented Bounding Box Functions /// \ingroup PkgOptimalBoundingBoxFunctions /*! diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h index 80092165d64..06c67bc74d0 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h @@ -30,8 +30,8 @@ namespace CGAL { /// /// The class `CGAL::Oriented_bounding_box_traits_3` is a traits type /// to be used with the overloads of the function `CGAL::oriented_bounding_box()`. -/// It uses the third party library \ref thirdpartyEigen "Eigen", which must therefore -/// be available on the system for this class to be used. +/// +/// \attention This class requires the \ref thirdpartyEigen "Eigen" library. /// /// \tparam K must be a model of `Kernel` /// @@ -63,7 +63,7 @@ public: /// Returns a default-constructed construction object Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } - /// Performs QR-decomposition of matrix `m` to a unitary matrix and an upper triagonal + /// Performs the QR-decomposition of the matrix `m` to a unitary matrix and an upper triagonal /// and returns the unitary matrix. Matrix get_Q(const Matrix& m) const { diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 90cc1c68084..06f07e845e0 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -231,7 +231,8 @@ void construct_oriented_bounding_box(Output& output, /// \cgalParamEnd /// \cgalParamBegin{geom_traits} /// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits_3`. -/// %Default is `CGAL::Oriented_bounding_box_traits_3` where `K` is deduced from the point type. +/// %Default is a default construction object of type `CGAL::Oriented_bounding_box_traits_3` +/// where `K` is a kernel type deduced from the point type. /// \cgalParamEnd /// \cgalParamBegin{use_convex_hull} /// a Boolean value to indicate whether the algorithm should first extract the so-called extreme @@ -310,7 +311,8 @@ void oriented_bounding_box(const PointRange& points, /// \cgalParamEnd /// \cgalParamBegin{geom_traits} /// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits_3`. -/// %Default is `CGAL::Oriented_bounding_box_traits_3` where `K` is deduced from the point type. +/// %Default is a default construction object of type `CGAL::Oriented_bounding_box_traits_3` +/// where `K` is a kernel type deduced from the point type. /// \cgalParamEnd /// \cgalParamBegin{use_convex_hull} /// a Boolean value to indicate whether the algorithm should first extract the so-called extreme From 5f1eed50484be21775085e71965fccbd4edcb5f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 31 Jan 2020 12:14:11 +0100 Subject: [PATCH 096/150] Doc fixes --- .../Concepts/OrientedBoundingBoxTraits.h | 2 +- .../Optimal_bounding_box/oriented_bounding_box.h | 16 ++++++++-------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index b2ebf4ab60b..cbd5ab6a5b8 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -34,6 +34,6 @@ public: /// Returns the unitary matrix `Q` obtained in the QR-decomposition of the matrix `m` Matrix get_Q(const Matrix& m) const; - /// Gives access to the `Construct_bbox_3` construction object + /// Returns the 3D box construction functor Construct_bbox_3 construct_bbox_3_object() const; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 06f07e845e0..1b8cacc741d 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -246,11 +246,11 @@ template void oriented_bounding_box(const PointRange& points, Output& out, - const CGAL_BGL_NP_CLASS& np, + const CGAL_BGL_NP_CLASS& np #ifndef DOXYGEN_RUNNING - typename boost::enable_if< - typename boost::has_range_iterator - >::type* = 0 + , typename boost::enable_if< + typename boost::has_range_iterator + >::type* = 0 #endif ) { @@ -326,11 +326,11 @@ template void oriented_bounding_box(const PolygonMesh& pmesh, Output& out, - const CGAL_BGL_NP_CLASS& np, + const CGAL_BGL_NP_CLASS& np #ifndef DOXYGEN_RUNNING - typename boost::disable_if< - typename boost::has_range_iterator - >::type* = 0 + , typename boost::disable_if< + typename boost::has_range_iterator + >::type* = 0 #endif ) { From 24a696d0ae83d6b3efe55971f60e0a0d6da02c12 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 3 Feb 2020 11:05:53 +0100 Subject: [PATCH 097/150] Remove a dot --- .../CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h index 06c67bc74d0..7de034882a4 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h @@ -64,7 +64,7 @@ public: Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } /// Performs the QR-decomposition of the matrix `m` to a unitary matrix and an upper triagonal - /// and returns the unitary matrix. + /// and returns the unitary matrix Matrix get_Q(const Matrix& m) const { Eigen::HouseholderQR qr(m.eigen_object()); From 384123b3b32fdeb844ef27fb6f2319dd16b54985 Mon Sep 17 00:00:00 2001 From: Mael Date: Mon, 3 Feb 2020 13:19:44 +0100 Subject: [PATCH 098/150] Add missing space --- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 1b8cacc741d..68149f2ad76 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -226,7 +226,7 @@ void construct_oriented_bounding_box(Output& output, /// /// \cgalNamedParamsBegin /// \cgalParamBegin{point_map} -/// a model of `ReadablePropertyMap` with value type the type`%Point_3` of the traits class. +/// a model of `ReadablePropertyMap` with value type the type `%Point_3` of the traits class. /// If this parameter is omitted, `CGAL::Identity_property_map<%Point_3>` is used. /// \cgalParamEnd /// \cgalParamBegin{geom_traits} From 75bd7b3b79c39e562ee6fdcb930ba071d6ee4ca0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 9 Mar 2020 16:54:39 +0100 Subject: [PATCH 099/150] Regenerate travis.yml --- .travis.yml | 45 +++++++++++++++++++++++---------------------- 1 file changed, 23 insertions(+), 22 deletions(-) diff --git a/.travis.yml b/.travis.yml index 1fbffbcaa3e..67ef61cbf57 100644 --- a/.travis.yml +++ b/.travis.yml @@ -30,28 +30,29 @@ env: - PACKAGE='Minkowski_sum_2 Minkowski_sum_3 Modifier ' - PACKAGE='Modular_arithmetic Nef_2 Nef_3 ' - PACKAGE='Nef_S2 NewKernel_d Number_types ' - - PACKAGE='OpenNL Optimal_transportation_reconstruction_2 Optimisation_basic ' - - PACKAGE='Partition_2 Periodic_2_triangulation_2 Periodic_3_mesh_3 ' - - PACKAGE='Periodic_3_triangulation_3 Periodic_4_hyperbolic_triangulation_2 Point_set_2 ' - - PACKAGE='Point_set_3 Point_set_processing_3 Poisson_surface_reconstruction_3 ' - - PACKAGE='Polygon Polygon_mesh_processing Polygonal_surface_reconstruction ' - - PACKAGE='Polyhedron Polyhedron_IO Polyline_simplification_2 ' - - PACKAGE='Polynomial Polytope_distance_d Principal_component_analysis ' - - PACKAGE='Principal_component_analysis_LGPL Profiling_tools Property_map ' - - PACKAGE='QP_solver Random_numbers Ridges_3 ' - - PACKAGE='STL_Extension Scale_space_reconstruction_3 Scripts ' - - PACKAGE='SearchStructures Segment_Delaunay_graph_2 Segment_Delaunay_graph_Linf_2 ' - - PACKAGE='Set_movable_separability_2 Shape_detection Skin_surface_3 ' - - PACKAGE='Snap_rounding_2 Solver_interface Spatial_searching ' - - PACKAGE='Spatial_sorting Straight_skeleton_2 Stream_lines_2 ' - - PACKAGE='Stream_support Subdivision_method_3 Surface_mesh ' - - PACKAGE='Surface_mesh_approximation Surface_mesh_deformation Surface_mesh_parameterization ' - - PACKAGE='Surface_mesh_segmentation Surface_mesh_shortest_path Surface_mesh_simplification ' - - PACKAGE='Surface_mesh_skeletonization Surface_mesh_topology Surface_mesher ' - - PACKAGE='Surface_sweep_2 TDS_2 TDS_3 ' - - PACKAGE='Testsuite Three Triangulation ' - - PACKAGE='Triangulation_2 Triangulation_3 Union_find ' - - PACKAGE='Visibility_2 Voronoi_diagram_2 wininst ' + - PACKAGE='OpenNL Optimal_bounding_box Optimal_transportation_reconstruction_2 ' + - PACKAGE='Optimisation_basic Partition_2 Periodic_2_triangulation_2 ' + - PACKAGE='Periodic_3_mesh_3 Periodic_3_triangulation_3 Periodic_4_hyperbolic_triangulation_2 ' + - PACKAGE='Point_set_2 Point_set_3 Point_set_processing_3 ' + - PACKAGE='Poisson_surface_reconstruction_3 Polygon Polygon_mesh_processing ' + - PACKAGE='Polygonal_surface_reconstruction Polyhedron Polyhedron_IO ' + - PACKAGE='Polyline_simplification_2 Polynomial Polytope_distance_d ' + - PACKAGE='Principal_component_analysis Principal_component_analysis_LGPL Profiling_tools ' + - PACKAGE='Property_map QP_solver Random_numbers ' + - PACKAGE='Ridges_3 STL_Extension Scale_space_reconstruction_3 ' + - PACKAGE='Scripts SearchStructures Segment_Delaunay_graph_2 ' + - PACKAGE='Segment_Delaunay_graph_Linf_2 Set_movable_separability_2 Shape_detection ' + - PACKAGE='Skin_surface_3 Snap_rounding_2 Solver_interface ' + - PACKAGE='Spatial_searching Spatial_sorting Straight_skeleton_2 ' + - PACKAGE='Stream_lines_2 Stream_support Subdivision_method_3 ' + - PACKAGE='Surface_mesh Surface_mesh_approximation Surface_mesh_deformation ' + - PACKAGE='Surface_mesh_parameterization Surface_mesh_segmentation Surface_mesh_shortest_path ' + - PACKAGE='Surface_mesh_simplification Surface_mesh_skeletonization Surface_mesh_topology ' + - PACKAGE='Surface_mesher Surface_sweep_2 TDS_2 ' + - PACKAGE='TDS_3 Testsuite Three ' + - PACKAGE='Triangulation Triangulation_2 Triangulation_3 ' + - PACKAGE='Union_find Visibility_2 Voronoi_diagram_2 ' + - PACKAGE='wininst ' compiler: clang install: - echo "$PWD" From 1db10135a60ce7bdc7f34de12bdc76d1a68b6f06 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Mar 2020 13:47:50 +0100 Subject: [PATCH 100/150] Change namespaces from internal::Convex_hull_3 to Convex_hull_3::internal On-going uniformization work --- ...fspace_intersection_with_constructions_3.h | 2 +- .../CGAL/Extreme_points_traits_adapter_3.h | 33 ++++++----- Convex_hull_3/include/CGAL/convex_hull_3.h | 56 ++++++++++--------- .../quick_hull_default_traits.cpp | 2 +- 4 files changed, 50 insertions(+), 43 deletions(-) diff --git a/Convex_hull_3/include/CGAL/Convex_hull_3/dual/halfspace_intersection_with_constructions_3.h b/Convex_hull_3/include/CGAL/Convex_hull_3/dual/halfspace_intersection_with_constructions_3.h index cb994d5d8ea..4b529217f68 100644 --- a/Convex_hull_3/include/CGAL/Convex_hull_3/dual/halfspace_intersection_with_constructions_3.h +++ b/Convex_hull_3/include/CGAL/Convex_hull_3/dual/halfspace_intersection_with_constructions_3.h @@ -142,7 +142,7 @@ namespace CGAL boost::optional::value_type>::Kernel::Point_3> const& origin = boost::none) { typedef typename Kernel_traits::value_type>::Kernel K; typedef typename K::Point_3 Point_3; - typedef typename internal::Convex_hull_3::Default_traits_for_Chull_3::type Traits; + typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; halfspace_intersection_with_constructions_3(pbegin, pend, P, origin, Traits()); } diff --git a/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h b/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h index 2bfc28b4384..8934091b740 100644 --- a/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h +++ b/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h @@ -24,11 +24,10 @@ #include #include - - namespace CGAL { +namespace Convex_hull_3 { +namespace internal { -namespace Convex_hull_impl{ template struct Forward_functor : public F @@ -67,10 +66,13 @@ struct Forward_functor get(vpm_,s)); } }; -}//end Convex_hull_impl + +} // namespace internal +} // namespace Convex_hull_3 + template< class PointPropertyMap, - class Base_traits=typename internal::Convex_hull_3::Default_traits_for_Chull_3< + class Base_traits = typename Convex_hull_3::internal::Default_traits_for_Chull_3< typename boost::property_traits::value_type>::type > class Extreme_points_traits_adapter_3 @@ -85,10 +87,11 @@ public: {} typedef typename boost::property_traits::key_type Vertex; typedef Vertex Point_3; - typedef Convex_hull_impl::Forward_functor Equal_3; - typedef Convex_hull_impl::Forward_functor Collinear_3; - typedef Convex_hull_impl::Forward_functor Coplanar_3; - typedef Convex_hull_impl::Forward_functor Less_distance_to_point_3; + typedef Convex_hull_3::internal::Forward_functor Equal_3; + typedef Convex_hull_3::internal::Forward_functor Collinear_3; + typedef Convex_hull_3::internal::Forward_functor Coplanar_3; + typedef Convex_hull_3::internal::Forward_functor Less_distance_to_point_3; + class Less_signed_distance_to_plane_3 :public Base_traits::Less_signed_distance_to_plane_3 { @@ -167,11 +170,11 @@ public: Proj_traits_3(const PointPropertyMap& map,const Btt& base): Base_proj_traits(base),vpm_(map){} typedef Point_3 Point_2; - typedef Convex_hull_impl::Forward_functor Equal_2; - typedef Convex_hull_impl::Forward_functor Less_xy_2; - typedef Convex_hull_impl::Forward_functor Less_yx_2; - typedef Convex_hull_impl::Forward_functor Less_signed_distance_to_line_2; - typedef Convex_hull_impl::Forward_functor Left_turn_2; + typedef Convex_hull_3::internal::Forward_functor Equal_2; + typedef Convex_hull_3::internal::Forward_functor Less_xy_2; + typedef Convex_hull_3::internal::Forward_functor Less_yx_2; + typedef Convex_hull_3::internal::Forward_functor Less_signed_distance_to_line_2; + typedef Convex_hull_3::internal::Forward_functor Left_turn_2; class Less_rotate_ccw_2:public Btt::Less_rotate_ccw_2 { @@ -212,7 +215,7 @@ public: Orientation_2 orientation_2_object ()const{return Orientation_2(vpm_,static_cast(this)->orientation_2_object() );} }; - typedef internal::Convex_hull_3::Projection_traits Base_PTraits; + typedef Convex_hull_3::internal::Projection_traits Base_PTraits; typedef Proj_traits_3 Traits_xy_3; typedef Proj_traits_3 Traits_yz_3; typedef Proj_traits_3 Traits_xz_3; diff --git a/Convex_hull_3/include/CGAL/convex_hull_3.h b/Convex_hull_3/include/CGAL/convex_hull_3.h index 15dd55705fd..d1a1be76a2d 100644 --- a/Convex_hull_3/include/CGAL/convex_hull_3.h +++ b/Convex_hull_3/include/CGAL/convex_hull_3.h @@ -67,7 +67,8 @@ namespace CGAL { // Forward declaration template class Extreme_points_traits_adapter_3; -namespace internal{ namespace Convex_hull_3{ +namespace Convex_hull_3 { +namespace internal { // wrapper used as a MutableFaceGraph to extract extreme points template @@ -81,7 +82,7 @@ struct Output_iterator_wrapper template void add_isolated_points(const Point_3& point, - internal::Convex_hull_3::Output_iterator_wrapper& w) + Convex_hull_3::internal::Output_iterator_wrapper& w) { *w.out++ = point; } @@ -94,16 +95,17 @@ void add_isolated_points(const Point_3& point, Polyhedron_3& P) template void copy_ch2_to_face_graph(const std::list& CH_2, - internal::Convex_hull_3::Output_iterator_wrapper& w) + Convex_hull_3::internal::Output_iterator_wrapper& w) { for(const Point_3& p : CH_2) *w.out++ = p; } -} } // internal::Convex_hull_3 +} // namespace internal +} // namespace Convex_hull_3 template -void copy_face_graph(const TDS& tds, internal::Convex_hull_3::Output_iterator_wrapper& wrapper) +void copy_face_graph(const TDS& tds, Convex_hull_3::internal::Output_iterator_wrapper& wrapper) { typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; typename boost::property_map::const_type vpm = get(boost::vertex_point, tds); @@ -114,12 +116,12 @@ void copy_face_graph(const TDS& tds, internal::Convex_hull_3::Output_iterator_wr } template -void clear(internal::Convex_hull_3::Output_iterator_wrapper&) +void clear(Convex_hull_3::internal::Output_iterator_wrapper&) {} template void make_tetrahedron(const Point& p0, const Point& p1, const Point& p2, const Point& p3, - internal::Convex_hull_3::Output_iterator_wrapper& w) + Convex_hull_3::internal::Output_iterator_wrapper& w) { *w.out++ = p0; *w.out++ = p1; @@ -129,19 +131,20 @@ void make_tetrahedron(const Point& p0, const Point& p1, const Point& p2, const P } // CGAL -namespace boost{ +namespace boost { + // needed so that the regular make_tetrahedron of CGAL does not complain when tried to be instantiated template -struct graph_traits > +struct graph_traits > { typedef void* halfedge_descriptor; }; -} + +} // namespace boost namespace CGAL { - - -namespace internal{ namespace Convex_hull_3{ +namespace Convex_hull_3 { +namespace internal { //struct to select the default traits class for computing convex hull template< class Point_3, @@ -440,7 +443,7 @@ void coplanar_3_hull(InputIterator first, InputIterator beyond, const Point_3& p1, const Point_3& p2, const Point_3& p3, Polyhedron_3& P, const Traits& traits ) { - typedef typename internal::Convex_hull_3::Projection_traits PTraits; + typedef typename Convex_hull_3::internal::Projection_traits PTraits; typedef typename PTraits::Traits_xy_3 Traits_xy_3; typedef typename PTraits::Traits_yz_3 Traits_yz_3; typedef typename PTraits::Traits_xz_3 Traits_xz_3; @@ -848,7 +851,8 @@ ch_quickhull_polyhedron_3(std::list& points, } -} } //namespace internal::Convex_hull_3 +} // namespace internal +} // namespace Convex_hull_3 template void @@ -936,7 +940,7 @@ convex_hull_3(InputIterator first, InputIterator beyond, } // result will be a polyhedron - typedef typename internal::Convex_hull_3::Default_polyhedron_for_Chull_3::type Polyhedron; + typedef typename Convex_hull_3::internal::Default_polyhedron_for_Chull_3::type Polyhedron; Polyhedron P; P3_iterator minx, maxx, miny, it; @@ -948,9 +952,9 @@ convex_hull_3(InputIterator first, InputIterator beyond, if(it->y() < miny->y()) miny = it; } if(! collinear(*minx, *maxx, *miny) ){ - internal::Convex_hull_3::ch_quickhull_polyhedron_3(points, minx, maxx, miny, P, traits); + Convex_hull_3::internal::ch_quickhull_polyhedron_3(points, minx, maxx, miny, P, traits); } else { - internal::Convex_hull_3::ch_quickhull_polyhedron_3(points, point1_it, point2_it, point3_it, P, traits); + Convex_hull_3::internal::ch_quickhull_polyhedron_3(points, point1_it, point2_it, point3_it, P, traits); } CGAL_assertion(num_vertices(P)>=3); typename boost::graph_traits::vertex_iterator b,e; @@ -976,7 +980,7 @@ template void convex_hull_3(InputIterator first, InputIterator beyond, Object& ch_object) { typedef typename std::iterator_traits::value_type Point_3; - typedef typename internal::Convex_hull_3::Default_traits_for_Chull_3::type Traits; + typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; convex_hull_3(first, beyond, ch_object, Traits()); } @@ -1009,7 +1013,7 @@ void convex_hull_3(InputIterator first, InputIterator beyond, // if there is only one point or all points are equal if(point2_it == points.end()) { - internal::Convex_hull_3::add_isolated_points(*point1_it, polyhedron); + Convex_hull_3::internal::add_isolated_points(*point1_it, polyhedron); return; } @@ -1028,12 +1032,12 @@ void convex_hull_3(InputIterator first, InputIterator beyond, min_max_element(points.begin(), points.end(), boost::bind(less_dist, *points.begin(), _1, _2), boost::bind(less_dist, *points.begin(), _1, _2)); - internal::Convex_hull_3::add_isolated_points(*endpoints.first, polyhedron); - internal::Convex_hull_3::add_isolated_points(*endpoints.second, polyhedron); + Convex_hull_3::internal::add_isolated_points(*endpoints.first, polyhedron); + Convex_hull_3::internal::add_isolated_points(*endpoints.second, polyhedron); return; } - internal::Convex_hull_3::ch_quickhull_polyhedron_3(points, point1_it, point2_it, point3_it, + Convex_hull_3::internal::ch_quickhull_polyhedron_3(points, point1_it, point2_it, point3_it, polyhedron, traits); } @@ -1046,7 +1050,7 @@ void convex_hull_3(InputIterator first, InputIterator beyond, >::type* =0) //workaround to avoid ambiguity with next overload. { typedef typename std::iterator_traits::value_type Point_3; - typedef typename internal::Convex_hull_3::Default_traits_for_Chull_3::type Traits; + typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; convex_hull_3(first, beyond, polyhedron, Traits()); } @@ -1080,7 +1084,7 @@ extreme_points_3(const InputRange& range, OutputIterator out, const Traits& traits) { - internal::Convex_hull_3::Output_iterator_wrapper wrapper(out); + Convex_hull_3::internal::Output_iterator_wrapper wrapper(out); convex_hull_3(range.begin(), range.end(), wrapper, traits); return out; } @@ -1091,7 +1095,7 @@ extreme_points_3(const InputRange& range, OutputIterator out) { typedef typename InputRange::const_iterator Iterator_type; typedef typename std::iterator_traits::value_type Point_3; - typedef typename internal::Convex_hull_3::Default_traits_for_Chull_3::type Traits; + typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; return extreme_points_3(range, out, Traits()); } diff --git a/Convex_hull_3/test/Convex_hull_3/quick_hull_default_traits.cpp b/Convex_hull_3/test/Convex_hull_3/quick_hull_default_traits.cpp index 968cbf5a510..1ae001fc693 100644 --- a/Convex_hull_3/test/Convex_hull_3/quick_hull_default_traits.cpp +++ b/Convex_hull_3/test/Convex_hull_3/quick_hull_default_traits.cpp @@ -19,7 +19,7 @@ typedef CGAL::Simple_cartesian SCD; typedef CGAL::Simple_homogeneous SHD; typedef CGAL::Simple_cartesian SCR; -using namespace CGAL::internal::Convex_hull_3; +using namespace CGAL::Convex_hull_3::internal; int main() { From 8446ef107344e055f302cda93db461d9227109c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Mar 2020 13:48:30 +0100 Subject: [PATCH 101/150] Clean #include's --- Convex_hull_3/include/CGAL/convex_hull_3.h | 29 +++++++++++----------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/Convex_hull_3/include/CGAL/convex_hull_3.h b/Convex_hull_3/include/CGAL/convex_hull_3.h index d1a1be76a2d..ec2b1577b18 100644 --- a/Convex_hull_3/include/CGAL/convex_hull_3.h +++ b/Convex_hull_3/include/CGAL/convex_hull_3.h @@ -31,21 +31,10 @@ #include #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include + #include #include +#include #include #include #include @@ -54,12 +43,24 @@ #include #include -#include +#include +#include +#include +#include +#include +#include #ifndef CGAL_CH_NO_POSTCONDITIONS #include #endif // CGAL_CH_NO_POSTCONDITIONS +#include +#include +#include +#include +#include +#include +#include // first some internal stuff to avoid using a true Face_graph model for extreme_points_3 namespace CGAL { From a846a1e19c28b6f0d71137fad8142b6b1fcf5231 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 10 Mar 2020 14:20:17 +0100 Subject: [PATCH 102/150] Remove long-deprecated convex_hull_3_to_polyhedron_3() Use convex_hull_3_to_face_graph() --- .../compare_different_approach.cpp | 4 +- .../CGAL/convex_hull_3_to_polyhedron_3.h | 29 --------------- .../CGAL/convex_hull_3_to_polyhedron_3.h | 37 ------------------- .../Triangulation_3/CGAL/link_to_face_graph.h | 2 +- 4 files changed, 3 insertions(+), 69 deletions(-) delete mode 100644 Convex_hull_3/doc/Convex_hull_3/CGAL/convex_hull_3_to_polyhedron_3.h delete mode 100644 Convex_hull_3/include/CGAL/convex_hull_3_to_polyhedron_3.h diff --git a/Convex_hull_3/benchmark/Convex_hull_3/compare_different_approach.cpp b/Convex_hull_3/benchmark/Convex_hull_3/compare_different_approach.cpp index 6549c202905..3304eb00c67 100644 --- a/Convex_hull_3/benchmark/Convex_hull_3/compare_different_approach.cpp +++ b/Convex_hull_3/benchmark/Convex_hull_3/compare_different_approach.cpp @@ -4,7 +4,7 @@ #include #include #include -#include +#include #include #include #include @@ -68,7 +68,7 @@ int main(int argc,char** argv) time.stop(); std::cout << "Delaunay " << time.time() << std::endl; time.start(); - CGAL::convex_hull_3_to_polyhedron_3(T,poly); + CGAL::convex_hull_3_to_face_graph(T,poly); time.stop(); std::cout << "Delaunay+to_poly " << time.time() <<" "<< poly.size_of_vertices() << std::endl; poly.clear(); diff --git a/Convex_hull_3/doc/Convex_hull_3/CGAL/convex_hull_3_to_polyhedron_3.h b/Convex_hull_3/doc/Convex_hull_3/CGAL/convex_hull_3_to_polyhedron_3.h deleted file mode 100644 index a73ec6a2b0b..00000000000 --- a/Convex_hull_3/doc/Convex_hull_3/CGAL/convex_hull_3_to_polyhedron_3.h +++ /dev/null @@ -1,29 +0,0 @@ -namespace CGAL { - -/*! -\ingroup PkgConvexHull3Functions - -fills a polyhedron with the convex hull of a set of 3D points contained in a 3D triangulation of \cgal. - -The polyhedron `P` is cleared and the convex hull of the set of 3D points is stored in `P`. - -\deprecated since \cgal 4.10. Use `convex_hull_3_to_face_graph()` instead. - -\attention This function does not compute the plane equations of the faces of `P`. - -\attention This function works only for `CGAL::Polyhedron_3`, and users who want -to generate a `Surface_mesh` or any other model of a `FaceGraph` may use `convex_hull_3_to_face_graph()` instead. - -\pre `T.dimension()`==3. - -\tparam Triangulation is a \cgal 3D triangulation. -\tparam Polyhedron is an instantiation of `CGAL::Polyhedron_3`. - -\sa `convex_hull_3()` -\sa `link_to_face_graph()` - -*/ -template -void convex_hull_3_to_polyhedron_3(const Triangulation& T,Polyhedron& P); - -} /* namespace CGAL */ diff --git a/Convex_hull_3/include/CGAL/convex_hull_3_to_polyhedron_3.h b/Convex_hull_3/include/CGAL/convex_hull_3_to_polyhedron_3.h deleted file mode 100644 index 7a048c904a3..00000000000 --- a/Convex_hull_3/include/CGAL/convex_hull_3_to_polyhedron_3.h +++ /dev/null @@ -1,37 +0,0 @@ -// Copyright (c) 2011 GeometryFactory (France). -// All rights reserved. -// -// This file is part of CGAL (www.cgal.org). -// -// $URL$ -// $Id$ -// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial -// -// -// Author(s) : Sebastien Loriot -// - -#ifndef CGAL_CONVEX_HULL_3_TO_POLYHEDRON_3_H -#define CGAL_CONVEX_HULL_3_TO_POLYHEDRON_3_H - -#include - - -#define CGAL_DEPRECATED_HEADER "" -#define CGAL_REPLACEMENT_HEADER "" -#include - - -#include - -namespace CGAL { - -template -CGAL_DEPRECATED void convex_hull_3_to_polyhedron_3(const Triangulation_3& T,Polyhedron_3& P){ - clear(P); - link_to_face_graph(T,T.infinite_vertex(), P); -} - -} //namespace CGAL - -#endif //CGAL_CONVEX_HULL_3_TO_POLYHEDRON_3_H diff --git a/Triangulation_3/doc/Triangulation_3/CGAL/link_to_face_graph.h b/Triangulation_3/doc/Triangulation_3/CGAL/link_to_face_graph.h index 600ec0441e8..836884865e6 100644 --- a/Triangulation_3/doc/Triangulation_3/CGAL/link_to_face_graph.h +++ b/Triangulation_3/doc/Triangulation_3/CGAL/link_to_face_graph.h @@ -22,7 +22,7 @@ fills the face graph `tm` with the #include -#include #include #include #include #include #include +#include #include #include @@ -498,12 +498,12 @@ public: // Spatial sorting can only be applied to bare points, so we need an adaptor typedef typename Geom_traits::Construct_point_3 Construct_point_3; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; spatial_sort(pbegin, points.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_3_object()), geom_traits())); Cell_handle hint; diff --git a/Polygon_mesh_processing/test/Polygon_mesh_processing/connected_component_surface_mesh.cpp b/Polygon_mesh_processing/test/Polygon_mesh_processing/connected_component_surface_mesh.cpp index c22d400cda4..83fa6a1bb53 100644 --- a/Polygon_mesh_processing/test/Polygon_mesh_processing/connected_component_surface_mesh.cpp +++ b/Polygon_mesh_processing/test/Polygon_mesh_processing/connected_component_surface_mesh.cpp @@ -4,7 +4,8 @@ #include #include #include -#include + +#include #include #include @@ -167,7 +168,7 @@ void test_CC_with_area_size_map(Mesh sm, std::cout << "We keep the " << 2 << " largest components" << std::endl; std::size_t res = PMP::keep_largest_connected_components(sm, 2, - PMP::parameters::face_size_map(CGAL::internal::boost_::make_function_property_map(f)) + PMP::parameters::face_size_map(boost::make_function_property_map(f)) .dry_run(true) .output_iterator(std::back_inserter(faces_to_remove))); @@ -183,7 +184,7 @@ void test_CC_with_area_size_map(Mesh sm, PMP::keep_largest_connected_components(sm, 2, PMP::parameters::face_size_map( - CGAL::internal::boost_::make_function_property_map(f))); + boost::make_function_property_map(f))); assert(vertices(sm).size() == 1459); { @@ -199,7 +200,7 @@ void test_CC_with_area_size_map(Mesh sm, Face_descriptor_area_functor f(m, k); PMP::keep_large_connected_components(m, 10, CGAL::parameters::face_size_map( - CGAL::internal::boost_::make_function_property_map(f))); + boost::make_function_property_map(f))); assert(vertices(m).size() == 3); PMP::keep_largest_connected_components(m, 1); diff --git a/STL_Extension/include/CGAL/internal/boost/function_property_map.hpp b/STL_Extension/include/CGAL/internal/boost/function_property_map.hpp deleted file mode 100644 index 765c0bfd7ae..00000000000 --- a/STL_Extension/include/CGAL/internal/boost/function_property_map.hpp +++ /dev/null @@ -1,84 +0,0 @@ -// -//======================================================================= -// Author: Philipp Moeller -// -// Copyright 2012, Philipp Moeller -// -// Distributed under the Boost Software License, Version 1.0. (See -// accompanying file LICENSE_1_0.txt or copy at -// https://www.boost.org/LICENSE_1_0.txt) -//======================================================================= -// -// $URL$ -// $Id$ -// SPDX-License-Identifier: BSL-1.0 -// - -// Note: This file was copied from Boost v1.64 because it was introduced -// in a release (~v1.51) that is newer than the oldest release of Boost -// that CGAL supports. -// the property map 'function_property_map' is (currently) used -// in the packages Triangulation_2 and Triangulation_3. - -#ifndef CGAL_INTERNAL_BOOST_PROPERTY_MAP_FUNCTION_PROPERTY_MAP_HPP -#define CGAL_INTERNAL_BOOST_PROPERTY_MAP_FUNCTION_PROPERTY_MAP_HPP - -#include -#include -#include -#include -#include -#include -#include - -namespace CGAL { -namespace internal { -namespace boost_ { - -template::type> -class function_property_map - : public boost::put_get_helper > -{ -public: - typedef Key key_type; - typedef Ret reference; - typedef typename boost::remove_cv::type>::type value_type; - - typedef typename boost::mpl::if_< - boost::mpl::and_< - boost::is_reference, - boost::mpl::not_< boost::is_const > - >, - boost::lvalue_property_map_tag, - boost::readable_property_map_tag>::type - category; - - function_property_map(Func f = Func()) : f(f) {} - - reference operator[](const Key& k) const { - return f(k); - } - -private: - Func f; -}; - -template -function_property_map -make_function_property_map(const Func& f) { - return function_property_map(f); -} - -template -function_property_map -make_function_property_map(const Func& f) { - return function_property_map(f); -} - -} // boost_ -} // internal -} // CGAL - -#endif /* CGAL_INTERNAL_BOOST_PROPERTY_MAP_FUNCTION_PROPERTY_MAP_HPP */ diff --git a/Triangulation_2/include/CGAL/Regular_triangulation_2.h b/Triangulation_2/include/CGAL/Regular_triangulation_2.h index 2d1e14c5a13..5d9f94b5f69 100644 --- a/Triangulation_2/include/CGAL/Regular_triangulation_2.h +++ b/Triangulation_2/include/CGAL/Regular_triangulation_2.h @@ -20,7 +20,6 @@ #include #include -#include #include #include @@ -34,6 +33,7 @@ #include #include +#include #endif //CGAL_TRIANGULATION_2_DONT_INSERT_RANGE_OF_POINTS_WITH_INFO @@ -414,12 +414,12 @@ public: // spatial sorting must use bare points, so we need an adapter typedef typename Geom_traits::Construct_point_2 Construct_point_2; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_2 Search_traits_2; spatial_sort(points.begin(), points.end(), Search_traits_2( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_2_object()), geom_traits())); Face_handle hint; @@ -482,13 +482,13 @@ private: typedef Index_to_Bare_point > Access_bare_point; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_2 Search_traits_2; Access_bare_point accessor(points, geom_traits().construct_point_2_object()); spatial_sort(indices.begin(), indices.end(), Search_traits_2( - CGAL::internal::boost_::make_function_property_map< + boost::make_function_property_map< std::size_t, Ret, Access_bare_point>(accessor), geom_traits())); diff --git a/Triangulation_2/include/CGAL/Triangulation_2.h b/Triangulation_2/include/CGAL/Triangulation_2.h index de91b826848..568cf63b8ea 100644 --- a/Triangulation_2/include/CGAL/Triangulation_2.h +++ b/Triangulation_2/include/CGAL/Triangulation_2.h @@ -37,7 +37,6 @@ #include #include -#include #include #include diff --git a/Triangulation_2/include/CGAL/Triangulation_hierarchy_2.h b/Triangulation_2/include/CGAL/Triangulation_hierarchy_2.h index 30fa8deac9b..8d9c6917f1e 100644 --- a/Triangulation_2/include/CGAL/Triangulation_hierarchy_2.h +++ b/Triangulation_2/include/CGAL/Triangulation_hierarchy_2.h @@ -25,10 +25,9 @@ #include #include -#include - #include #include +#include #include #include #include @@ -130,12 +129,12 @@ public: // Spatial sort can only be used with Gt::Point_2: we need an adapter typedef typename Geom_traits::Construct_point_2 Construct_point_2; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_2 Search_traits_2; spatial_sort(points.begin(), points.end(), Search_traits_2( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_2_object()), geom_traits())); // hints[i] is the face of the previously inserted point in level i. diff --git a/Triangulation_3/include/CGAL/Regular_triangulation_3.h b/Triangulation_3/include/CGAL/Regular_triangulation_3.h index 17cabad626a..93c0dbb0165 100644 --- a/Triangulation_3/include/CGAL/Regular_triangulation_3.h +++ b/Triangulation_3/include/CGAL/Regular_triangulation_3.h @@ -22,13 +22,6 @@ #include -#include - -#include -#include -#include -#include - #ifdef CGAL_LINKED_WITH_TBB # include # include @@ -41,7 +34,6 @@ #include #include #include -#include #include #include @@ -63,6 +55,20 @@ #include #endif +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + namespace CGAL { /************************************************ @@ -269,12 +275,12 @@ private: // Spatial sorting can only be applied to bare points, so we need an adaptor typedef typename Geom_traits::Construct_point_3 Construct_point_3; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; spatial_sort(points_on_far_sphere.begin(), points_on_far_sphere.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_3_object()), geom_traits())); typename std::vector::const_iterator it_p = @@ -341,12 +347,12 @@ public: // kernel creates temporaries and prevent it. typedef typename Geom_traits::Construct_point_3 Construct_point_3; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; spatial_sort(points.begin(), points.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_3_object()), geom_traits())); // Parallel @@ -466,14 +472,14 @@ private: typedef Index_to_Bare_point > Access_bare_point; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; Access_bare_point accessor(points, geom_traits().construct_point_3_object()); spatial_sort(indices.begin(), indices.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map< - std::size_t, Ret, Access_bare_point>(accessor), + boost::make_function_property_map< + std::size_t, Ret, Access_bare_point>(accessor), geom_traits())); #ifdef CGAL_LINKED_WITH_TBB diff --git a/Triangulation_3/include/CGAL/Triangulation_3.h b/Triangulation_3/include/CGAL/Triangulation_3.h index 6941c6c8acf..3ab9192eb37 100644 --- a/Triangulation_3/include/CGAL/Triangulation_3.h +++ b/Triangulation_3/include/CGAL/Triangulation_3.h @@ -47,7 +47,6 @@ #include #include #include -#include #include #include @@ -57,6 +56,7 @@ #include #include #include +#include #include #include #include @@ -6589,12 +6589,12 @@ _remove_cluster_3D(InputIterator first, InputIterator beyond, VertexRemover& rem // Spatial sorting can only be applied to bare points, so we need an adaptor typedef typename Geom_traits::Construct_point_3 Construct_point_3; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; spatial_sort(vps.begin(), vps.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_3_object()), geom_traits())); std::size_t svps = vps.size(); diff --git a/Triangulation_3/include/CGAL/Triangulation_hierarchy_3.h b/Triangulation_3/include/CGAL/Triangulation_hierarchy_3.h index 5e554cd14c5..b0dcbb95801 100644 --- a/Triangulation_3/include/CGAL/Triangulation_hierarchy_3.h +++ b/Triangulation_3/include/CGAL/Triangulation_hierarchy_3.h @@ -33,8 +33,7 @@ #include #include -#include - +#include #include #include #include @@ -169,12 +168,12 @@ public: // Spatial sort can only be used with Geom_traits::Point_3: we need an adapter typedef typename Geom_traits::Construct_point_3 Construct_point_3; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; spatial_sort(points.begin(), points.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map( + boost::make_function_property_map( geom_traits().construct_point_3_object()), geom_traits())); // hints[i] is the vertex of the previously inserted point in level i. @@ -246,13 +245,13 @@ private: typedef Index_to_Bare_point > Access_bare_point; typedef typename boost::result_of::type Ret; - typedef CGAL::internal::boost_::function_property_map fpmap; + typedef boost::function_property_map fpmap; typedef CGAL::Spatial_sort_traits_adapter_3 Search_traits_3; Access_bare_point accessor(points, geom_traits().construct_point_3_object()); spatial_sort(indices.begin(), indices.end(), Search_traits_3( - CGAL::internal::boost_::make_function_property_map< + boost::make_function_property_map< std::size_t, Ret, Access_bare_point>(accessor), geom_traits())); From 3864f6da9d43123ba2eb25cce6e1e6bdb1eb99c1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Mar 2020 22:20:06 +0100 Subject: [PATCH 104/150] Add an overload of choose_parameter to avoid needless constructions --- .../CGAL/boost/graph/Named_function_parameters.h | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/BGL/include/CGAL/boost/graph/Named_function_parameters.h b/BGL/include/CGAL/boost/graph/Named_function_parameters.h index 66bc5c18b99..2c5e97367e8 100644 --- a/BGL/include/CGAL/boost/graph/Named_function_parameters.h +++ b/BGL/include/CGAL/boost/graph/Named_function_parameters.h @@ -200,6 +200,19 @@ D choose_parameter(const internal_np::Param_not_found&, const D& d) return d; } +// single parameter so that we can avoid a default construction +template +D choose_parameter(const internal_np::Param_not_found&) +{ + return D(); +} + +template +const T& choose_parameter(const T& t) +{ + return t; +} + template const T& choose_parameter(const T& t, const D&) From 2453e7f0ea6192cfb909f9bd73790f8700613854 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Mar 2020 22:21:11 +0100 Subject: [PATCH 105/150] Add two new examples to OBB/examples --- .../Optimal_bounding_box/CMakeLists.txt | 3 + .../Optimal_bounding_box/obb_example.cpp | 1 + .../obb_with_point_maps_example.cpp | 58 +++++++++++++++++ .../rotated_aabb_tree.cpp | 63 +++++++++++++++++++ 4 files changed, 125 insertions(+) create mode 100644 Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp create mode 100644 Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt index 8fc23ac241a..9930366dd1c 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt @@ -22,3 +22,6 @@ else() endif() create_single_source_cgal_program("obb_example.cpp") +create_single_source_cgal_program("obb_with_point_maps_example.cpp") +create_single_source_cgal_program("rotated_aabb_tree.cpp") + diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index e6efa798e8d..52ddad1b5b7 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -11,6 +11,7 @@ typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point; + typedef CGAL::Surface_mesh Surface_mesh; int main(int argc, char** argv) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp new file mode 100644 index 00000000000..672cab6d210 --- /dev/null +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp @@ -0,0 +1,58 @@ +#include +#include + +#include + +#include +#include +#include +#include +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::Point_3 Point; +typedef K::Vector_3 Vector; + +typedef CGAL::Surface_mesh Surface_mesh; +typedef boost::graph_traits::vertex_descriptor vertex_descriptor; + +namespace CP = CGAL::parameters; + +int main(int argc, char** argv) +{ + std::ifstream input(argv[1]); + Surface_mesh sm; + if (!input || !(input >> sm) || sm.is_empty()) + { + std::cerr << argv[1] << " is not a valid off file.\n"; + return EXIT_FAILURE; + } + + // a typical call + std::array obb_points; + CGAL::oriented_bounding_box(sm, obb_points); + + // one can associate positions to the vertices of the mesh without changing the mesh + std::unordered_map translated_positions; + for(const vertex_descriptor v : vertices(sm)) + translated_positions[v] = sm.point(v) + Vector(1, 2, 3); + + CGAL::oriented_bounding_box(sm, obb_points, + CP::vertex_point_map(boost::make_assoc_property_map(translated_positions))); + + // using a range of points + std::vector points; + for(const vertex_descriptor v : vertices(sm)) + points.push_back(sm.point(v)); + CGAL::oriented_bounding_box(points, obb_points); + + // one can associate positions to the range without changing the range + std::map scaled_positions; + for(const Point& p : points) + scaled_positions[p] = p + (p - CGAL::ORIGIN); + + CGAL::oriented_bounding_box(points, obb_points, + CP::point_map(boost::make_assoc_property_map(scaled_positions))); + + return EXIT_SUCCESS; +} diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp new file mode 100644 index 00000000000..9ffdd0f617f --- /dev/null +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp @@ -0,0 +1,63 @@ +#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::Point_3 Point; +typedef K::Aff_transformation_3 Aff_transformation; + +typedef CGAL::Surface_mesh Surface_mesh; +typedef boost::graph_traits::vertex_descriptor vertex_descriptor; + +struct Aff_tr_fct +{ + Aff_tr_fct(const Aff_transformation& at, const Surface_mesh& sm) : m_at(at), m_sm(sm) { } + + Point operator()(const vertex_descriptor v) const { return m_at.transform(m_sm.point(v)); } + +private: + const Aff_transformation& m_at; + const Surface_mesh& m_sm; +}; + +int main(int argc, char** argv) +{ + std::ifstream input(argv[1]); + Surface_mesh sm; + if (!input || !(input >> sm) || sm.is_empty()) + { + std::cerr << argv[1] << " is not a valid off file.\n"; + return EXIT_FAILURE; + } + + // get the transformation that yields the optimal bounding box + Aff_transformation at; + CGAL::oriented_bounding_box(sm, at); + + // functor to apply the affine transformation to a vertex of the mesh + + // @tmp with a lambda... + // auto aff_tr_fct = [&at, &sm] (const vertex_descriptor v) -> Point { return at.transform(sm.point(v)); }; + // @tmp with a struct... + Aff_tr_fct aff_tr_fct(at, sm); + auto aff_tr_vpm = boost::make_function_property_map(aff_tr_fct); + + // rotated AABB tree + typedef CGAL::AABB_face_graph_triangle_primitive AABB_face_graph_primitive; + typedef CGAL::AABB_traits AABB_face_graph_traits; + + CGAL::AABB_tree tree(faces(sm).begin(), faces(sm).end(), sm, aff_tr_vpm); + + return EXIT_SUCCESS; +} From 8e00ffff21d997e5e72a611ec2a997f53e377b41 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 12 Mar 2020 22:21:45 +0100 Subject: [PATCH 106/150] Enable passing a point_map in complement to the range --- .../oriented_bounding_box.h | 65 ++++++++++--------- 1 file changed, 35 insertions(+), 30 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 68149f2ad76..9cba883654b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -28,6 +28,7 @@ #include #include #include +#include #include #include #include @@ -36,6 +37,10 @@ #include #endif +#include +#include +#include + #include #include #include @@ -52,10 +57,10 @@ namespace Optimal_bounding_box { namespace internal { template -void construct_oriented_bounding_box(std::array& obb_points, +void construct_oriented_bounding_box(const PointRange& points, const typename Traits::Aff_transformation_3& transformation, const typename Traits::Aff_transformation_3& inverse_transformation, - const PointRange& points, + std::array& obb_points, const Traits& traits) { typedef typename Traits::Point_3 Point; @@ -84,9 +89,9 @@ void construct_oriented_bounding_box(std::array& ob } template -void compute_best_transformation(typename Traits::Aff_transformation_3& transformation, +void compute_best_transformation(const PointRange& points, + typename Traits::Aff_transformation_3& transformation, typename Traits::Aff_transformation_3& inverse_transformation, - const PointRange& points, CGAL::Random& rng, const Traits& traits) { @@ -126,32 +131,32 @@ void compute_best_transformation(typename Traits::Aff_transformation_3& transfor // Following two functions are overload to dispatch depending on return type template -void construct_oriented_bounding_box(typename Traits::Aff_transformation_3& transformation, - const PointRange& points, +void construct_oriented_bounding_box(const PointRange& points, + typename Traits::Aff_transformation_3& transformation, CGAL::Random& rng, const Traits& traits) { typename Traits::Aff_transformation_3 inverse_transformation; - compute_best_transformation(transformation, inverse_transformation, points, rng, traits); + compute_best_transformation(points, transformation, inverse_transformation, rng, traits); } template -void construct_oriented_bounding_box(std::array& obb_points, - const PointRange& points, +void construct_oriented_bounding_box(const PointRange& points, + std::array& obb_points, CGAL::Random& rng, const Traits& traits) { typename Traits::Aff_transformation_3 transformation, inverse_transformation; - compute_best_transformation(transformation, inverse_transformation, points, rng, traits); + compute_best_transformation(points, transformation, inverse_transformation, rng, traits); - construct_oriented_bounding_box(obb_points, transformation, inverse_transformation, points, traits); + construct_oriented_bounding_box(points, transformation, inverse_transformation, obb_points, traits); } // Entry point, decide whether to compute the CH_3 or not -template -void construct_oriented_bounding_box(Output& output, +template +void construct_oriented_bounding_box(const PointRange& points, const bool use_ch, - const PointRange& points, + Output& output, CGAL::Random& rng, const Traits& traits) { @@ -164,11 +169,11 @@ void construct_oriented_bounding_box(Output& output, { std::vector ch_points; extreme_points_3(points, std::back_inserter(ch_points)); - return construct_oriented_bounding_box(output, ch_points, rng, traits); + return construct_oriented_bounding_box(ch_points, output, rng, traits); } else { - return construct_oriented_bounding_box(output, points, rng, traits); + return construct_oriented_bounding_box(points, output, rng, traits); } } @@ -257,8 +262,10 @@ void oriented_bounding_box(const PointRange& points, using CGAL::parameters::choose_parameter; using CGAL::parameters::get_parameter; + typedef typename Point_set_processing_3::GetPointMap::type PointMap; + #if defined(CGAL_EIGEN3_ENABLED) - typedef typename boost::range_value::type Point; + typedef typename boost::property_traits::value_type Point; typedef typename CGAL::Kernel_traits::type K; typedef Oriented_bounding_box_traits_3 Default_traits; #else @@ -267,12 +274,13 @@ void oriented_bounding_box(const PointRange& points, typedef typename internal_np::Lookup_named_param_def::type Geom_traits; + Default_traits>::type Geom_traits; CGAL_static_assertion_msg(!(std::is_same::value), "You must provide a traits class or have Eigen enabled!"); - Geom_traits traits = choose_parameter(get_parameter(np, internal_np::geom_traits), Geom_traits()); + Geom_traits traits = choose_parameter(get_parameter(np, internal_np::geom_traits)); + PointMap point_map = choose_parameter(get_parameter(np, internal_np::point_map)); const bool use_ch = choose_parameter(get_parameter(np, internal_np::use_convex_hull), true); const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); // undocumented @@ -287,7 +295,11 @@ void oriented_bounding_box(const PointRange& points, return; } - return Optimal_bounding_box::internal::construct_oriented_bounding_box(out, use_ch, points, rng, traits); + return Optimal_bounding_box::internal::construct_oriented_bounding_box( + CGAL::make_range( + boost::make_transform_iterator(points.begin(), CGAL::Property_map_to_unary_function(point_map)), + boost::make_transform_iterator(points.end(), CGAL::Property_map_to_unary_function(point_map))), + use_ch, out, rng, traits); } /// \ingroup PkgOptimalBoundingBox_Oriented_bounding_box @@ -307,7 +319,7 @@ void oriented_bounding_box(const PointRange& points, /// \cgalParamBegin{vertex_point_map} /// the property map with the points associated to the vertices of `pmesh`. /// If this parameter is omitted, an internal property map for -/// `CGAL::vertex_point_t` must be available in `PolygonMesh` +/// `CGAL::vertex_point_t` must be available in `PolygonMesh`. /// \cgalParamEnd /// \cgalParamBegin{geom_traits} /// a geometric traits class instance, model of the concept `OrientedBoundingBoxTraits_3`. @@ -341,19 +353,12 @@ void oriented_bounding_box(const PolygonMesh& pmesh, typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename PMP::GetVertexPointMap::const_type VPM; - typedef typename boost::property_traits::value_type Point; + typedef typename CGAL::GetVertexPointMap::const_type VPM; VPM vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), get_const_property_map(vertex_point, pmesh)); - std::vector points; - points.reserve(num_vertices(pmesh)); - - for(vertex_descriptor v : vertices(pmesh)) - points.push_back(get(vpm, v)); - - oriented_bounding_box(points, out, np); + oriented_bounding_box(vertices(pmesh), out, np.point_map(vpm)); } /// \cond SKIP_IN_MANUAL From d9c7814f724e3aabe8074f4bb7182f230443777b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 10:42:31 +0100 Subject: [PATCH 107/150] Add default constructor to functor to please the AABB tree --- .../Optimal_bounding_box/rotated_aabb_tree.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp index 9ffdd0f617f..18bc7fdc714 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp @@ -22,13 +22,14 @@ typedef boost::graph_traits::vertex_descriptor vertex_descriptor struct Aff_tr_fct { - Aff_tr_fct(const Aff_transformation& at, const Surface_mesh& sm) : m_at(at), m_sm(sm) { } + Aff_tr_fct() : m_at(nullptr), m_sm(nullptr) { } + Aff_tr_fct(const Aff_transformation& at, const Surface_mesh& sm) : m_at(&at), m_sm(&sm) { } - Point operator()(const vertex_descriptor v) const { return m_at.transform(m_sm.point(v)); } + Point operator()(const vertex_descriptor v) const { return m_at->transform(m_sm->point(v)); } private: - const Aff_transformation& m_at; - const Surface_mesh& m_sm; + const Aff_transformation* m_at; + const Surface_mesh* m_sm; }; int main(int argc, char** argv) @@ -46,10 +47,6 @@ int main(int argc, char** argv) CGAL::oriented_bounding_box(sm, at); // functor to apply the affine transformation to a vertex of the mesh - - // @tmp with a lambda... - // auto aff_tr_fct = [&at, &sm] (const vertex_descriptor v) -> Point { return at.transform(sm.point(v)); }; - // @tmp with a struct... Aff_tr_fct aff_tr_fct(at, sm); auto aff_tr_vpm = boost::make_function_property_map(aff_tr_fct); From 85fd88ac5ca27fabb84837de5643922b29056db3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 11:02:50 +0100 Subject: [PATCH 108/150] Remove bench that is just a duplicate of an example --- .../Optimal_bounding_box/CMakeLists.txt | 1 - .../Optimal_bounding_box/bench_custom.cpp | 64 ------------------- 2 files changed, 65 deletions(-) delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt index b66879123fe..6405145d309 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt @@ -25,5 +25,4 @@ endif() create_single_source_cgal_program("bench_obb.cpp") create_single_source_cgal_program("bench_perfomance.cpp") -create_single_source_cgal_program("bench_custom.cpp") create_single_source_cgal_program("bench_fitness_function.cpp") diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp deleted file mode 100644 index 220aabab3b5..00000000000 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_custom.cpp +++ /dev/null @@ -1,64 +0,0 @@ -#include - -#include - -#include -#include -#include -#include - -#include -#include -#include - -//#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK - -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - -void bench(const char* fname) -{ - std::vector sm_points, obb_points; - std::ifstream in(fname); - - K::Point_3 p; - int i = 0; - while(in >> p) - { - if(i % 2 == 0) // avoid normals - sm_points.push_back(p); - - ++i; - } - - std::cout << "input data (points + normals)= " << i << std::endl; - std::cout << "number of points= " << sm_points.size() << std::endl; - - CGAL::Eigen_linear_algebra_traits la_traits; - - // use convex hull - > true - // no convex hull - > false - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, la_traits, false); - - std::cout << "done" << '\n'; - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK - std::cout.precision(17); - for(int i =0; i < obb_points.size(); i++) - std::cout << obb_points[i] << std::endl; - - CGAL::Surface_mesh mesh; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], mesh); - - std::ofstream out("/tmp/result_obb.off"); - out << mesh; - out.close(); -#endif -} - -int main(int argc, char* argv[]) -{ - bench(argv[1]); - - return 0; -} From 99a0edbe61c3bb8ee523cfc0f9604db28f5a7805 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 11:57:56 +0100 Subject: [PATCH 109/150] Uniformize types and internal function names (CH_3) --- Convex_hull_3/include/CGAL/convex_hull_3.h | 72 +++++++++++----------- 1 file changed, 36 insertions(+), 36 deletions(-) diff --git a/Convex_hull_3/include/CGAL/convex_hull_3.h b/Convex_hull_3/include/CGAL/convex_hull_3.h index ec2b1577b18..025f657c357 100644 --- a/Convex_hull_3/include/CGAL/convex_hull_3.h +++ b/Convex_hull_3/include/CGAL/convex_hull_3.h @@ -88,8 +88,8 @@ void add_isolated_points(const Point_3& point, *w.out++ = point; } -template -void add_isolated_points(const Point_3& point, Polyhedron_3& P) +template +void add_isolated_points(const Point_3& point, PolygonMesh& P) { put(get(CGAL::vertex_point, P), add_vertex(P), point); } @@ -411,12 +411,12 @@ struct Projection_traits{ {return traits.construct_traits_xz_3_object();} }; -template -void copy_ch2_to_face_graph(const std::list& CH_2, Polyhedron_3& P) +template +void copy_ch2_to_face_graph(const std::list& CH_2, PolygonMesh& P) { - typename boost::property_map::type vpm + typename boost::property_map::type vpm = get(CGAL::vertex_point, P); - typedef boost::graph_traits Graph_traits; + typedef boost::graph_traits Graph_traits; typedef typename Graph_traits::vertex_descriptor vertex_descriptor; typedef typename Graph_traits::halfedge_descriptor halfedge_descriptor; typedef typename Graph_traits::face_descriptor face_descriptor; @@ -439,10 +439,10 @@ void copy_ch2_to_face_graph(const std::list& CH_2, Polyhedron_3& P) } -template +template void coplanar_3_hull(InputIterator first, InputIterator beyond, const Point_3& p1, const Point_3& p2, const Point_3& p3, - Polyhedron_3& P, const Traits& traits ) + PolygonMesh& P, const Traits& traits ) { typedef typename Convex_hull_3::internal::Projection_traits PTraits; typedef typename PTraits::Traits_xy_3 Traits_xy_3; @@ -762,12 +762,12 @@ void non_coplanar_quickhull_3(std::list& points, // CGAL_ch_postcondition(is_strongly_convex_3(P, traits)); } -template +template void -ch_quickhull_polyhedron_3(std::list& points, - InputIterator point1_it, InputIterator point2_it, - InputIterator point3_it, Polyhedron_3& P, - const Traits& traits) +ch_quickhull_face_graph(std::list& points, + InputIterator point1_it, InputIterator point2_it, InputIterator point3_it, + PolygonMesh& P, + const Traits& traits) { typedef typename Traits::Point_3 Point_3; typedef typename Traits::Plane_3 Plane_3; @@ -858,7 +858,8 @@ ch_quickhull_polyhedron_3(std::list& points, template void convex_hull_3(InputIterator first, InputIterator beyond, - Object& ch_object, const Traits& traits) + Object& ch_object, + const Traits& traits) { typedef typename Traits::Point_3 Point_3; typedef std::list Point_3_list; @@ -953,9 +954,9 @@ convex_hull_3(InputIterator first, InputIterator beyond, if(it->y() < miny->y()) miny = it; } if(! collinear(*minx, *maxx, *miny) ){ - Convex_hull_3::internal::ch_quickhull_polyhedron_3(points, minx, maxx, miny, P, traits); + Convex_hull_3::internal::ch_quickhull_face_graph(points, minx, maxx, miny, P, traits); } else { - Convex_hull_3::internal::ch_quickhull_polyhedron_3(points, point1_it, point2_it, point3_it, P, traits); + Convex_hull_3::internal::ch_quickhull_face_graph(points, point1_it, point2_it, point3_it, P, traits); } CGAL_assertion(num_vertices(P)>=3); typename boost::graph_traits::vertex_iterator b,e; @@ -978,18 +979,18 @@ convex_hull_3(InputIterator first, InputIterator beyond, template -void convex_hull_3(InputIterator first, InputIterator beyond, Object& ch_object) +void convex_hull_3(InputIterator first, InputIterator beyond, + Object& ch_object) { typedef typename std::iterator_traits::value_type Point_3; typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; convex_hull_3(first, beyond, ch_object, Traits()); } - - -template +template void convex_hull_3(InputIterator first, InputIterator beyond, - Polyhedron_3& polyhedron, const Traits& traits) + PolygonMesh& polyhedron, + const Traits& traits) { typedef typename Traits::Point_3 Point_3; typedef std::list Point_3_list; @@ -1038,35 +1039,34 @@ void convex_hull_3(InputIterator first, InputIterator beyond, return; } - Convex_hull_3::internal::ch_quickhull_polyhedron_3(points, point1_it, point2_it, point3_it, + Convex_hull_3::internal::ch_quickhull_face_graph(points, point1_it, point2_it, point3_it, polyhedron, traits); } - -template +template void convex_hull_3(InputIterator first, InputIterator beyond, - Polyhedron_3& polyhedron, - typename std::enable_if< - CGAL::is_iterator::value - >::type* =0) //workaround to avoid ambiguity with next overload. + PolygonMesh& polyhedron, + // workaround to avoid ambiguity with next overload. + typename std::enable_if::value>::type* = 0) { - typedef typename std::iterator_traits::value_type Point_3; - typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; - convex_hull_3(first, beyond, polyhedron, Traits()); + typedef typename std::iterator_traits::value_type Point_3; + typedef typename Convex_hull_3::internal::Default_traits_for_Chull_3::type Traits; + convex_hull_3(first, beyond, polyhedron, Traits()); } - template void convex_hull_3(const VertexListGraph& g, PolygonMesh& pm, const NamedParameters& np) { + using CGAL::parameters::choose_parameter; + using CGAL::parameters::get_parameter; + typedef typename GetVertexPointMap::const_type Vpmap; typedef CGAL::Property_map_to_unary_function Vpmap_fct; - Vpmap vpm = CGAL::parameters::choose_parameter( - CGAL::parameters::get_parameter(np, internal_np::vertex_point), - get_const_property_map(boost::vertex_point, g)); - + Vpmap vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), + get_const_property_map(boost::vertex_point, g)); + Vpmap_fct v2p(vpm); convex_hull_3(boost::make_transform_iterator(vertices(g).begin(), v2p), boost::make_transform_iterator(vertices(g).end(), v2p), pm); From 9020240152317127d96042b80c6ad28f34452bb9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 11:58:20 +0100 Subject: [PATCH 110/150] Remove useless typedefs --- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 9cba883654b..76cc308906b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -160,7 +160,6 @@ void construct_oriented_bounding_box(const PointRange& points, CGAL::Random& rng, const Traits& traits) { - typedef typename Traits::Matrix Matrix; typedef typename Traits::Point_3 Point; CGAL_static_assertion((std::is_same::type, Point>::value)); @@ -351,8 +350,6 @@ void oriented_bounding_box(const PolygonMesh& pmesh, using CGAL::parameters::choose_parameter; using CGAL::parameters::get_parameter; - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename CGAL::GetVertexPointMap::const_type VPM; VPM vpm = choose_parameter(get_parameter(np, internal_np::vertex_point), From ff8b27408908f6dea722c76a0513428a5cbc9823 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 11:59:16 +0100 Subject: [PATCH 111/150] Keep a single (fixed) benchmark program --- .../bench_fitness_function.cpp | 64 --------- .../Optimal_bounding_box/bench_obb.cpp | 128 +++++++++--------- .../Optimal_bounding_box/bench_perfomance.cpp | 85 ------------ 3 files changed, 62 insertions(+), 215 deletions(-) delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp deleted file mode 100644 index 15414eaee48..00000000000 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_fitness_function.cpp +++ /dev/null @@ -1,64 +0,0 @@ -#include - -#include - -#include -#include -#include -#include - -#include -#include - -#include -#include - -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - -int main() -{ - const char* fname = "data/elephant.off"; - - // 1) import a lot a mesh and subdivide it to create a big mesh - std::ifstream input(fname); - - CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) - { - std::cerr << fname << " is not a valid off file.\n"; - std::exit(1); - } - - CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, - CGAL::parameters::number_of_iterations(6)); - - int nb_points = static_cast(vertices(mesh).size()); - std::cout << "number of points= " << nb_points << std::endl; - - - // 2) fill a Matrix with them - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::MatrixX3d MatrixX3d; - typedef Linear_algebra_traits::Matrix3d Matrix3d; - - MatrixX3d points_mat(nb_points, 3); - CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points_mat); - - // 3) create a population of simplices - CGAL::Optimal_bounding_box::Population pop(50); - - CGAL::Timer timer; - timer.start(); - - // 4) compute fitness of population via the Fitness map - CGAL::Optimal_bounding_box::Fitness_map fit_map(pop, points_mat); - double result = fit_map.get_best_fitness_value(); - - timer.stop(); - - std::cout << "took " << timer.time() << " to compute the fitness of all vertices.\n"; - std::cout << "value of fittest vertex= " << result << std::endl; - - return 0; -} diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index 02eefd76513..5d843594140 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -3,104 +3,100 @@ #include #include -#include -#include -#include +#include #include +#include #include #include #include +#include +#include -//#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK +#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::Point_3 Point_3; -bool assert_doubles(double d1, double d2, double epsilon) -{ - return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; -} +typedef CGAL::Surface_mesh Surface_mesh; +typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; -template -void gather_mesh_points(SurfaceMesh& mesh, std::vector& points) -{ - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::type PointPMap; - PointPMap pmap = get(boost::vertex_point, mesh); - for(vertex_descriptor v : vertices(mesh)) - points.push_back(get(pmap, v)); -} - -void bench_finding_obb(std::string fname) +void bench_finding_obb(const std::string fname) { std::ifstream input(fname); - CGAL::Eigen_linear_algebra_traits la_traits; - std::vector sm_points; - // import a mesh - CGAL::Surface_mesh mesh; + Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } - // get mesh points - gather_mesh_points(mesh, sm_points); - CGAL::Timer timer; - // 1) measure convex hull calculation - timer.start(); - CGAL::Polyhedron_3 poly; - convex_hull_3(sm_points.begin(), sm_points.end(), poly); - std::vector ch_points(poly.points_begin(), poly.points_end()); - timer.stop(); - std::cout << "takes : " << timer.time() << " seconds to find the convex hull\n"; + std::size_t measurements = 4; + for(std::size_t t=0; t obb_points1; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points1, la_traits, true); - timer.stop(); - std::cout << "found obb using convex hull: " << timer.time() << " seconds\n"; + // 1) measure convex hull calculation + timer.start(); + CGAL::Polyhedron_3 poly; + convex_hull_3(mesh, poly); + timer.stop(); + std::cout << "takes : " << timer.time() << " seconds to find the convex hull\n"; - // 3) without convex hull - timer.reset(); - timer.start(); - std::vector obb_points2; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points2, la_traits, false); - timer.stop(); - std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; - timer.reset(); + // 2) using convex hull + timer.reset(); + timer.start(); + std::array obb_points1; + CGAL::oriented_bounding_box(mesh, obb_points1, CGAL::parameters::use_convex_hull(true)); + timer.stop(); + std::cout << "found obb using convex hull: " << timer.time() << " seconds\n"; + + // 3) without convex hull + timer.reset(); + timer.start(); + std::array obb_points2; + CGAL::oriented_bounding_box(mesh, obb_points2, CGAL::parameters::use_convex_hull(false)); + timer.stop(); + std::cout << "found obb without convex hull: " << timer.time() << " seconds\n"; + timer.reset(); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK - CGAL::Surface_mesh result_mesh1; - CGAL::make_hexahedron(obb_points1[0], obb_points1[1], obb_points1[2], obb_points1[3], - obb_points1[4], obb_points1[5], obb_points1[6], obb_points1[7], - result_mesh1); + Surface_mesh result_mesh1; + CGAL::make_hexahedron(obb_points1[0], obb_points1[1], obb_points1[2], obb_points1[3], + obb_points1[4], obb_points1[5], obb_points1[6], obb_points1[7], + result_mesh1); - CGAL::Surface_mesh result_mesh2; - CGAL::make_hexahedron(obb_points2[0], obb_points2[1], obb_points2[2], obb_points2[3], - obb_points2[4], obb_points2[5], obb_points2[6], obb_points2[7], - result_mesh2); + Surface_mesh result_mesh2; + CGAL::make_hexahedron(obb_points2[0], obb_points2[1], obb_points2[2], obb_points2[3], + obb_points2[4], obb_points2[5], obb_points2[6], obb_points2[7], + result_mesh2); - std::ofstream out1("data/obb_result1.off"); - out1 << result_mesh1; - out1.close(); + std::stringstream oss1; + oss1 << "data/obb_result1_iter_" << t << std::ends; + std::ofstream out1(oss1.str().c_str()); + out1 << result_mesh1; - std::ofstream out2("data/obb_result2.off"); - out2 << result_mesh2; - out2.close(); + std::stringstream oss2; + oss2 << "data/obb_result2_iter_" << t << std::ends; + std::ofstream out2(oss2.str().c_str()); + out2 << result_mesh2; + + CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, CGAL::parameters::number_of_iterations(1)); #endif + } } -int main() +int main(int argc, char** argv) { - bench_finding_obb("data/elephant.off"); + bench_finding_obb((argc > 1) ? argv[1] : "data/elephant.off"); - return 0; + std::cout << "Done!" << std::endl; + + return EXIT_SUCCESS; } diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp deleted file mode 100644 index 2cab424a549..00000000000 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_perfomance.cpp +++ /dev/null @@ -1,85 +0,0 @@ -#include - -#include - -#include -#include - -#include -#include - -#include -#include - -//#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK - -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - -void bench_finding_obb(std::string fname) -{ - std::ifstream input(fname); - - // import a mesh - CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) - { - std::cerr << fname << " is not a valid off file.\n"; - std::exit(1); - } - - // export some times - std::ofstream outt("data/times.txt"); - outt << "nb_vertices "<< "with_ch " << "without_ch" << std::endl; - - CGAL::Timer timer; - std::size_t measurements = 4; - CGAL::Eigen_linear_algebra_traits la_traits; - - for (std::size_t t = 0; t < measurements; ++t) - { - std::cout << "#vertices= " << vertices(mesh).size() << " |"; - - // 1) using convex hull - timer.start(); - CGAL::Surface_mesh obb_mesh1; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obb_mesh1, la_traits, true); - timer.stop(); - double t_ch = timer.time(); - std::cout << " with ch: " << timer.time() << " s |"; - - // 2) without convex hull - timer.reset(); - timer.start(); - CGAL::Surface_mesh obb_mesh2; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obb_mesh2, la_traits, false); - timer.stop(); - double t_no_ch = timer.time(); - std::cout << " without ch: " << timer.time() << " s\n"; - timer.reset(); - - outt << vertices(mesh).size() << " " << t_ch << " " << t_no_ch << std::endl; - - // 3) subdivision - CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, - CGAL::parameters::number_of_iterations(1)); - } - - outt.close(); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_BENCHMARK - std::ofstream out1("data/obb_result1.off"); - out1 << obb_points1; - out1.close(); - - std::ofstream out2("data/obb_result2.off"); - out2 << obb_points2; - out2.close(); -#endif -} - -int main() -{ - bench_finding_obb("data/elephant.off"); - - return 0; -} From 48a39929ffa72b1193c13a6774ca13b1b86f33db Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 12:00:13 +0100 Subject: [PATCH 112/150] Illustrate 'use_convex_hull' named parameter usage in an example --- .../examples/Optimal_bounding_box/obb_example.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index 52ddad1b5b7..0fb233f26ae 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -27,8 +27,10 @@ int main(int argc, char** argv) CGAL::Real_timer timer; timer.start(); + // Compute the extreme points of the mesh, and then a tightly fitted oriented bounding box std::array obb_points; - CGAL::oriented_bounding_box(sm, obb_points); + CGAL::oriented_bounding_box(sm, obb_points, + CGAL::parameters::use_convex_hull(true)); std::cout << "Elapsed time: " << timer.time() << std::endl; From c545e5ebb260cb9615a77fe3da67ca89768405ee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 12:03:53 +0100 Subject: [PATCH 113/150] Remove python script from benchmarks --- .../draw_benchmark_graph.py | 19 ------------------- .../Optimal_bounding_box/readme.txt | 1 - 2 files changed, 20 deletions(-) delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/draw_benchmark_graph.py delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/draw_benchmark_graph.py b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/draw_benchmark_graph.py deleted file mode 100644 index 8fc416ac260..00000000000 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/draw_benchmark_graph.py +++ /dev/null @@ -1,19 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np - -#path-to-benchmarks -benchmarkfile='data/times.txt' - -data = np.loadtxt(benchmarkfile, skiprows = 1) - -x = data[:, 0] -y1 = data[:, 1] -y2 = data[:, 2] - -plt.plot(x, y1, 'go--', label='with convex hull') -plt.plot(x, y2, 'ro--', label='without convex hull') -legend = plt.legend(loc='best') -plt.xlabel('#vertices') -plt.ylabel('seconds') - -plt.show() diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt deleted file mode 100644 index ac22f73a877..00000000000 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/readme.txt +++ /dev/null @@ -1 +0,0 @@ -To draw a graph with the benchmark times set the path-to-the-measurments in draw_benchmark_times.py if necessary, and run the script with python 3. From 9df21ba79d84fc0f4992e41ba299c808b0d90dbd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 12:08:55 +0100 Subject: [PATCH 114/150] Add the new examples to examples.txt --- Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt | 2 ++ .../examples/Optimal_bounding_box/CMakeLists.txt | 2 +- .../{rotated_aabb_tree.cpp => rotated_aabb_tree_example.cpp} | 0 3 files changed, 3 insertions(+), 1 deletion(-) rename Optimal_bounding_box/examples/Optimal_bounding_box/{rotated_aabb_tree.cpp => rotated_aabb_tree_example.cpp} (100%) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt b/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt index 4bd9b08df1b..135614d2249 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/examples.txt @@ -1,4 +1,6 @@ /*! \example Optimal_bounding_box/obb_example.cpp +\example Optimal_bounding_box/obb_with_point_maps_example.cpp +\example Optimal_bounding_box/rotated_aabb_tree_example.cpp */ diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt index 9930366dd1c..050b338544a 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt @@ -23,5 +23,5 @@ endif() create_single_source_cgal_program("obb_example.cpp") create_single_source_cgal_program("obb_with_point_maps_example.cpp") -create_single_source_cgal_program("rotated_aabb_tree.cpp") +create_single_source_cgal_program("rotated_aabb_tree_example.cpp") diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree_example.cpp similarity index 100% rename from Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree.cpp rename to Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree_example.cpp From a7f0473c5c31ae884faa664f97c97a3f9f6c1616 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 13:24:03 +0100 Subject: [PATCH 115/150] Fix most of the tests (at least the compilation...) --- .../Optimal_bounding_box/bench_obb.cpp | 1 + .../Optimal_bounding_box/test_OBB_traits.cpp | 224 ++++++++------- .../Optimal_bounding_box/test_nelder_mead.cpp | 232 +++++++-------- .../test_optimization_algorithms.cpp | 267 ++++++------------ 4 files changed, 329 insertions(+), 395 deletions(-) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index 5d843594140..b6d1e3a5d6a 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -48,6 +48,7 @@ void bench_finding_obb(const std::string fname) convex_hull_3(mesh, poly); timer.stop(); std::cout << "takes : " << timer.time() << " seconds to find the convex hull\n"; + std::cout << num_vertices(poly) << " vertices on the convex hull" << std::endl; // 2) using convex hull timer.reset(); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp index 41b0474ba07..c5362beb3cd 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp @@ -1,135 +1,141 @@ -#include -#include -#include +#include + +#include #include -bool assert_doubles(double d1, double d2, double epsilon) +#include +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::FT FT; +typedef K::Point_3 Point_3; + +typedef CGAL::Oriented_bounding_box_traits_3 Traits; +typedef Traits::Matrix Matrix; + +void check_equality(const FT d1, const FT d2) { - return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; + const FT epsilon = 1e-3; + + bool ok; + if(std::is_floating_point::value) + ok = CGAL::abs(d1 - d2) < epsilon * CGAL::abs(d2); + else + ok = (d1 == d2); + + if(!ok) + { + std::cout << "Error: got " << d1 << " but expected: " << d2 << std::endl; + assert(false); + } } void test_fitness_function() { - typedef typename CGAL::Eigen_linear_algebra_traits::MatrixXd MatrixXd; - MatrixXd data_points(4, 3); + std::array points; + points[0] = Point_3(0.866802, 0.740808, 0.895304); + points[1] = Point_3(0.912651, 0.761565, 0.160330); + points[2] = Point_3(0.093661, 0.892578, 0.737412); + points[3] = Point_3(0.166461, 0.149912, 0.364944); - data_points.set_coef(0, 0, 0.866802); - data_points.set_coef(0, 1, 0.740808); - data_points.set_coef(0, 2, 0.895304); + Matrix rotation; + rotation.set(0, 0, -0.809204); + rotation.set(0, 1, 0.124296); + rotation.set(0, 2, 0.574230); + rotation.set(1, 0, -0.574694); + rotation.set(1, 1, 0.035719); + rotation.set(1, 2, -0.817589); + rotation.set(2, 0, -0.122134); + rotation.set(2, 1, -0.991602); + rotation.set(2, 2, 0.042528); - data_points.set_coef(1, 0, 0.912651); - data_points.set_coef(1, 1, 0.761565); - data_points.set_coef(1, 2, 0.160330); - - data_points.set_coef(2, 0, 0.093661); - data_points.set_coef(2, 1, 0.892578); - data_points.set_coef(2, 2, 0.737412); - - data_points.set_coef(3, 0, 0.166461); - data_points.set_coef(3, 1, 0.149912); - data_points.set_coef(3, 2, 0.364944); - - typedef typename CGAL::Eigen_linear_algebra_traits::Matrix3d Matrix3d; - Matrix3d rotation; - rotation.set_coef(0, 0, -0.809204); - rotation.set_coef(0, 1, 0.124296); - rotation.set_coef(0, 2, 0.574230); - rotation.set_coef(1, 0, -0.574694); - rotation.set_coef(1, 1, 0.035719); - rotation.set_coef(1, 2, -0.817589); - rotation.set_coef(2, 0, -0.122134); - rotation.set_coef(2, 1, -0.991602); - rotation.set_coef(2, 2, 0.042528); - - CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); - CGAL_assertion_code(double fitness = CGAL::Optimal_bounding_box:: - compute_fitness (rotation, data_points)); - CGAL_assertion(assert_doubles(fitness, 0.58606, 1e-5)); + const double fitness = CGAL::Optimal_bounding_box::internal::compute_fitness(rotation, points); + check_equality(fitness, 0.58606); } - - void test_eigen_matrix_interface() { - CGAL_assertion_code(typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits); - typedef CGAL::Eigen_dense_matrix Matrix; + Matrix A; + A.set(0, 0, 0.1); + A.set(0, 1, 0.2); + A.set(0, 2, 0.3); + A.set(1, 0, 0.4); + A.set(1, 1, 0.5); + A.set(1, 2, 0.6); + A.set(2, 0, 0.7); + A.set(2, 1, 0.8); + A.set(2, 2, 0.9); - Matrix A(3, 3); - A.set_coef(0, 0, 0.1); - A.set_coef(0, 1, 0.2); - A.set_coef(0, 2, 0.3); - A.set_coef(1, 0, 0.4); - A.set_coef(1, 1, 0.5); - A.set_coef(1, 2, 0.6); - A.set_coef(2, 0, 0.7); - A.set_coef(2, 1, 0.8); - A.set_coef(2, 2, 0.9); - CGAL_assertion_code(Matrix B); - CGAL_assertion_code(B = CGAL::Eigen_linear_algebra_traits::transpose(A)); - CGAL_assertion_code(Matrix S); - CGAL_assertion_code(S = 0.5 * A); - Matrix C(3,3); - C.set_coef(0, 0, 0.3011944); - C.set_coef(0, 1, 0.9932761); - C.set_coef(0, 2, 0.5483701); - C.set_coef(1, 0, 0.5149142); - C.set_coef(1, 1, 0.5973263); - C.set_coef(1, 2, 0.5162336); - C.set_coef(2, 0, 0.0039213); - C.set_coef(2, 1, 0.0202949); - C.set_coef(2, 2, 0.9240308); + Matrix B; + B = CGAL::Optimal_bounding_box::internal::transpose(A); - CGAL_assertion_code(Matrix Q = CGAL::Eigen_linear_algebra_traits::get_Q(C)); - CGAL_assertion_code(double epsilon = 1e-5); - CGAL_assertion(assert_doubles(Q(0,0), -0.504895, epsilon)); - CGAL_assertion(assert_doubles(Q(0,1), 0.862834, epsilon)); - CGAL_assertion(assert_doubles(Q(0,2), -0.024447, epsilon)); - CGAL_assertion(assert_doubles(Q(1,0), -0.863156, epsilon)); - CGAL_assertion(assert_doubles(Q(1,1), -0.504894, epsilon)); - CGAL_assertion(assert_doubles(Q(1,2), 0.006687, epsilon)); - CGAL_assertion(assert_doubles(Q(2,0), -0.006573, epsilon)); - CGAL_assertion(assert_doubles(Q(2,1), 0.024478, epsilon)); - CGAL_assertion(assert_doubles(Q(2,2), 0.999679, epsilon)); + Matrix S; + S = 0.5 * A; - Matrix D(3,3); - D.set_coef(0, 0, -0.809204); - D.set_coef(0, 1, 0.124296); - D.set_coef(0, 2, 0.574230); - D.set_coef(1, 0, -0.574694); - D.set_coef(1, 1, 0.035719); - D.set_coef(1, 2, -0.817589); - D.set_coef(2, 0, -0.122134); - D.set_coef(2, 1, -0.991602); - D.set_coef(2, 2, 0.042528); + Matrix C; + C.set(0, 0, 0.3011944); + C.set(0, 1, 0.9932761); + C.set(0, 2, 0.5483701); + C.set(1, 0, 0.5149142); + C.set(1, 1, 0.5973263); + C.set(1, 2, 0.5162336); + C.set(2, 0, 0.0039213); + C.set(2, 1, 0.0202949); + C.set(2, 2, 0.9240308); - Matrix E(3,3); - E.set_coef(0, 0, -0.45070); - E.set_coef(0, 1, -0.32769); - E.set_coef(0, 2, -0.83035); - E.set_coef(1, 0, -0.13619); - E.set_coef(1, 1, -0.89406); - E.set_coef(1, 2, 0.42675); - E.set_coef(2, 0, -0.88222); - E.set_coef(2, 1, 0.30543); - E.set_coef(2, 2, 0.35833); + Matrix Q = Traits::get_Q(C); - CGAL_assertion_code(Matrix Sr = CGAL::Optimal_bounding_box::reflection(D, E)); - CGAL_assertion(assert_doubles(Sr(0,0), -0.13359, epsilon)); - CGAL_assertion(assert_doubles(Sr(0,1), -0.95986, epsilon)); - CGAL_assertion(assert_doubles(Sr(0,2), -0.24664, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,0), -0.60307, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,1), -0.11875, epsilon)); - CGAL_assertion(assert_doubles(Sr(1,2), 0.78880, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,0), -0.78642, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,1), 0.25411, epsilon)); - CGAL_assertion(assert_doubles(Sr(2,2), -0.56300, epsilon)); + check_equality(Q(0,0), -0.504895); + check_equality(Q(0,1), 0.862834); + check_equality(Q(0,2), -0.024447); + check_equality(Q(1,0), -0.863156); + check_equality(Q(1,1), -0.504894); + check_equality(Q(1,2), 0.006687); + check_equality(Q(2,0), -0.006573); + check_equality(Q(2,1), 0.024478); + check_equality(Q(2,2), 0.999679); + + Matrix D; + D.set(0, 0, -0.809204); + D.set(0, 1, 0.124296); + D.set(0, 2, 0.574230); + D.set(1, 0, -0.574694); + D.set(1, 1, 0.035719); + D.set(1, 2, -0.817589); + D.set(2, 0, -0.122134); + D.set(2, 1, -0.991602); + D.set(2, 2, 0.042528); + + Matrix E; + E.set(0, 0, -0.45070); + E.set(0, 1, -0.32769); + E.set(0, 2, -0.83035); + E.set(1, 0, -0.13619); + E.set(1, 1, -0.89406); + E.set(1, 2, 0.42675); + E.set(2, 0, -0.88222); + E.set(2, 1, 0.30543); + E.set(2, 2, 0.35833); + + Matrix Sr = CGAL::Optimal_bounding_box::internal::reflection(D, E); + check_equality(Sr(0,0), -0.13359); + check_equality(Sr(0,1), -0.95986); + check_equality(Sr(0,2), -0.24664); + check_equality(Sr(1,0), -0.60307); + check_equality(Sr(1,1), -0.11875); + check_equality(Sr(1,2), 0.78880); + check_equality(Sr(2,0), -0.78642); + check_equality(Sr(2,1), 0.25411); + check_equality(Sr(2,2), -0.56300); } -int main() +int main(int, char**) { test_fitness_function(); test_eigen_matrix_interface(); - return 0; + std::cout << "Done!" << std::endl; + + return EXIT_SUCCESS; } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp index a84cb83b5ea..b1a4587f3be 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp @@ -5,106 +5,115 @@ #include typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::FT FT; typedef K::Point_3 Point_3; typedef CGAL::Oriented_bounding_box_traits_3 Traits; typedef Traits::Matrix Matrix; -bool are_equal(double d1, double d2, double epsilon) +void check_equality(const FT d1, const FT d2) { - return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; + const FT epsilon = 1e-3; + + bool ok; + if(std::is_floating_point::value) + ok = CGAL::abs(d1 - d2) < epsilon * CGAL::abs(d2); + else + ok = (d1 == d2); + + if(!ok) + { + std::cout << "Error: got " << d1 << " but expected: " << d2 << std::endl; + assert(false); + } } -void test_simplex_operations() +void test_simplex_operations(const Traits& traits) { - const double epsilon = 1e-5; - - Matrix Sc(3, 3); + Matrix Sc; Sc.set(0, 0, -0.809204); Sc.set(0, 1, 0.124296); Sc.set(0, 2, 0.574230); Sc.set(1, 0, -0.574694); Sc.set(1, 1, 0.035719); Sc.set(1, 2, -0.817589); Sc.set(2, 0, -0.122134); Sc.set(2, 1, -0.991602); Sc.set(2, 2, 0.042528); - Matrix S_worst(3, 3); + Matrix S_worst; S_worst.set(0, 0, -0.45070); S_worst.set(0, 1, -0.32769); S_worst.set(0, 2, -0.83035); S_worst.set(1, 0, -0.13619); S_worst.set(1, 1, -0.89406); S_worst.set(1, 2, 0.42675); S_worst.set(2, 0, -0.88222); S_worst.set(2, 1, 0.30543); S_worst.set(2, 2, 0.35833); - Matrix Sr = CGAL::Optimal_bounding_box::reflection(Sc, S_worst); - assert(are_equal(Sr(0,0), -0.13359, epsilon)); - assert(are_equal(Sr(0,1), -0.95986, epsilon)); - assert(are_equal(Sr(0,2), -0.24664, epsilon)); - assert(are_equal(Sr(1,0), -0.60307, epsilon)); - assert(are_equal(Sr(1,1), -0.11875, epsilon)); - assert(are_equal(Sr(1,2), 0.78880, epsilon)); - assert(are_equal(Sr(2,0), -0.78642, epsilon)); - assert(are_equal(Sr(2,1), 0.25411, epsilon)); - assert(are_equal(Sr(2,2), -0.56300, epsilon)); + Matrix Sr = CGAL::Optimal_bounding_box::internal::reflection(Sc, S_worst); + check_equality(Sr(0,0), -0.13359); + check_equality(Sr(0,1), -0.95986); + check_equality(Sr(0,2), -0.24664); + check_equality(Sr(1,0), -0.60307); + check_equality(Sr(1,1), -0.11875); + check_equality(Sr(1,2), 0.78880); + check_equality(Sr(2,0), -0.78642); + check_equality(Sr(2,1), 0.25411); + check_equality(Sr(2,2), -0.56300); - Matrix Se = CGAL::Optimal_bounding_box::expansion(Sc, S_worst, Sr); - assert(are_equal(Se(0,0), -0.87991, epsilon)); - assert(are_equal(Se(0,1), 0.36105, epsilon)); - assert(are_equal(Se(0,2), -0.30888, epsilon)); - assert(are_equal(Se(1,0), -0.11816, epsilon)); - assert(are_equal(Se(1,1), -0.79593, epsilon)); - assert(are_equal(Se(1,2), -0.59375, epsilon)); - assert(are_equal(Se(2,0), -0.460215, epsilon)); - assert(are_equal(Se(2,1), -0.48595, epsilon)); - assert(are_equal(Se(2,2), 0.74300, epsilon)); + Matrix Se = CGAL::Optimal_bounding_box::internal::expansion(Sc, S_worst, Sr); + check_equality(Se(0,0), -0.87991); + check_equality(Se(0,1), 0.36105); + check_equality(Se(0,2), -0.30888); + check_equality(Se(1,0), -0.11816); + check_equality(Se(1,1), -0.79593); + check_equality(Se(1,2), -0.59375); + check_equality(Se(2,0), -0.460215); + check_equality(Se(2,1), -0.48595); + check_equality(Se(2,2), 0.74300); - Matrix S_a(3, 3); + Matrix S_a; S_a.set(0, 0, -0.277970); S_a.set(0, 1, 0.953559); S_a.set(0, 2, 0.116010); S_a.set(1, 0, -0.567497); S_a.set(1, 1, -0.065576); S_a.set(1, 2, -0.820760); S_a.set(2, 0, -0.775035); S_a.set(2, 1, -0.293982); S_a.set(2, 2, 0.559370); - Matrix S_b(3, 3); + Matrix S_b; S_b.set(0, 0, -0.419979); S_b.set(0, 1, 0.301765); S_b.set(0, 2, -0.8558940); S_b.set(1, 0, -0.653011); S_b.set(1, 1, -0.755415); S_b.set(1, 2, 0.054087); S_b.set(2, 0, -0.630234); S_b.set(2, 1, 0.581624); S_b.set(2, 2, 0.514314); - Matrix S_c = CGAL::Optimal_bounding_box::mean(S_a, S_b); - assert(are_equal(S_c(0,0), -0.35111, epsilon)); - assert(are_equal(S_c(0,1), 0.79308, epsilon)); - assert(are_equal(S_c(0,2), -0.49774, epsilon)); - assert(are_equal(S_c(1,0), -0.61398, epsilon)); - assert(are_equal(S_c(1,1), -0.59635, epsilon)); - assert(are_equal(S_c(1,2), -0.51710, epsilon)); - assert(are_equal(S_c(2,0), -0.70693, epsilon)); - assert(are_equal(S_c(2,1), 0.12405, epsilon)); - assert(are_equal(S_c(2,2), 0.69632, epsilon)); + Matrix S_c = CGAL::Optimal_bounding_box::internal::mean(S_a, S_b, traits); + check_equality(S_c(0,0), -0.35111); + check_equality(S_c(0,1), 0.79308); + check_equality(S_c(0,2), -0.49774); + check_equality(S_c(1,0), -0.61398); + check_equality(S_c(1,1), -0.59635); + check_equality(S_c(1,2), -0.51710); + check_equality(S_c(2,0), -0.70693); + check_equality(S_c(2,1), 0.12405); + check_equality(S_c(2,2), 0.69632); } -void test_centroid() +void test_centroid(const Traits& traits) { - const double epsilon = 1e-5; - Matrix S_a; S_a.set(0, 0, -0.588443); S_a.set(0, 1, 0.807140); S_a.set(0, 2, -0.047542); S_a.set(1, 0, -0.786228); S_a.set(1, 1, -0.584933); S_a.set(1, 2, -0.199246); S_a.set(2, 0, -0.188629); S_a.set(2, 1, -0.079867); S_a.set(2, 2, 0.978795); - Matrix S_b(3, 3); + Matrix S_b; S_b.set(0, 0, -0.2192721); S_b.set(0, 1, 0.2792986); S_b.set(0, 2, -0.9348326); S_b.set(1, 0, -0.7772152); S_b.set(1, 1, -0.6292092); S_b.set(1, 2, -0.005686); S_b.set(2, 0, -0.5897934); S_b.set(2, 1, 0.7253193); S_b.set(2, 2, 0.3550431); - Matrix S_c(3, 3); + Matrix S_c; S_c.set(0, 0, -0.32657); S_c.set(0, 1, -0.60013); S_c.set(0, 2, -0.730206); S_c.set(1, 0, -0.20022); S_c.set(1, 1, -0.71110); S_c.set(1, 2, 0.67398); S_c.set(2, 0, -0.92372); S_c.set(2, 1, 0.36630); S_c.set(2, 2, 0.11207); - Matrix S_centroid = CGAL::Optimal_bounding_box::nm_centroid(S_a, S_b, S_c); - assert(are_equal(S_centroid(0,0), -0.419979, epsilon)); - assert(are_equal(S_centroid(0,1), 0.301765, epsilon)); - assert(are_equal(S_centroid(0,2), -0.855894, epsilon)); - assert(are_equal(S_centroid(1,0), -0.653011, epsilon)); - assert(are_equal(S_centroid(1,1), -0.755415, epsilon)); - assert(are_equal(S_centroid(1,2), 0.054087, epsilon)); - assert(are_equal(S_centroid(2,0), -0.630234, epsilon)); - assert(are_equal(S_centroid(2,1), 0.581624, epsilon)); - assert(are_equal(S_centroid(2,2), 0.514314, epsilon)); + Matrix S_centroid = CGAL::Optimal_bounding_box::internal::nm_centroid(S_a, S_b, S_c, traits); + check_equality(S_centroid(0,0), -0.419979); + check_equality(S_centroid(0,1), 0.301765); + check_equality(S_centroid(0,2), -0.855894); + check_equality(S_centroid(1,0), -0.653011); + check_equality(S_centroid(1,1), -0.755415); + check_equality(S_centroid(1,2), 0.054087); + check_equality(S_centroid(2,0), -0.630234); + check_equality(S_centroid(2,1), 0.581624); + check_equality(S_centroid(2,2), 0.514314); } -void test_nelder_mead() +void test_nelder_mead(const Traits& traits) { std::array points; points[0] = Point_3(0.866802, 0.740808, 0.895304); @@ -116,21 +125,21 @@ void test_nelder_mead() std::array simplex; Matrix v0, v1, v2, v3; - v0(0,0) = -0.2192721; v0(0,1) = 0.2792986; v0(0,2) = -0.9348326; - v0(1,0) = -0.7772152; v0(1,1) = -0.6292092; v0(1,2) = -0.0056861; - v0(2,0) = -0.5897934; v0(2,1) = 0.7253193; v0(2,2) = 0.3550431; + v0.set(0, 0, -0.2192721); v0.set(0, 1, 0.2792986); v0.set(0, 2, -0.9348326); + v0.set(1, 0, -0.7772152); v0.set(1, 1, -0.6292092); v0.set(1, 2, -0.0056861); + v0.set(2, 0, -0.5897934); v0.set(2, 1, 0.7253193); v0.set(2, 2, 0.3550431); - v1(0,0) = -0.588443; v1(0,1) = 0.807140; v1(0,2) = -0.047542; - v1(1,0) = -0.786228; v1(1,1) = -0.584933; v1(1,2) = -0.199246; - v1(2,0) = -0.188629; v1(2,1) = -0.079867; v1(2,2) = 0.978795; + v1.set(0, 0, -0.588443); v1.set(0, 1, 0.807140); v1.set(0, 2, -0.047542); + v1.set(1, 0, -0.786228); v1.set(1, 1, -0.584933); v1.set(1, 2, -0.199246); + v1.set(2, 0, -0.188629); v1.set(2, 1, -0.079867); v1.set(2, 2, 0.978795); - v2(0,0) = -0.277970; v2(0,1) = 0.953559; v2(0,2) = 0.116010; - v2(1,0) = -0.567497; v2(1,1) = -0.065576; v2(1,2) = -0.820760; - v2(2,0) = -0.775035; v2(2,1) = -0.293982; v2(2,2) = 0.559370; + v2.set(0, 0, -0.277970); v2.set(0, 1, 0.953559); v2.set(0, 2, 0.116010); + v2.set(1, 0, -0.567497); v2.set(1, 1, -0.065576); v2.set(1, 2, -0.820760); + v2.set(2, 0, -0.775035); v2.set(2, 1, -0.293982); v2.set(2, 2, 0.559370); - v3(0,0) = -0.32657; v3(0,1) = -0.60013; v3(0,2) = -0.73020; - v3(1,0) = -0.20022; v3(1,1) = -0.71110; v3(1,2) = 0.67398; - v3(2,0) = -0.92372; v3(2,1) = 0.36630; v3(2,2) = 0.11207; + v3.set(0, 0, -0.32657); v3.set(0, 1, -0.60013); v3.set(0, 2, -0.73020); + v3.set(1, 0, -0.20022); v3.set(1, 1, -0.71110); v3.set(1, 2, 0.67398); + v3.set(2, 0, -0.92372); v3.set(2, 1, 0.36630); v3.set(2, 2, 0.11207); simplex[0] = v0; simplex[1] = v1; @@ -138,59 +147,62 @@ void test_nelder_mead() simplex[3] = v3; std::size_t nm_iterations = 19; - CGAL::Optimal_bounding_box::internal::nelder_mead(simplex, data_points, nm_iterations); + CGAL::Optimal_bounding_box::internal::nelder_mead(points, nm_iterations, traits, simplex); - double epsilon = 1e-5; const Matrix& v0_new = simplex[0]; - assert(assert_doubles(v0_new(0,0), -0.288975, epsilon)); - assert(assert_doubles(v0_new(0,1), 0.7897657, epsilon)); - assert(assert_doubles(v0_new(0,2), -0.541076, epsilon)); - assert(assert_doubles(v0_new(1,0), -0.9407046, epsilon)); - assert(assert_doubles(v0_new(1,1), -0.3391466, epsilon)); - assert(assert_doubles(v0_new(1,2), 0.0073817, epsilon)); - assert(assert_doubles(v0_new(2,0), -0.1776743, epsilon)); - assert(assert_doubles(v0_new(2,1), 0.5111260, epsilon)); - assert(assert_doubles(v0_new(2,2), 0.84094, epsilon)); + check_equality(v0_new(0,0), -0.288975); + check_equality(v0_new(0,1), 0.7897657); + check_equality(v0_new(0,2), -0.541076); + check_equality(v0_new(1,0), -0.9407046); + check_equality(v0_new(1,1), -0.3391466); + check_equality(v0_new(1,2), 0.0073817); + check_equality(v0_new(2,0), -0.1776743); + check_equality(v0_new(2,1), 0.5111260); + check_equality(v0_new(2,2), 0.84094); const Matrix& v1_new = simplex[1]; - assert(assert_doubles(v1_new(0,0), -0.458749, epsilon)); - assert(assert_doubles(v1_new(0,1), 0.823283, epsilon)); - assert(assert_doubles(v1_new(0,2), -0.334296, epsilon)); - assert(assert_doubles(v1_new(1,0), -0.885235, epsilon)); - assert(assert_doubles(v1_new(1,1), -0.455997, epsilon)); - assert(assert_doubles(v1_new(1,2), 0.091794, epsilon)); - assert(assert_doubles(v1_new(2,0), -0.076866, epsilon)); - assert(assert_doubles(v1_new(2,1), 0.338040, epsilon)); - assert(assert_doubles(v1_new(2,2), 0.937987, epsilon)); + check_equality(v1_new(0,0), -0.458749); + check_equality(v1_new(0,1), 0.823283); + check_equality(v1_new(0,2), -0.334296); + check_equality(v1_new(1,0), -0.885235); + check_equality(v1_new(1,1), -0.455997); + check_equality(v1_new(1,2), 0.091794); + check_equality(v1_new(2,0), -0.076866); + check_equality(v1_new(2,1), 0.338040); + check_equality(v1_new(2,2), 0.937987); const Matrix& v2_new = simplex[2]; - assert(assert_doubles(v2_new(0,0), -0.346582, epsilon)); - assert(assert_doubles(v2_new(0,1), 0.878534, epsilon)); - assert(assert_doubles(v2_new(0,2), -0.328724, epsilon)); - assert(assert_doubles(v2_new(1,0), -0.936885, epsilon)); - assert(assert_doubles(v2_new(1,1), -0.341445, epsilon)); - assert(assert_doubles(v2_new(1,2), 0.075251, epsilon)); - assert(assert_doubles(v2_new(2,0), -0.046131, epsilon)); - assert(assert_doubles(v2_new(2,1), 0.334057, epsilon)); - assert(assert_doubles(v2_new(2,2), 0.941423, epsilon)); + check_equality(v2_new(0,0), -0.346582); + check_equality(v2_new(0,1), 0.878534); + check_equality(v2_new(0,2), -0.328724); + check_equality(v2_new(1,0), -0.936885); + check_equality(v2_new(1,1), -0.341445); + check_equality(v2_new(1,2), 0.075251); + check_equality(v2_new(2,0), -0.046131); + check_equality(v2_new(2,1), 0.334057); + check_equality(v2_new(2,2), 0.941423); const Matrix& v3_new = simplex[3]; - assert(assert_doubles(v3_new(0,0), -0.394713, epsilon)); - assert(assert_doubles(v3_new(0,1), 0.791782, epsilon)); - assert(assert_doubles(v3_new(0,2), -0.466136, epsilon)); - assert(assert_doubles(v3_new(1,0), -0.912112, epsilon)); - assert(assert_doubles(v3_new(1,1), -0.398788, epsilon)); - assert(assert_doubles(v3_new(1,2), 0.094972, epsilon)); - assert(assert_doubles(v3_new(2,0), -0.110692, epsilon)); - assert(assert_doubles(v3_new(2,1), 0.462655, epsilon)); - assert(assert_doubles(v3_new(2,2), 0.879601, epsilon)); + check_equality(v3_new(0,0), -0.394713); + check_equality(v3_new(0,1), 0.791782); + check_equality(v3_new(0,2), -0.466136); + check_equality(v3_new(1,0), -0.912112); + check_equality(v3_new(1,1), -0.398788); + check_equality(v3_new(1,2), 0.094972); + check_equality(v3_new(2,0), -0.110692); + check_equality(v3_new(2,1), 0.462655); + check_equality(v3_new(2,2), 0.879601); } -int main() +int main(int, char**) { - test_simplex_operations(); - test_centroid(); - test_nelder_mead(); + Traits traits; - return 0; + test_simplex_operations(traits); + test_centroid(traits); + test_nelder_mead(traits); + + std::cout << "Done!" << std::endl; + + return EXIT_SUCCESS; } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 6dbbec359b0..1dbdc081967 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -2,75 +2,62 @@ #include -#include -#include -#include -#include -#include +#include +#include #include #include -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef K::FT FT; +typedef K::Point_3 Point_3; -bool assert_doubles(double d1, double d2, double epsilon) +typedef CGAL::Surface_mesh Mesh; + +typedef CGAL::Oriented_bounding_box_traits_3 Traits; +typedef Traits::Matrix Matrix; + +void check_equality(const FT d1, const FT d2) { - return (d1 < d2 + epsilon && d1 > d2 - epsilon) ? true : false; + const FT epsilon = 1e-3; + + bool ok; + if(std::is_floating_point::value) + ok = CGAL::abs(d1 - d2) < epsilon * CGAL::abs(d2); + else + ok = (d1 == d2); + + if(!ok) + { + std::cout << "Error: got " << d1 << " but expected: " << d2 << std::endl; + assert(false); + } } void test_genetic_algorithm() { - CGAL::Eigen_dense_matrix data_points(4, 3); // -1 = dynamic size at run time - data_points(0,0) = 0.866802; - data_points(0,1) = 0.740808; - data_points(0,2) = 0.895304; - data_points(1,0) = 0.912651; - data_points(1,1) = 0.761565; - data_points(1,2) = 0.160330; - data_points(2,0) = 0.093661; - data_points(2,1) = 0.892578; - data_points(2,2) = 0.737412; - data_points(3,0) = 0.166461; - data_points(3,1) = 0.149912; - data_points(3,2) = 0.364944; + std::array points; + points[0] = Point_3(0.866802, 0.740808, 0.895304); + points[1] = Point_3(0.912651, 0.761565, 0.160330); + points[2] = Point_3(0.093661, 0.892578, 0.737412); + points[3] = Point_3(0.166461, 0.149912, 0.364944); - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - CGAL::Optimal_bounding_box::Population pop(5); - CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); + CGAL::Optimal_bounding_box::internal::Population pop(5); + CGAL::Optimal_bounding_box::internal::Evolution evolution(pop, data_points); evolution.genetic_algorithm(); assert(pop.size() == 5); } void test_random_unit_tetra() { - // this is dynamic at run times - CGAL::Eigen_dense_matrix data_points(4, 3); + std::array points; + points[0] = Point_3(0.866802, 0.740808, 0.895304); + points[1] = Point_3(0.912651, 0.761565, 0.160330); + points[2] = Point_3(0.093661, 0.892578, 0.737412); + points[3] = Point_3(0.166461, 0.149912, 0.364944); - // points are on their convex hull - data_points(0,0) = 0.866802; - data_points(0,1) = 0.740808; - data_points(0,2) = 0.895304; - data_points(1,0) = 0.912651; - data_points(1,1) = 0.761565; - data_points(1,2) = 0.160330; - data_points(2,0) = 0.093661; - data_points(2,1) = 0.892578; - data_points(2,2) = 0.737412; - data_points(3,0) = 0.166461; - data_points(3,1) = 0.149912; - data_points(3,2) = 0.364944; - - typedef CGAL::Simple_cartesian K; - typedef K::Point_3 Point; - typedef CGAL::Surface_mesh Mesh; - - // make a mesh and export it Mesh mesh; - Point p1(0.866802, 0.740808, 0.895304); - Point p2(0.912651, 0.761565, 0.160330); - Point p3(0.093661, 0.892578, 0.737412); - Point p4(0.166461, 0.149912, 0.364944); - CGAL::make_tetrahedron(p1, p2, p3, p4, mesh); + CGAL::make_tetrahedron(points[0], points[1], points[2], points[3], mesh); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST std::ofstream out("data/random_unit_tetra.off"); @@ -78,148 +65,102 @@ void test_random_unit_tetra() out.close(); #endif - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::Matrix Matrix; - std::size_t generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); - CGAL::Optimal_bounding_box::Evolution evolution(pop, data_points); + CGAL::Optimal_bounding_box::internal::Population pop(50); + CGAL::Optimal_bounding_box::internal::Evolution evolution(pop, data_points); evolution.evolve(generations); Matrix R = evolution.get_best(); - const double epsilon = 1e-3; - assert(assert_doubles(Linear_algebra_traits::compute_determinant(R), 1, epsilon)); - assert(assert_doubles(R(0,0), -0.25791, epsilon)); - assert(assert_doubles(R(0,1), 0.796512, epsilon)); - assert(assert_doubles(R(0,2), -0.546855, epsilon)); - assert(assert_doubles(R(1,0), -0.947128, epsilon)); - assert(assert_doubles(R(1,1), -0.320242, epsilon)); - assert(assert_doubles(R(1,2), -0.0197553, epsilon)); - assert(assert_doubles(R(2,0), -0.190861, epsilon)); - assert(assert_doubles(R(2,1), 0.512847, epsilon)); - assert(assert_doubles(R(2,2), 0.836992, epsilon)); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - // postprocessing - CGAL::Eigen_dense_matrix obb(8, 3); - CGAL::Optimal_bounding_box::post_processing(data_points, R, obb); -#endif + check_equality(Traits::compute_determinant(R), 1); + check_equality(R(0,0), -0.25791); + check_equality(R(0,1), 0.796512); + check_equality(R(0,2), -0.546855); + check_equality(R(1,0), -0.947128); + check_equality(R(1,1), -0.320242); + check_equality(R(1,2), -0.0197553); + check_equality(R(2,0), -0.190861); + check_equality(R(2,1), 0.512847); + check_equality(R(2,2), 0.836992); } void test_reference_tetrahedron(const char* fname) { std::ifstream input(fname); - CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) { + CGAL::Surface_mesh mesh; + if(!input || !(input >> mesh) || mesh.is_empty()) + { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::Matrix Matrix; - // points in a matrix Matrix points; CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); - CGAL::Optimal_bounding_box::Evolution experiment(pop, points); + CGAL::Optimal_bounding_box::internal::Population pop(50); + CGAL::Optimal_bounding_box::internal::Evolution experiment(pop, points); experiment.evolve(generations); Matrix R = experiment.get_best(); - double epsilon = 1e-5; - assert(assert_doubles(Linear_algebra_traits::compute_determinant(R), 1, epsilon)); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - // postprocessing - Matrix obb(8, 3); - CGAL::Optimal_bounding_box::post_processing(points, R, obb); -#endif + check_equality(Traits::compute_determinant(R), 1); } void test_long_tetrahedron(const std::string fname) { std::ifstream input(fname); - CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) + CGAL::Surface_mesh mesh; + if(!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } - typedef CGAL::Eigen_linear_algebra_traits Linear_algebra_traits; - typedef Linear_algebra_traits::Matrix Matrix; - // points in a matrix Matrix points; CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); std::size_t max_generations = 10; - CGAL::Optimal_bounding_box::Population pop(50); - CGAL::Optimal_bounding_box::Evolution experiment(pop, points); + CGAL::Optimal_bounding_box::internal::Population pop(50); + CGAL::Optimal_bounding_box::internal::Evolution experiment(pop, points); experiment.evolve(max_generations); Matrix R = experiment.get_best(); - double epsilon = 1e-3; - assert(assert_doubles(Linear_algebra_traits::compute_determinant(R), 1, epsilon)); - assert(assert_doubles(R(0,0), -1, epsilon)); - assert(assert_doubles(R(0,1), 0, epsilon)); - assert(assert_doubles(R(0,2), 0, epsilon)); - assert(assert_doubles(R(1,0), 0, epsilon)); - assert(assert_doubles(R(1,1), -0.707107, epsilon)); - assert(assert_doubles(R(1,2), 0.707106, epsilon) || - assert_doubles(R(1,2), -0.707106, epsilon)); - assert(assert_doubles(R(2,0), 0, epsilon)); - assert(assert_doubles(R(2,1), 0.707106, epsilon) || - assert_doubles(R(1,2), -0.707106, epsilon)); - assert(assert_doubles(R(2,2), 0.707107, epsilon)); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - // postprocessing - Matrix obb(8, 3); - CGAL::Optimal_bounding_box::post_processing(points, R, obb); -#endif + check_equality(Traits::compute_determinant(R), 1); + check_equality(R(0,0), -1); + check_equality(R(0,1), 0); + check_equality(R(0,2), 0); + check_equality(R(1,0), 0); + check_equality(R(1,1), -0.707107); + check_equality(R(1,2), 0.707106) || assert_doubles(R(1,2), -0.707106); + check_equality(R(2,0), 0); + check_equality(R(2,1), 0.707106) || assert_doubles(R(1,2), -0.707106); + check_equality(R(2,2), 0.707107); } void test_compute_obb_evolution(const std::string fname) { std::ifstream input(fname); - typedef CGAL::Surface_mesh SMesh; + typedef CGAL::Surface_mesh SMesh; SMesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) + if(!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } - // get mesh points - std::vector sm_points; + Traits traits; + std::array obb_points; + CGAL::oriented_bounding_box(sm, obb_points, CGAL::parameters::use_convex_hull(true) + .geom_traits(traits)); - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::const_type PointPMap; - - PointPMap pmap = get(boost::vertex_point, mesh); - for(vertex_descriptor v : vertices(mesh)) - sm_points.push_back(get(pmap, v)); - - - CGAL::Eigen_linear_algebra_traits la_traits; - std::vector obb_points; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, la_traits, true); - - double epsilon = 1e-3; - double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); - assert(assert_doubles(vol, 0.883371, epsilon)); + FT vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); + check_equality(vol, 0.883371); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - /* - for(int i = 0; i < 8; ++i) - std::cout << obb_points[i].x() << " " << obb_points[i].y() << " " << obb_points[i].z() << "\n" ; - */ - CGAL::Surface_mesh result_mesh; + CGAL::Surface_mesh result_mesh; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); + obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); std::ofstream out("data/obb_result.off"); out << result_mesh; @@ -230,16 +171,15 @@ void test_compute_obb_evolution(const std::string fname) void test_compute_obb_mesh(const std::string fname) { std::ifstream input(fname); - CGAL::Surface_mesh mesh; - if (!input || !(input >> mesh) || mesh.is_empty()) + CGAL::Surface_mesh mesh; + if(!input || !(input >> mesh) || mesh.is_empty()) { std::cerr << fname << " is not a valid off file.\n"; std::exit(1); } - CGAL::Eigen_linear_algebra_traits la_traits; - CGAL::Surface_mesh< K::Point_3> obbmesh; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh, obbmesh, la_traits, true); + CGAL::Surface_mesh obbmesh; + CGAL::oriented_bounding_box(mesh, obbmesh); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST std::ofstream out("/tmp/result_elephant.off"); @@ -248,46 +188,21 @@ void test_compute_obb_mesh(const std::string fname) #endif } -void test_function_defaults_traits(const std::string fname1, - const std::string fname2) +void test_function_defaults_traits(const std::string fname1) { std::ifstream input1(fname1); - CGAL::Surface_mesh mesh1; - if (!input1 || !(input1 >> mesh1) || mesh1.is_empty()) + CGAL::Surface_mesh mesh1; + if(!input1 || !(input1 >> mesh1) || mesh1.is_empty()) { std::cerr << fname1 << " is not a valid off file.\n"; std::exit(1); } - std::ifstream input2(fname2); - CGAL::Surface_mesh mesh2; - if (!input2 || !(input2 >> mesh2) || mesh2.is_empty()) - { - std::cerr << fname2 << " is not a valid off file.\n"; - std::exit(1); - } + std::array obb_points; + CGAL::oriented_bounding_box(sm_points, obb_points, CGAL::parameters::use_convex_hull(true)); - // test one - std::vector sm_points; - typedef CGAL::Surface_mesh SMesh; - - typedef typename boost::graph_traits::vertex_descriptor vertex_descriptor; - typedef typename boost::property_map::const_type PointPMap; - PointPMap pmap = get(boost::vertex_point, mesh1); - - for(vertex_descriptor v : vertices(mesh1)) - sm_points.push_back(get(pmap, v)); - - std::vector obb_points; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(sm_points, obb_points, true); - - const double epsilon = 1e-3; - const double vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); - assert(assert_doubles(vol, 0.883371, epsilon)); - - // test two - CGAL::Surface_mesh obbmesh; - CGAL::Optimal_bounding_box::compute_optimal_bounding_box(mesh2, obbmesh, true); + const FT vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); + check_equality(vol, 0.883371); } int main() @@ -299,7 +214,7 @@ int main() test_long_tetrahedron("data/long_tetrahedron.off"); test_compute_obb_evolution("data/random_unit_tetra.off"); test_compute_obb_mesh("data/elephant.off"); - test_function_defaults_traits("data/random_unit_tetra.off", "data/elephant.off"); + test_function_defaults_traits("data/random_unit_tetra.off"); return 0; } From 878354720591c951c52024a0b732148333562167 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 13:24:26 +0100 Subject: [PATCH 116/150] Make traits function static --- .../Optimal_bounding_box/Oriented_bounding_box_traits_3.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h index 7de034882a4..6cf1f1a126f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h @@ -61,11 +61,11 @@ private: public: /// Returns a default-constructed construction object - Construct_bbox_3 construct_bbox_3_object() const { return Construct_bbox_3(); } + static Construct_bbox_3 construct_bbox_3_object() { return Construct_bbox_3(); } /// Performs the QR-decomposition of the matrix `m` to a unitary matrix and an upper triagonal /// and returns the unitary matrix - Matrix get_Q(const Matrix& m) const + static Matrix get_Q(const Matrix& m) { Eigen::HouseholderQR qr(m.eigen_object()); return Matrix(EigenType(qr.householderQ())); From dd2adcb581a9c0902f99d30a35d2b7e4b4fc83c7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Fri, 13 Mar 2020 13:25:48 +0100 Subject: [PATCH 117/150] Tiny internal function API change --- .../include/CGAL/Optimal_bounding_box/internal/evolution.h | 2 +- .../Optimal_bounding_box/internal/nelder_mead_functions.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index f3563f57c79..c24fa898d62 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -168,7 +168,7 @@ public: #endif for(std::size_t s=0; s -void nelder_mead(Simplex& simplex, - const PointRange& points, +void nelder_mead(const PointRange& points, const std::size_t nelder_mead_iterations, - const Traits& traits) + const Traits& traits, + Simplex& simplex) { typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; From 3c5df657d4b4175580bd4d43418c31c419b94006 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 23 Mar 2020 08:59:56 +0100 Subject: [PATCH 118/150] Fix namespace of GetPointMap --- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 76cc308906b..6745c3c5d72 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -261,7 +261,7 @@ void oriented_bounding_box(const PointRange& points, using CGAL::parameters::choose_parameter; using CGAL::parameters::get_parameter; - typedef typename Point_set_processing_3::GetPointMap::type PointMap; + typedef typename CGAL::GetPointMap::type PointMap; #if defined(CGAL_EIGEN3_ENABLED) typedef typename boost::property_traits::value_type Point; From 8652d9ada39fe9b5fbf67923cc9ba2a67f3b6c24 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Mon, 23 Mar 2020 18:31:09 +0100 Subject: [PATCH 119/150] General improvements to improve speed (x3 faster with this) --- .../Optimal_bounding_box/internal/evolution.h | 105 +++++++--------- .../internal/fitness_function.h | 56 +++------ .../internal/nelder_mead_functions.h | 79 +++++------- .../internal/population.h | 119 +++++++++++------- .../oriented_bounding_box.h | 2 +- .../Optimal_bounding_box/test_nelder_mead.cpp | 2 +- 6 files changed, 175 insertions(+), 188 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index c24fa898d62..13415729658 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -40,15 +40,15 @@ public: typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; - typedef Population Population; + typedef internal::Population Population; typedef typename Population::Simplex Simplex; - - typedef Fitness_map Fitness_map; + typedef typename Population::Vertex Vertex; Evolution(const PointRange& points, CGAL::Random& rng, const Traits& traits) : + m_best_v(nullptr), m_population(traits), m_rng(rng), m_points(points), @@ -58,7 +58,7 @@ public: void genetic_algorithm(const std::size_t population_size = 50) { // random permutations - m_population.initialize(population_size, m_rng); + m_population.initialize(population_size, m_points, m_rng); //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored const std::size_t m = population_size; @@ -74,19 +74,19 @@ public: std::generate(group3.begin(), group3.end(), [&]{ return m_rng.get_int(0, im); }); std::generate(group4.begin(), group4.end(), [&]{ return m_rng.get_int(0, im); }); - // crossover I + // crossover I, pick A or B FT bias = FT(0.1); std::vector new_simplices(m); for(std::size_t i=0; i offspring; + Simplex offspring; for(int j=0; j<4; ++j) { const FT r = FT(m_rng.get_double()); - const FT fitnessA = compute_fitness(m_population[group1[i]][j], m_points); - const FT fitnessB = compute_fitness(m_population[group2[i]][j], m_points); + const FT fitnessA = m_population[group1[i]][j].fitness_value(); + const FT fitnessB = m_population[group2[i]][j].fitness_value(); const FT threshold = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); if(r < threshold) @@ -98,39 +98,23 @@ public: new_simplices[i] = std::move(offspring); } - // crossover II + // crossover II, combine information from A and B bias = 0.1; // @fixme should the bias change? What should be the initial value? for(std::size_t i=0; i offspring; + Simplex offspring; for(int j=0; j<4; ++j) { - const FT fitnessA = compute_fitness(m_population[group3[i]][j], m_points); - const FT fitnessB = compute_fitness(m_population[group4[i]][j], m_points); + const FT fitnessA = m_population[group3[i]][j].fitness_value(); + const FT fitnessB = m_population[group4[i]][j].fitness_value(); const FT lambda = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); - const FT rambda = 1 - lambda; // the 'l' in 'lambda' stands for left + const FT rambda = 1 - lambda; // because the 'l' in 'lambda' stands for left - // combine information from A and B - Matrix new_vertex(3, 3); + const Matrix& lm = m_population[group3[i]][j].matrix(); + const Matrix& rm = m_population[group4[i]][j].matrix(); - const Matrix& lm = m_population[group3[i]][j]; - const Matrix& rm = m_population[group4[i]][j]; - - // just avoiding having to add matrix sums and scalar multiplications to the concept - new_vertex.set(0, 0, lambda * lm(0, 0) + rambda * rm(0, 0)); - new_vertex.set(0, 1, lambda * lm(0, 1) + rambda * rm(0, 1)); - new_vertex.set(0, 2, lambda * lm(0, 2) + rambda * rm(0, 2)); - - new_vertex.set(1, 0, lambda * lm(1, 0) + rambda * rm(1, 0)); - new_vertex.set(1, 1, lambda * lm(1, 1) + rambda * rm(1, 1)); - new_vertex.set(1, 2, lambda * lm(1, 2) + rambda * rm(1, 2)); - - new_vertex.set(2, 0, lambda * lm(2, 0) + rambda * rm(2, 0)); - new_vertex.set(2, 1, lambda * lm(2, 1) + rambda * rm(2, 1)); - new_vertex.set(2, 2, lambda * lm(2, 2) + rambda * rm(2, 2)); - - offspring[j] = m_traits.get_Q(new_vertex); + offspring[j] = Vertex(m_traits.get_Q(lambda*lm + rambda*rm), m_points, m_traits); } new_simplices[first_group_size + i] = std::move(offspring); @@ -139,56 +123,51 @@ public: m_population.simplices() = std::move(new_simplices); } - void evolve(const std::size_t generations) + void evolve(const std::size_t generations, + const std::size_t population_size = 50, + const std::size_t nelder_mead_iterations = 150) { - // hardcoded population size - const std::size_t population_size = 50; - - // hardcoded nelder_mead_iterations - const std::size_t nelder_mead_iterations = 150; - // stopping criteria prameters - FT prev_fit_value = 0.; - FT new_fit_value = 0.; + FT prev_fit_value = 0; + FT new_fit_value = 0; const FT tolerance = 1e-9; int stale = 0; for(std::size_t t=0; tfitness_value(); const FT difference = new_fit_value - prev_fit_value; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG - const Matrix& R_now = fitness_map.get_best(); - std::cout << "new best: " << R_now << std::endl; + const Matrix& best_m = m_best_v->matrix(); + std::cout << "new best matrix: " << best_m << std::endl; std::cout << "value difference with previous: " << difference << std::endl; #endif - if(CGAL::abs(difference) < tolerance * new_fit_value) // @todo should depend on input bbox diag + if(CGAL::abs(difference) < tolerance * new_fit_value) ++stale; if(stale == 5) @@ -198,15 +177,17 @@ public: } } - const Matrix& get_best() + const Vertex& get_best() { - Fitness_map fitness_map(m_population, m_points); - return fitness_map.get_best(); + CGAL_assertion(m_best_v != nullptr); + return *m_best_v; } private: + const Vertex* m_best_v; Population m_population; - CGAL::Random m_rng; + + CGAL::Random& m_rng; const PointRange& m_points; const Traits& m_traits; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h index de370dd11e3..9f324a95ced 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h @@ -28,7 +28,8 @@ namespace internal { template typename Traits::FT compute_fitness(const typename Traits::Matrix& R, // rotation matrix - const PointRange& points) + const PointRange& points, + const Traits& /*traits*/) { typedef typename Traits::FT FT; typedef typename Traits::Point_3 Point; @@ -60,51 +61,32 @@ compute_fitness(const typename Traits::Matrix& R, // rotation matrix return ((xmax - xmin) * (ymax - ymin) * (zmax - zmin)); } -template -struct Fitness_map +template +const typename Population::Vertex& get_best_vertex(const Population& population, + const PointRange& points) { - typedef typename Traits::FT FT; - typedef typename Population::Vertex Vertex; + typedef typename Population::FT FT; + typedef typename Population::Vertex Vertex; - Fitness_map(const Population& population, - const PointRange& points) - : - m_pop(population), - m_points(points) - { } - - const Vertex& get_best() const // @todo any point caching this? + std::size_t simplex_id, vertex_id; + FT best_fitness = std::numeric_limits::max(); + for(std::size_t i=0, ps=population.size(); i::max(); - for(std::size_t i=0, ps=m_pop.size(); i(vertex, m_points); - if(fitness < best_fitness) - { - simplex_id = i; - vertex_id = j; - best_fitness = fitness; - } + simplex_id = i; + vertex_id = j; + best_fitness = fitness; } } - - return m_pop[simplex_id][vertex_id]; } - FT get_best_fitness_value() const - { - const Vertex& best_mat = get_best(); - return compute_fitness(best_mat, m_points); - } - -private: - const Population& m_pop; - const PointRange& m_points; -}; + return population[simplex_id][vertex_id]; +} } // namespace internal } // namespace Optimal_bounding_box diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index d4cfc3cbc2a..06dff8f9ab6 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -50,7 +50,8 @@ Matrix mean(const Matrix& m1, { typedef typename Traits::FT FT; - const Matrix reduction = FT(0.5) * (m1 + m2); + constexpr half = FT(1) / FT(2); + const Matrix reduction = half * (m1 + m2); return traits.get_Q(reduction); } @@ -63,86 +64,74 @@ const Matrix nm_centroid(const Matrix& S1, { typedef typename Traits::FT FT; - const Matrix mean = (FT(1) / FT(3)) * (S1 + S2 + S3); + constexpr FT third = FT(1) / FT(3); + const Matrix mean = third * (S1 + S2 + S3); return traits.get_Q(mean); } // It's a 3D simplex with 4 rotation matrices as vertices template -void nelder_mead(const PointRange& points, +void nelder_mead(Simplex& simplex, const std::size_t nelder_mead_iterations, - const Traits& traits, - Simplex& simplex) + const PointRange& points, + const Traits& traits) { + typedef typename Simplex::value_type Vertex; typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; - std::array fitness; - std::array indices = {{ 0, 1, 2, 3 }}; - for(std::size_t t=0; t(simplex[i], points); - - // get indices of sorted sequence - std::sort(indices.begin(), indices.end(), - [&fitness](const std::size_t i, const std::size_t j) -> bool - { return fitness[i] < fitness[j]; }); - - // new sorted simplex & fitness - Simplex s_simplex; - std::array s_fitness; - for(int i=0; i<4; ++i) - { - s_simplex[i] = simplex[indices[i]]; - s_fitness[i] = fitness[indices[i]]; - } - - simplex = std::move(s_simplex); - fitness = std::move(s_fitness); + std::sort(simplex.begin(), simplex.end(), + [](const Vertex& vi, const Vertex& vj) -> bool + { return vi.fitness_value() < vj.fitness_value(); }); // centroid - const Matrix v_centroid = nm_centroid(simplex[0], simplex[1], simplex[2], traits); + const Matrix centroid_m = nm_centroid(simplex[0].matrix(), + simplex[1].matrix(), + simplex[2].matrix(), traits); // find worst's vertex reflection - const Matrix& v_worst = simplex[3]; - const Matrix v_refl = reflection(v_centroid, v_worst); - const FT f_refl = compute_fitness(v_refl, points); + const Matrix& worst_m = simplex[3].matrix(); + const Matrix refl_m = reflection(centroid_m, worst_m); + const FT refl_f = compute_fitness(refl_m, points, traits); - if(f_refl < fitness[2]) + // if reflected point is better than the second worst + if(refl_f < simplex[2].fitness_value()) { - if(f_refl >= fitness[0]) // if reflected point is not better than the best + // if reflected point is not better than the best + if(refl_f >= simplex[0].fitness_value()) { // reflection - simplex[3] = std::move(v_refl); + simplex[3] = Vertex(refl_m, refl_f); } else { // expansion - const Matrix v_expand = expansion(v_centroid, v_worst, v_refl); - const FT f_expand = compute_fitness(v_expand, points); - if(f_expand < f_refl) - simplex[3] = std::move(v_expand); + const Matrix expand_m = expansion(centroid_m, worst_m, refl_m); + const FT expand_f = compute_fitness(expand_m, points, traits); + if(expand_f < refl_f) + simplex[3] = Vertex(expand_m, expand_f); else - simplex[3] = std::move(v_refl); + simplex[3] = Vertex(refl_m, refl_f); } } - else // if reflected vertex is not better + else // reflected vertex is worse { - const Matrix v_mean = mean(v_centroid, v_worst, traits); - const FT f_mean = compute_fitness(v_mean, points); - if(f_mean <= fitness[3]) + const Matrix mean_m = mean(centroid_m, worst_m, traits); + const FT mean_f = compute_fitness(mean_m, points, traits); + + if(mean_f <= simplex[3].fitness_value()) { // contraction of worst - simplex[3] = std::move(v_mean); + simplex[3] = Vertex(mean_m, mean_f); } else { // reduction: move all vertices towards the best for(std::size_t i=1; i<4; ++i) - simplex[i] = mean(simplex[i], simplex[0], traits); + simplex[i] = Vertex(mean(simplex[i].matrix(), simplex[0].matrix(), traits), points, traits); } } } // nelder mead iterations diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h index 1244c289230..2171816e1b8 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h @@ -16,6 +16,8 @@ #include +#include + #include #include @@ -26,49 +28,86 @@ namespace CGAL { namespace Optimal_bounding_box { namespace internal { +template +struct Vertex_with_fitness_value +{ + typedef typename Traits::FT FT; + typedef typename Traits::Matrix Matrix; + + Vertex_with_fitness_value() { CGAL_assertion_code(m_is_val_initialized = false;) } + Vertex_with_fitness_value(const Matrix m, const FT v) : m_mat(std::move(m)), m_val(v) + { + CGAL_assertion_code(m_is_val_initialized = true;) + } + + template + Vertex_with_fitness_value(const Matrix m, + const PointRange& points, + const Traits& traits) + : + m_mat(std::move(m)) + { + m_val = compute_fitness(m, points, traits); + CGAL_assertion_code(m_is_val_initialized = true;) + } + + const Matrix& matrix() const { return m_mat; } + FT fitness_value() const { CGAL_assertion(m_is_val_initialized); return m_val; } + +private: + Matrix m_mat; + FT m_val; + CGAL_assertion_code(bool m_is_val_initialized;) +}; + template class Population { public: typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; - typedef Matrix Vertex; - typedef std::array Simplex; + typedef Vertex_with_fitness_value Vertex; + typedef std::array Simplex; typedef std::vector Simplex_container; -private: - Matrix create_vertex(CGAL::Random& rng) const - { - Matrix R; - - for(std::size_t i=0; i<3; ++i) - for(std::size_t j=0; j<3; ++j) - R.set(i, j, FT(rng.get_double())); - - return R; - } - - // create random population - Simplex create_simplex(CGAL::Random& rng) const - { - Simplex simplex; - for(std::size_t i=0; i<4; ++i) - simplex[i] = m_traits.get_Q(create_vertex(rng)); - - return simplex; - } - public: Population(const Traits& traits) : m_traits(traits) { } - void initialize(std::size_t population_size, +private: + Matrix create_random_matrix(CGAL::Random& rng) const + { + Matrix m; + + for(std::size_t i=0; i<3; ++i) + for(std::size_t j=0; j<3; ++j) + m.set(i, j, FT(rng.get_double())); + + return m; + } + + // create random population + template + Simplex create_simplex(const PointRange& points, + CGAL::Random& rng) const + { + Simplex s; + for(std::size_t i=0; i<4; ++i) + s[i] = Vertex(m_traits.get_Q(create_random_matrix(rng)), points, m_traits); + + return s; + } + +public: + template + void initialize(const std::size_t population_size, + const PointRange& points, CGAL::Random& rng) { m_pop.clear(); m_pop.reserve(population_size); for(std::size_t i=0; i m_pop; + const Traits& m_traits; }; -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG -template -void Population::show_population() -{ - std::size_t id = 0; - for(const Simplex& simplex : m_pop) - { - std::cout << "Simplex: " << id++ << std::endl; - for(const Matrix& R : simplex) - std::cout << R << "\n\n"; - std:: cout << std:: endl; - } -} -#endif - } // namespace internal } // namespace Optimal_bounding_box } // namespace CGAL diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 6745c3c5d72..824b0d3b746 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -113,7 +113,7 @@ void compute_best_transformation(const PointRange& points, timer.reset(); #endif - const Matrix& rot = search_solution.get_best(); + const Matrix& rot = search_solution.get_best().matrix(); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "get best: " << timer.time() << std::endl; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp index b1a4587f3be..bf4acdb39de 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp @@ -147,7 +147,7 @@ void test_nelder_mead(const Traits& traits) simplex[3] = v3; std::size_t nm_iterations = 19; - CGAL::Optimal_bounding_box::internal::nelder_mead(points, nm_iterations, traits, simplex); + CGAL::Optimal_bounding_box::internal::nelder_mead(simplex, nm_iterations, points, traits); const Matrix& v0_new = simplex[0]; check_equality(v0_new(0,0), -0.288975); From e6229d3cb8e07a2601d52139c5b0c42a6272833e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 09:48:06 +0100 Subject: [PATCH 120/150] Fix including removed header This header was a fork from boost, but now all versions of boost that we support provide this header. --- Polyhedron/demo/Polyhedron/Plugins/IO/STL_io_plugin.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Polyhedron/demo/Polyhedron/Plugins/IO/STL_io_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/IO/STL_io_plugin.cpp index 1e9ac373d86..af4c21caacf 100644 --- a/Polyhedron/demo/Polyhedron/Plugins/IO/STL_io_plugin.cpp +++ b/Polyhedron/demo/Polyhedron/Plugins/IO/STL_io_plugin.cpp @@ -11,14 +11,14 @@ #include #include -#include - #include #include #include #include #include +#include + #include #include #include @@ -90,7 +90,7 @@ load(QFileInfo fileinfo, bool& ok, bool add_to_scene){ SMesh* SM = new SMesh(); if (CGAL::Polygon_mesh_processing::is_polygon_soup_a_polygon_mesh(triangles)) { - auto pmap = CGAL::internal::boost_::make_function_property_map, Point_3>( + auto pmap = boost::make_function_property_map, Point_3>( [](const std::array& a) { return Point_3(a[0], a[1], a[2]); }); CGAL::Polygon_mesh_processing::polygon_soup_to_polygon_mesh(points, triangles, *SM, CGAL::parameters::point_map(pmap), From 9cfe4539959a3d8f69bd4a5c603b67cffde448cf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 10:25:16 +0100 Subject: [PATCH 121/150] Tiny indentation fix --- BGL/include/CGAL/boost/graph/named_params_helper.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/BGL/include/CGAL/boost/graph/named_params_helper.h b/BGL/include/CGAL/boost/graph/named_params_helper.h index 54c031a7c61..44dc4fece20 100644 --- a/BGL/include/CGAL/boost/graph/named_params_helper.h +++ b/BGL/include/CGAL/boost/graph/named_params_helper.h @@ -222,7 +222,7 @@ typename BGL::internal::GetInitializedIndexMap, \ Graph, NamedParameters>::const_type \ get_initialized_##DTYPE##_index_map(const Graph& g, \ - const NamedParameters& np) \ + const NamedParameters& np) \ { \ typedef BGL::internal::GetInitializedIndexMap, \ Graph, NamedParameters>::type \ get_initialized_##DTYPE##_index_map(Graph& g, \ - const NamedParameters& np) \ + const NamedParameters& np) \ { \ typedef BGL::internal::GetInitializedIndexMap Date: Tue, 24 Mar 2020 10:25:28 +0100 Subject: [PATCH 122/150] Remove unused variable --- .../include/CGAL/Optimal_bounding_box/internal/evolution.h | 1 - 1 file changed, 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 13415729658..406e052a277 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -129,7 +129,6 @@ public: { // stopping criteria prameters FT prev_fit_value = 0; - FT new_fit_value = 0; const FT tolerance = 1e-9; int stale = 0; From f2303df4df82c1fa5421fd423ab088f2e7f11eb0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 10:25:56 +0100 Subject: [PATCH 123/150] Misc minor changes --- .../Optimal_bounding_box/internal/evolution.h | 14 +++++++------- .../internal/fitness_function.h | 9 ++++----- .../internal/nelder_mead_functions.h | 12 ++++++------ .../internal/population.h | 2 +- .../oriented_bounding_box.h | 19 ++++++++++++------- 5 files changed, 30 insertions(+), 26 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 406e052a277..937d9dca4ce 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -65,8 +65,8 @@ public: const std::size_t first_group_size = m / 2; const std::size_t second_group_size = m - first_group_size; - std::vector group1(first_group_size), group2(first_group_size); - std::vector group3(second_group_size), group4(second_group_size); + std::vector group1{first_group_size}, group2{first_group_size}; + std::vector group3{second_group_size}, group4{second_group_size}; int im = static_cast(m); std::generate(group1.begin(), group1.end(), [&]{ return m_rng.get_int(0, im); }); @@ -84,7 +84,7 @@ public: Simplex offspring; for(int j=0; j<4; ++j) { - const FT r = FT(m_rng.get_double()); + const FT r{m_rng.get_double()}; const FT fitnessA = m_population[group1[i]][j].fitness_value(); const FT fitnessB = m_population[group2[i]][j].fitness_value(); const FT threshold = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); @@ -114,7 +114,7 @@ public: const Matrix& lm = m_population[group3[i]][j].matrix(); const Matrix& rm = m_population[group4[i]][j].matrix(); - offspring[j] = Vertex(m_traits.get_Q(lambda*lm + rambda*rm), m_points, m_traits); + offspring[j] = Vertex{m_traits.get_Q(lambda*lm + rambda*rm), m_points, m_traits}; } new_simplices[first_group_size + i] = std::move(offspring); @@ -135,7 +135,7 @@ public: for(std::size_t t=0; tfitness_value(); const FT difference = new_fit_value - prev_fit_value; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG const Matrix& best_m = m_best_v->matrix(); - std::cout << "new best matrix: " << best_m << std::endl; + std::cout << "new best matrix: " << std::endl << best_m << std::endl; std::cout << "value difference with previous: " << difference << std::endl; #endif diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h index 9f324a95ced..20c0f8d6a20 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h @@ -38,8 +38,8 @@ compute_fitness(const typename Traits::Matrix& R, // rotation matrix CGAL_assertion(points.size() >= 3); FT xmin, ymin, zmin, xmax, ymax, zmax; - xmin = ymin = zmin = FT(std::numeric_limits::max()); - xmax = ymax = zmax = FT(std::numeric_limits::lowest()); + xmin = ymin = zmin = FT{std::numeric_limits::max()}; + xmax = ymax = zmax = FT{std::numeric_limits::lowest()}; for(const Point& pt : points) { @@ -61,9 +61,8 @@ compute_fitness(const typename Traits::Matrix& R, // rotation matrix return ((xmax - xmin) * (ymax - ymin) * (zmax - zmin)); } -template -const typename Population::Vertex& get_best_vertex(const Population& population, - const PointRange& points) +template +const typename Population::Vertex& get_best_vertex(const Population& population) { typedef typename Population::FT FT; typedef typename Population::Vertex Vertex; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index 06dff8f9ab6..a672ab61369 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -50,7 +50,7 @@ Matrix mean(const Matrix& m1, { typedef typename Traits::FT FT; - constexpr half = FT(1) / FT(2); + constexpr FT half = FT(1) / FT(2); const Matrix reduction = half * (m1 + m2); return traits.get_Q(reduction); @@ -104,7 +104,7 @@ void nelder_mead(Simplex& simplex, if(refl_f >= simplex[0].fitness_value()) { // reflection - simplex[3] = Vertex(refl_m, refl_f); + simplex[3] = Vertex{refl_m, refl_f}; } else { @@ -112,9 +112,9 @@ void nelder_mead(Simplex& simplex, const Matrix expand_m = expansion(centroid_m, worst_m, refl_m); const FT expand_f = compute_fitness(expand_m, points, traits); if(expand_f < refl_f) - simplex[3] = Vertex(expand_m, expand_f); + simplex[3] = Vertex{expand_m, expand_f}; else - simplex[3] = Vertex(refl_m, refl_f); + simplex[3] = Vertex{refl_m, refl_f}; } } else // reflected vertex is worse @@ -125,13 +125,13 @@ void nelder_mead(Simplex& simplex, if(mean_f <= simplex[3].fitness_value()) { // contraction of worst - simplex[3] = Vertex(mean_m, mean_f); + simplex[3] = Vertex{mean_m, mean_f}; } else { // reduction: move all vertices towards the best for(std::size_t i=1; i<4; ++i) - simplex[i] = Vertex(mean(simplex[i].matrix(), simplex[0].matrix(), traits), points, traits); + simplex[i] = Vertex{mean(simplex[i].matrix(), simplex[0].matrix(), traits), points, traits}; } } } // nelder mead iterations diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h index 2171816e1b8..1b8a472eb72 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h @@ -93,7 +93,7 @@ private: { Simplex s; for(std::size_t i=0; i<4; ++i) - s[i] = Vertex(m_traits.get_Q(create_random_matrix(rng)), points, m_traits); + s[i] = Vertex{m_traits.get_Q(create_random_matrix(rng)), points, m_traits}; return s; } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 824b0d3b746..55e777543ea 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -98,6 +98,8 @@ void compute_best_transformation(const PointRange& points, typedef typename Traits::Matrix Matrix; typedef typename Traits::Aff_transformation_3 Aff_transformation_3; + CGAL_assertion(points.size() >= 3); + const std::size_t max_generations = 50; // @todo hidden NP #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS @@ -168,6 +170,11 @@ void construct_oriented_bounding_box(const PointRange& points, { std::vector ch_points; extreme_points_3(points, std::back_inserter(ch_points)); + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + std::cout << ch_points.size() << " points on the convex hull" << std::endl; +#endif + return construct_oriented_bounding_box(ch_points, output, rng, traits); } else @@ -176,8 +183,8 @@ void construct_oriented_bounding_box(const PointRange& points, } } -} // namespace Optimal_bounding_box } // namespace internal +} // namespace Optimal_bounding_box /// \addtogroup PkgOptimalBoundingBox_Oriented_bounding_box /// @@ -287,10 +294,9 @@ void oriented_bounding_box(const PointRange& points, CGAL::Random rng(seed); // @todo handle those cases instead - CGAL_assertion(points.size() >= 3); if(points.size() <= 3) { - std::cerr << "The oriented bounding box cannot YET be computed for a mesh with fewer than 4 vertices!\n"; + std::cerr << "The oriented bounding box cannot (yet) be computed for a mesh with fewer than 4 vertices!\n"; return; } @@ -364,11 +370,10 @@ void oriented_bounding_box(const PolygonMesh& pmesh, /// Convenience overloads ///////////////////////////////////////////////////////////////////////////////////////////////// -template -void oriented_bounding_box(const InputData& data, - OutputType& out) +template +void oriented_bounding_box(const Input& in, Output& out) { - return oriented_bounding_box(data, out, CGAL::parameters::all_default()); + return oriented_bounding_box(in, out, CGAL::parameters::all_default()); } /// \endcond From 25ac723c65adb86a366e02b93999f797d30e02c2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 10:51:10 +0100 Subject: [PATCH 124/150] Don't recompute the weight every time --- .../CGAL/Optimal_bounding_box/internal/evolution.h | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 937d9dca4ce..6c28188bbca 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -75,7 +75,7 @@ public: std::generate(group4.begin(), group4.end(), [&]{ return m_rng.get_int(0, im); }); // crossover I, pick A or B - FT bias = FT(0.1); + constexpr FT lweight = 0.4, uweight = 0.6; std::vector new_simplices(m); @@ -87,7 +87,7 @@ public: const FT r{m_rng.get_double()}; const FT fitnessA = m_population[group1[i]][j].fitness_value(); const FT fitnessB = m_population[group2[i]][j].fitness_value(); - const FT threshold = (fitnessA < fitnessB) ? (0.5 + bias) : (0.5 - bias); + const FT threshold = (fitnessA < fitnessB) ? uweight : lweight; if(r < threshold) offspring[j] = m_population[group1[i]][j]; @@ -99,8 +99,6 @@ public: } // crossover II, combine information from A and B - bias = 0.1; // @fixme should the bias change? What should be the initial value? - for(std::size_t i=0; i Date: Tue, 24 Mar 2020 10:51:27 +0100 Subject: [PATCH 125/150] Use a random seed by default (instead of a fixed seed of 0) --- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 55e777543ea..f8a31c5c78f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -289,9 +289,9 @@ void oriented_bounding_box(const PointRange& points, PointMap point_map = choose_parameter(get_parameter(np, internal_np::point_map)); const bool use_ch = choose_parameter(get_parameter(np, internal_np::use_convex_hull), true); - const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), 0); // undocumented + const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), -1); // undocumented - CGAL::Random rng(seed); + CGAL::Random rng = (seed == unsigned(-1)) ? CGAL::get_default_random() : CGAL::Random(seed); // @todo handle those cases instead if(points.size() <= 3) From cdefac08212dabc45f30f59a2bb68673ecf85597 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 11:24:28 +0100 Subject: [PATCH 126/150] Update OBB's Benchmarks/Examples/Tests/CMakeLists.txt --- .../benchmarks/Optimal_bounding_box/CMakeLists.txt | 5 +---- .../examples/Optimal_bounding_box/CMakeLists.txt | 8 ++++++-- .../test/Optimal_bounding_box/CMakeLists.txt | 11 +++++++---- 3 files changed, 14 insertions(+), 10 deletions(-) diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt index 6405145d309..84cb0ab7dfc 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/CMakeLists.txt @@ -19,10 +19,7 @@ find_package(Eigen3 3.1.0 REQUIRED) #(3.1.0 or greater) if (NOT EIGEN3_FOUND) message(STATUS "This project requires the Eigen library, and will not be compiled.") return() -else() - include(${EIGEN3_USE_FILE}) endif() create_single_source_cgal_program("bench_obb.cpp") -create_single_source_cgal_program("bench_perfomance.cpp") -create_single_source_cgal_program("bench_fitness_function.cpp") +CGAL_target_use_Eigen(bench_obb) diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt index 050b338544a..9a67221542e 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/CMakeLists.txt @@ -17,11 +17,15 @@ find_package(Eigen3 3.1.0 REQUIRED) #(3.1.0 or greater) if (NOT EIGEN3_FOUND) message(STATUS "This project requires the Eigen library, and will not be compiled.") return() -else() - include(${EIGEN3_USE_FILE}) endif() create_single_source_cgal_program("obb_example.cpp") create_single_source_cgal_program("obb_with_point_maps_example.cpp") create_single_source_cgal_program("rotated_aabb_tree_example.cpp") +foreach(target + obb_example + obb_with_point_maps_example + rotated_aabb_tree_example) + CGAL_target_use_Eigen(${target}) +endforeach() diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt index 79faf94bfad..c0ce4c74b4a 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt +++ b/Optimal_bounding_box/test/Optimal_bounding_box/CMakeLists.txt @@ -17,12 +17,15 @@ find_package(Eigen3 3.1.0 REQUIRED) #(3.1.0 or greater) if (NOT EIGEN3_FOUND) message(STATUS "This project requires the Eigen library, and will not be compiled.") return() -else() - include(${EIGEN3_USE_FILE}) endif() -create_single_source_cgal_program("test_nelder_mead.cpp") create_single_source_cgal_program("test_OBB_traits.cpp") +create_single_source_cgal_program("test_nelder_mead.cpp") create_single_source_cgal_program("test_optimization_algorithms.cpp") - +foreach(target + test_OBB_traits + test_nelder_mead + test_optimization_algorithms) + CGAL_target_use_Eigen(${target}) +endforeach() From dc3c63e2fee81f363a16af59e0dd0e69e53d3b47 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 11:24:59 +0100 Subject: [PATCH 127/150] Fix bad list initialization --- .../include/CGAL/Optimal_bounding_box/internal/evolution.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 6c28188bbca..179d7f5e6dd 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -65,8 +65,8 @@ public: const std::size_t first_group_size = m / 2; const std::size_t second_group_size = m - first_group_size; - std::vector group1{first_group_size}, group2{first_group_size}; - std::vector group3{second_group_size}, group4{second_group_size}; + std::vector group1(first_group_size), group2(first_group_size); + std::vector group3(second_group_size), group4(second_group_size); int im = static_cast(m); std::generate(group1.begin(), group1.end(), [&]{ return m_rng.get_int(0, im); }); From 64d23ad89a4c74780ff216e732172bcf4fe21f37 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 11:30:51 +0100 Subject: [PATCH 128/150] Example improvements --- .../Optimal_bounding_box/data/pig.off | 1361 +++++++++++++++++ .../Optimal_bounding_box/obb_example.cpp | 15 +- .../obb_with_point_maps_example.cpp | 4 +- .../rotated_aabb_tree_example.cpp | 4 +- 4 files changed, 1376 insertions(+), 8 deletions(-) create mode 100644 Optimal_bounding_box/examples/Optimal_bounding_box/data/pig.off diff --git 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266 +3 265 19 427 +3 19 426 427 +3 428 266 427 +3 429 428 427 +3 426 429 427 +3 429 110 428 +3 110 111 428 +3 430 143 431 +3 146 431 143 +3 266 431 146 +3 141 143 430 +3 432 433 434 +3 141 435 433 +3 141 430 435 +3 141 433 147 +3 431 436 430 +3 431 266 436 +3 266 428 436 +3 111 436 428 +3 436 111 321 +3 430 436 437 +3 436 321 437 +3 434 433 437 +3 435 437 433 +3 435 430 437 +3 438 439 202 +3 202 204 438 +3 322 200 439 +3 439 200 202 +3 437 440 434 +3 437 321 440 +3 322 440 321 +3 441 440 439 +3 441 439 438 +3 322 439 440 +3 442 144 443 +3 443 119 442 +3 138 443 144 +3 137 443 138 +3 147 443 137 +3 119 37 442 +3 37 144 442 +3 444 432 445 +3 147 444 445 +3 444 147 433 +3 432 444 433 +3 147 445 443 +3 446 447 119 +3 119 443 446 +3 445 446 443 +3 432 446 445 +3 398 447 405 +3 120 447 398 +3 120 119 447 +3 438 448 449 +3 449 448 357 +3 448 438 204 +3 448 204 205 +3 357 448 205 +3 450 449 357 +3 449 441 438 +3 451 405 447 +3 451 447 446 +3 432 451 446 +3 451 434 452 +3 451 432 434 +3 452 434 440 +3 441 452 440 +3 449 452 441 +3 451 452 450 +3 449 450 452 +3 133 453 243 +3 133 132 453 +3 416 454 453 +3 416 453 132 +3 416 415 454 +3 419 454 415 +3 243 453 454 +3 454 244 243 +3 455 456 247 +3 246 455 247 +3 244 455 246 +3 244 454 455 +3 455 419 456 +3 419 455 454 +3 404 456 419 +3 402 456 404 +3 402 247 456 +3 292 457 458 +3 458 457 40 +3 457 44 40 +3 458 40 42 +3 291 458 42 +3 292 458 291 +3 44 457 459 +3 459 457 292 +3 294 459 292 +3 460 406 459 +3 459 297 460 +3 459 406 44 +3 459 294 297 +3 297 410 460 +3 410 252 460 +3 406 460 252 +3 461 160 462 +3 462 463 461 +3 220 221 461 +3 221 160 461 +3 159 462 160 +3 422 464 278 +3 464 220 465 +3 464 422 220 +3 461 465 220 +3 463 465 461 +3 463 92 465 +3 464 465 93 +3 464 93 278 +3 93 465 92 +3 466 357 356 +3 400 466 356 +3 466 400 467 +3 400 401 467 +3 467 401 405 +3 405 451 467 +3 466 467 450 +3 466 450 357 +3 450 467 451 diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp index 0fb233f26ae..e814d7e9d7c 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_example.cpp @@ -4,11 +4,16 @@ #include #include +#include +#include + #include #include #include +namespace PMP = CGAL::Polygon_mesh_processing; + typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::Point_3 Point; @@ -16,11 +21,11 @@ typedef CGAL::Surface_mesh Surface_mesh; int main(int argc, char** argv) { - std::ifstream input(argv[1]); + std::ifstream input((argc > 1) ? argv[1] : "data/pig.off"); Surface_mesh sm; - if (!input || !(input >> sm) || sm.is_empty()) + if(!input || !(input >> sm) || sm.is_empty()) { - std::cerr << argv[1] << " is not a valid off file.\n"; + std::cerr << "Invalid input file." << std::endl; return EXIT_FAILURE; } @@ -38,8 +43,10 @@ int main(int argc, char** argv) Surface_mesh obb_sm; CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], obb_points[4], obb_points[5], obb_points[6], obb_points[7], obb_sm); - std::ofstream("obb.off") << obb_sm; + PMP::triangulate_faces(obb_sm); + std::cout << "Volume: " << PMP::volume(obb_sm) << std::endl; + return EXIT_SUCCESS; } diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp index 672cab6d210..9129aef472d 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/obb_with_point_maps_example.cpp @@ -20,11 +20,11 @@ namespace CP = CGAL::parameters; int main(int argc, char** argv) { - std::ifstream input(argv[1]); + std::ifstream input((argc > 1) ? argv[1] : "data/pig.off"); Surface_mesh sm; if (!input || !(input >> sm) || sm.is_empty()) { - std::cerr << argv[1] << " is not a valid off file.\n"; + std::cerr << "Invalid input file." << std::endl; return EXIT_FAILURE; } diff --git a/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree_example.cpp b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree_example.cpp index 18bc7fdc714..b280efad0c4 100644 --- a/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree_example.cpp +++ b/Optimal_bounding_box/examples/Optimal_bounding_box/rotated_aabb_tree_example.cpp @@ -34,11 +34,11 @@ private: int main(int argc, char** argv) { - std::ifstream input(argv[1]); + std::ifstream input((argc > 1) ? argv[1] : "data/pig.off"); Surface_mesh sm; if (!input || !(input >> sm) || sm.is_empty()) { - std::cerr << argv[1] << " is not a valid off file.\n"; + std::cerr << "Invalid input file." << std::endl; return EXIT_FAILURE; } From 5a7204decbaa7e3d65a3ca9089bf5f09cfa9cc95 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 11:35:09 +0100 Subject: [PATCH 129/150] Use a random seed by default (and not rng(0)) --- .../CGAL/Optimal_bounding_box/oriented_bounding_box.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index f8a31c5c78f..1d31b6012e7 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -291,7 +291,12 @@ void oriented_bounding_box(const PointRange& points, const bool use_ch = choose_parameter(get_parameter(np, internal_np::use_convex_hull), true); const unsigned int seed = choose_parameter(get_parameter(np, internal_np::random_seed), -1); // undocumented - CGAL::Random rng = (seed == unsigned(-1)) ? CGAL::get_default_random() : CGAL::Random(seed); + CGAL::Random fixed_seed_rng(seed); + CGAL::Random& rng = (seed == unsigned(-1)) ? CGAL::get_default_random() : fixed_seed_rng; + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + std::cout << "Random seed: " << rng.get_seed() << std::endl; +#endif // @todo handle those cases instead if(points.size() <= 3) From 6f90060e7d00b4487a353d94e45b7c7f5cf3696a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 11:37:55 +0100 Subject: [PATCH 130/150] Flush before std::exit (otherwise nothing is printed) --- .../test/Convex_hull_3/test_extreme_points.cpp | 4 ++-- .../benchmarks/Optimal_bounding_box/bench_obb.cpp | 2 +- .../test_optimization_algorithms.cpp | 10 +++++----- .../manifoldness_repair_example.cpp | 2 +- .../surface_mesh_intersection.cpp | 4 ++-- .../remove_degeneracies_test.cpp | 4 ++-- .../surface_intersection_sm_poly.cpp | 4 ++-- .../Polygon_mesh_processing/test_pmp_manifoldness.cpp | 2 +- .../Polygon_mesh_processing/test_shape_predicates.cpp | 6 +++--- 9 files changed, 19 insertions(+), 19 deletions(-) diff --git a/Convex_hull_3/test/Convex_hull_3/test_extreme_points.cpp b/Convex_hull_3/test/Convex_hull_3/test_extreme_points.cpp index 9b9ee278cbb..29d7e632570 100644 --- a/Convex_hull_3/test/Convex_hull_3/test_extreme_points.cpp +++ b/Convex_hull_3/test/Convex_hull_3/test_extreme_points.cpp @@ -52,7 +52,7 @@ void test_triangulated_cube(const char* fname) std::ifstream input(fname); SurfaceMesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; exit(1); } @@ -206,7 +206,7 @@ void test_extreme_vertices(const char* fname) std::ifstream input(fname); Polyhedron_3 P; if (!input || !(input >> P) || P.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; exit(1); } /*CGAL::Extreme_points_traits_adapter_3< diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp index b6d1e3a5d6a..88a2146467f 100644 --- a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp +++ b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/bench_obb.cpp @@ -30,7 +30,7 @@ void bench_finding_obb(const std::string fname) Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 1dbdc081967..488530965ad 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -89,7 +89,7 @@ void test_reference_tetrahedron(const char* fname) CGAL::Surface_mesh mesh; if(!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } @@ -112,7 +112,7 @@ void test_long_tetrahedron(const std::string fname) CGAL::Surface_mesh mesh; if(!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } @@ -145,7 +145,7 @@ void test_compute_obb_evolution(const std::string fname) SMesh mesh; if(!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } @@ -174,7 +174,7 @@ void test_compute_obb_mesh(const std::string fname) CGAL::Surface_mesh mesh; if(!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } @@ -194,7 +194,7 @@ void test_function_defaults_traits(const std::string fname1) CGAL::Surface_mesh mesh1; if(!input1 || !(input1 >> mesh1) || mesh1.is_empty()) { - std::cerr << fname1 << " is not a valid off file.\n"; + std::cerr << fname1 << " is not a valid off file." << std::endl; std::exit(1); } diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/manifoldness_repair_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/manifoldness_repair_example.cpp index 61d8b46bfe4..876de531c29 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/manifoldness_repair_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/manifoldness_repair_example.cpp @@ -39,7 +39,7 @@ int main(int argc, char* argv[]) Mesh mesh; if(!input || !(input >> mesh) || num_vertices(mesh) == 0) { - std::cerr << filename << " is not a valid off file.\n"; + std::cerr << filename << " is not a valid off file." << std::endl; return EXIT_FAILURE; } diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/surface_mesh_intersection.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/surface_mesh_intersection.cpp index 20ccbf2da0f..01c5a7d65b7 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/surface_mesh_intersection.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/surface_mesh_intersection.cpp @@ -24,7 +24,7 @@ int main(int argc, char* argv[]) Mesh mesh1; if ( !input || !(input >> mesh1) ) { - std::cerr << filename1 << " is not a valid off file.\n"; + std::cerr << filename1 << " is not a valid off file." << std::endl; return 1; } input.close(); @@ -34,7 +34,7 @@ int main(int argc, char* argv[]) Mesh mesh2; if ( !input || !(input >> mesh2) ) { - std::cerr << filename2 << " is not a valid off file.\n"; + std::cerr << filename2 << " is not a valid off file." << std::endl; return 1; } diff --git a/Polygon_mesh_processing/test/Polygon_mesh_processing/remove_degeneracies_test.cpp b/Polygon_mesh_processing/test/Polygon_mesh_processing/remove_degeneracies_test.cpp index f18dda38b1e..ac372682ca6 100644 --- a/Polygon_mesh_processing/test/Polygon_mesh_processing/remove_degeneracies_test.cpp +++ b/Polygon_mesh_processing/test/Polygon_mesh_processing/remove_degeneracies_test.cpp @@ -137,7 +137,7 @@ void remove_degeneracies(const char* filename, Mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << filename << " is not a valid off file.\n"; + std::cerr << filename << " is not a valid off file." << std::endl; exit(1); } @@ -211,7 +211,7 @@ void remove_negligible_connected_components(const char* filename) Mesh mesh, mesh_cpy; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << filename << " is not a valid off file.\n"; + std::cerr << filename << " is not a valid off file." << std::endl; exit(1); } diff --git a/Polygon_mesh_processing/test/Polygon_mesh_processing/surface_intersection_sm_poly.cpp b/Polygon_mesh_processing/test/Polygon_mesh_processing/surface_intersection_sm_poly.cpp index 154b56bd6d4..6dbbcccb152 100644 --- a/Polygon_mesh_processing/test/Polygon_mesh_processing/surface_intersection_sm_poly.cpp +++ b/Polygon_mesh_processing/test/Polygon_mesh_processing/surface_intersection_sm_poly.cpp @@ -28,13 +28,13 @@ void run(const char* filename1, const char* filename2, const char* msg) { TriangleMesh mesh1; if ( !CGAL::read_off(filename1, mesh1) ) { - std::cerr << filename1 << " is not a valid off file.\n"; + std::cerr << filename1 << " is not a valid off file." << std::endl; exit(1); } TriangleMesh mesh2; if ( !CGAL::read_off(filename2, mesh2) ) { - std::cerr << filename2 << " is not a valid off file.\n"; + std::cerr << filename2 << " is not a valid off file." << std::endl; exit(1); } diff --git a/Polygon_mesh_processing/test/Polygon_mesh_processing/test_pmp_manifoldness.cpp b/Polygon_mesh_processing/test/Polygon_mesh_processing/test_pmp_manifoldness.cpp index c4b8a98d2fa..6ba9b17e466 100644 --- a/Polygon_mesh_processing/test/Polygon_mesh_processing/test_pmp_manifoldness.cpp +++ b/Polygon_mesh_processing/test/Polygon_mesh_processing/test_pmp_manifoldness.cpp @@ -25,7 +25,7 @@ void read_mesh(const char* fname, std::ifstream input(fname); if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } } diff --git a/Polygon_mesh_processing/test/Polygon_mesh_processing/test_shape_predicates.cpp b/Polygon_mesh_processing/test/Polygon_mesh_processing/test_shape_predicates.cpp index 2f4c275e29d..d1315704637 100644 --- a/Polygon_mesh_processing/test/Polygon_mesh_processing/test_shape_predicates.cpp +++ b/Polygon_mesh_processing/test/Polygon_mesh_processing/test_shape_predicates.cpp @@ -24,7 +24,7 @@ void check_edge_degeneracy(const char* fname) std::ifstream input(fname); Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } std::vector all_edges(edges(mesh).begin(), edges(mesh).end()); @@ -44,7 +44,7 @@ void check_triangle_face_degeneracy(const char* fname) std::ifstream input(fname); Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } @@ -70,7 +70,7 @@ void test_needles_and_caps(const char* fname) std::ifstream input(fname); Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; std::exit(1); } From 5069bcf8137144146ebf04113ab40573bcd3b61d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 11:54:15 +0100 Subject: [PATCH 131/150] Minor internal API changes --- .../include/CGAL/Optimal_bounding_box/internal/evolution.h | 4 ++-- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 4 +++- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 179d7f5e6dd..5298c7123de 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -122,8 +122,8 @@ public: } void evolve(const std::size_t generations, - const std::size_t population_size = 50, - const std::size_t nelder_mead_iterations = 150) + const std::size_t population_size, + const std::size_t nelder_mead_iterations) { // stopping criteria prameters FT prev_fit_value = 0; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 1d31b6012e7..efbc78e7413 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -101,6 +101,8 @@ void compute_best_transformation(const PointRange& points, CGAL_assertion(points.size() >= 3); const std::size_t max_generations = 50; // @todo hidden NP + const std::size_t population_size = 50; + const std::size_t nelder_mead_iterations = 150; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS CGAL::Real_timer timer; @@ -108,7 +110,7 @@ void compute_best_transformation(const PointRange& points, #endif Evolution search_solution(points, rng, traits); - search_solution.evolve(max_generations); + search_solution.evolve(max_generations, population_size, nelder_mead_iterations); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "evolve: " << timer.time() << std::endl; From 631c87e933e973938135a7d4293df2131a074f20 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 15:38:02 +0100 Subject: [PATCH 132/150] OBB's concept must refine ConvexHullTraits_3 --- .../Concepts/OrientedBoundingBoxTraits.h | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index cbd5ab6a5b8..9eb5aee1daa 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -6,6 +6,8 @@ The concept `OrientedBoundingBoxTraits_3` describes the requirements of the trai used in the function `CGAL::oriented_bounding_box()`, and in particular the need for a 3x3 matrix type. +\cgalRefines `ConvexHullTraits_3` + \cgalHasModel `CGAL::Oriented_bounding_box_traits_3` */ @@ -15,9 +17,6 @@ public: /// The field number type; must be a model of the concept `FieldNumberType` typedef unspecified_type FT; - /// The 3D point type; must be model of `Kernel::Point_3` - typedef unspecified_type Point_3; - /// The 3D affine transformation type; the template parameter `K` must be a model of `Kernel` /// and be compatible with the type `Point_3` typedef CGAL::Aff_transformation_3 Aff_transformation_3; @@ -25,7 +24,7 @@ public: /// A construction object that must provide the function operator: /// `CGAL::Bbox_3 operator()(const Point_3&)`, /// which returns an axis-aligned bounding box that contains the point - typedef unspecified_type Construct_bbox_3; + typedef unspecified_type Construct_bbox_3; /// A 3x3 matrix type; model of the concept `SvdTraits::Matrix` and which supports /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition From 2cce770aabb35f9b28a38fc53bdc6090eafd5046 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 15:39:22 +0100 Subject: [PATCH 133/150] Add missing random mutations --- .../Optimal_bounding_box/internal/evolution.h | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 5298c7123de..3c624fc9dbc 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -123,7 +123,8 @@ public: void evolve(const std::size_t generations, const std::size_t population_size, - const std::size_t nelder_mead_iterations) + const std::size_t nelder_mead_iterations, + const int max_random_mutations = 5) { // stopping criteria prameters FT prev_fit_value = 0; @@ -171,6 +172,18 @@ public: break; prev_fit_value = new_fit_value; + + // random mutations, swap #random_mutations random simplices with a new, random simplex + if(max_random_mutations <= 0) + continue; + + CGAL_warning(max_random_mutations <= population_size); + const int random_mutations = m_rng.get_int(0, max_random_mutations+1); + for(std::size_t i=0; i Date: Tue, 24 Mar 2020 15:50:16 +0100 Subject: [PATCH 134/150] Misc improvements --- .../Optimal_bounding_box/internal/evolution.h | 15 +++--- .../internal/fitness_function.h | 26 ---------- .../internal/population.h | 48 ++++++++++++++----- .../oriented_bounding_box.h | 2 +- .../test_merging_border_vertices.cpp | 2 +- 5 files changed, 46 insertions(+), 47 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 3c624fc9dbc..a130de75c42 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -107,7 +107,7 @@ public: const FT fitnessA = m_population[group3[i]][j].fitness_value(); const FT fitnessB = m_population[group4[i]][j].fitness_value(); const FT lambda = (fitnessA < fitnessB) ? uweight : lweight; - const FT rambda = 1 - lambda; // because the 'l' in 'lambda' stands for left + const FT rambda = FT(1) - lambda; // because the 'l' in 'lambda' stands for left const Matrix& lm = m_population[group3[i]][j].matrix(); const Matrix& rm = m_population[group4[i]][j].matrix(); @@ -121,7 +121,7 @@ public: m_population.simplices() = std::move(new_simplices); } - void evolve(const std::size_t generations, + void evolve(const std::size_t max_generations, const std::size_t population_size, const std::size_t nelder_mead_iterations, const int max_random_mutations = 5) @@ -131,10 +131,11 @@ public: const FT tolerance = 1e-9; int stale = 0; - for(std::size_t t=0; t max_generations) break; prev_fit_value = new_fit_value; @@ -187,14 +188,14 @@ public: } } - const Vertex& get_best() + const Vertex& get_best_vertex() const { CGAL_assertion(m_best_v != nullptr); return *m_best_v; } private: - const Vertex* m_best_v; + Vertex* m_best_v; Population m_population; CGAL::Random& m_rng; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h index 20c0f8d6a20..9a565992912 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h @@ -61,32 +61,6 @@ compute_fitness(const typename Traits::Matrix& R, // rotation matrix return ((xmax - xmin) * (ymax - ymin) * (zmax - zmin)); } -template -const typename Population::Vertex& get_best_vertex(const Population& population) -{ - typedef typename Population::FT FT; - typedef typename Population::Vertex Vertex; - - std::size_t simplex_id, vertex_id; - FT best_fitness = std::numeric_limits::max(); - for(std::size_t i=0, ps=population.size(); i Simplex create_simplex(const PointRange& points, CGAL::Random& rng) const @@ -98,30 +106,46 @@ private: return s; } -public: + // create random population template void initialize(const std::size_t population_size, const PointRange& points, CGAL::Random& rng) { - m_pop.clear(); - m_pop.reserve(population_size); + m_simplices.clear(); + m_simplices.reserve(population_size); for(std::size_t i=0; i::max()}; + for(std::size_t i=0, ps=m_simplices.size(); i m_pop; + std::vector m_simplices; const Traits& m_traits; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index efbc78e7413..54d33108769 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -117,7 +117,7 @@ void compute_best_transformation(const PointRange& points, timer.reset(); #endif - const Matrix& rot = search_solution.get_best().matrix(); + const Matrix& rot = search_solution.get_best_vertex().matrix(); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS std::cout << "get best: " << timer.time() << std::endl; diff --git a/Polygon_mesh_processing/test/Polygon_mesh_processing/test_merging_border_vertices.cpp b/Polygon_mesh_processing/test/Polygon_mesh_processing/test_merging_border_vertices.cpp index 4ae670175e3..7b80028de1a 100644 --- a/Polygon_mesh_processing/test/Polygon_mesh_processing/test_merging_border_vertices.cpp +++ b/Polygon_mesh_processing/test/Polygon_mesh_processing/test_merging_border_vertices.cpp @@ -18,7 +18,7 @@ void test_merge_duplicated_vertices_in_boundary_cycles(const char* fname, Surface_mesh mesh; if (!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file.\n"; + std::cerr << fname << " is not a valid off file." << std::endl; exit(1); } From 170e3dd68b2b0f46d0d95f3afd359401c45a60e2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 15:54:32 +0100 Subject: [PATCH 135/150] Fix traits model --- .../Oriented_bounding_box_traits_3.h | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h index 6cf1f1a126f..d31bdd2a333 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/Oriented_bounding_box_traits_3.h @@ -39,20 +39,15 @@ namespace CGAL { /// template class Oriented_bounding_box_traits_3 + : public K { public: /// The field number type typedef typename K::FT FT; - /// The point type - typedef typename K::Point_3 Point_3; - /// The affine transformation type typedef typename CGAL::Aff_transformation_3 Aff_transformation_3; - /// The axis-aligned bounding box construction object - typedef typename K::Construct_bbox_3 Construct_bbox_3; - /// The matrix type typedef CGAL::Eigen_matrix Matrix; @@ -60,9 +55,6 @@ private: typedef typename Matrix::EigenType EigenType; public: - /// Returns a default-constructed construction object - static Construct_bbox_3 construct_bbox_3_object() { return Construct_bbox_3(); } - /// Performs the QR-decomposition of the matrix `m` to a unitary matrix and an upper triagonal /// and returns the unitary matrix static Matrix get_Q(const Matrix& m) From 09c9c3044d58d801751ee1a4cbcad9f1a8cfdf10 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 15:54:44 +0100 Subject: [PATCH 136/150] Fix not propagating traits to CH3 code --- .../include/CGAL/Optimal_bounding_box/oriented_bounding_box.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 54d33108769..7dafd269b66 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -171,7 +171,7 @@ void construct_oriented_bounding_box(const PointRange& points, if(use_ch) // construct the convex hull to reduce the number of points { std::vector ch_points; - extreme_points_3(points, std::back_inserter(ch_points)); + extreme_points_3(points, std::back_inserter(ch_points), traits); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG std::cout << ch_points.size() << " points on the convex hull" << std::endl; From afb5abe61a088319aa12018d198de03517703227 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 16:01:56 +0100 Subject: [PATCH 137/150] Kernel is not a model of ConvexHullTraits_3 (but Extreme_points_... is) K::Traits_xy/xz/yz_3 does not exist --- Convex_hull_2/doc/Convex_hull_2/Concepts/ConvexHullTraits_2.h | 2 +- Convex_hull_3/doc/Convex_hull_3/Concepts/ConvexHullTraits_3.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Convex_hull_2/doc/Convex_hull_2/Concepts/ConvexHullTraits_2.h b/Convex_hull_2/doc/Convex_hull_2/Concepts/ConvexHullTraits_2.h index 426f8f3f265..bbcc197ddd5 100644 --- a/Convex_hull_2/doc/Convex_hull_2/Concepts/ConvexHullTraits_2.h +++ b/Convex_hull_2/doc/Convex_hull_2/Concepts/ConvexHullTraits_2.h @@ -13,7 +13,7 @@ is specified with each function. \cgalHasModel `CGAL::Convex_hull_traits_2` \cgalHasModel `CGAL::Convex_hull_traits_adapter_2` \cgalHasModel `CGAL::Projection_traits_xy_3` -\cgalHasModel `CGAL::Projection_traits_yz_3 ` +\cgalHasModel `CGAL::Projection_traits_yz_3` \cgalHasModel `CGAL::Projection_traits_xz_3` \sa `IsStronglyConvexTraits_3` diff --git a/Convex_hull_3/doc/Convex_hull_3/Concepts/ConvexHullTraits_3.h b/Convex_hull_3/doc/Convex_hull_3/Concepts/ConvexHullTraits_3.h index 97837cbae05..78952b43bdd 100644 --- a/Convex_hull_3/doc/Convex_hull_3/Concepts/ConvexHullTraits_3.h +++ b/Convex_hull_3/doc/Convex_hull_3/Concepts/ConvexHullTraits_3.h @@ -4,8 +4,8 @@ Requirements of the traits class of the function `CGAL::convex_hull_3()`. -\cgalHasModel `CGAL::Convex_hull_traits_3` -\cgalHasModel All models of `Kernel` +\cgalHasModel `CGAL::Convex_hull_traits_3` +\cgalHasModel `CGAL::Extreme_points_traits_adapter_3` */ class ConvexHullTraits_3 { From b2126afd6d9cf347d741a5719087a5a8be13b3dc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 16:19:54 +0100 Subject: [PATCH 138/150] Make indentation deterministic (no real changes) --- .../CGAL/Extreme_points_traits_adapter_3.h | 302 ++++++++++-------- 1 file changed, 167 insertions(+), 135 deletions(-) diff --git a/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h b/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h index 8934091b740..68b3bd90755 100644 --- a/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h +++ b/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h @@ -33,210 +33,245 @@ struct Forward_functor : public F { PointPropertyMap vpm_; - - Forward_functor(const PointPropertyMap& vpm, - const F& f) : F(f), vpm_(vpm) {} - - + + Forward_functor(const PointPropertyMap& vpm, const F& f) : F(f), vpm_(vpm) {} + template typename cpp11::result_of::type - operator() (const Vertex& p, const Vertex& q) const + operator()(const Vertex& p, const Vertex& q) const { - return static_cast(this)->operator()(get(vpm_,p),get(vpm_,q)); + return static_cast(this)->operator()(get(vpm_, p), get(vpm_, q)); } template typename cpp11::result_of::type - operator() (const Vertex& p, const Vertex& q, const Vertex& r) const + operator()(const Vertex& p, const Vertex& q, const Vertex& r) const { - return static_cast(this)->operator()( - get(vpm_,p), - get(vpm_,q), - get(vpm_,r)); + return static_cast(this)->operator()(get(vpm_, p), + get(vpm_, q), + get(vpm_, r)); } template typename cpp11::result_of::type - operator() (const Vertex& p, const Vertex& q, const Vertex& r, const Vertex& s) const + operator()(const Vertex& p, const Vertex& q, const Vertex& r, const Vertex& s) const { - return static_cast(this)->operator()( - get(vpm_,p), - get(vpm_,q), - get(vpm_,r), - get(vpm_,s)); + return static_cast(this)->operator()(get(vpm_, p), + get(vpm_, q), + get(vpm_, r), + get(vpm_, s)); } }; } // namespace internal } // namespace Convex_hull_3 -template< - class PointPropertyMap, - class Base_traits = typename Convex_hull_3::internal::Default_traits_for_Chull_3< - typename boost::property_traits::value_type>::type +template::value_type>::type > class Extreme_points_traits_adapter_3 - :public Base_traits + : public Base_traits { PointPropertyMap vpm_; - - + public: - Extreme_points_traits_adapter_3(const PointPropertyMap& vpmap, Base_traits base=Base_traits()) - :Base_traits(base), vpm_(vpmap) - {} - typedef typename boost::property_traits::key_type Vertex; - typedef Vertex Point_3; - typedef Convex_hull_3::internal::Forward_functor Equal_3; - typedef Convex_hull_3::internal::Forward_functor Collinear_3; - typedef Convex_hull_3::internal::Forward_functor Coplanar_3; - typedef Convex_hull_3::internal::Forward_functor Less_distance_to_point_3; + Extreme_points_traits_adapter_3(const PointPropertyMap& vpmap, + Base_traits base = Base_traits()) + : + Base_traits(base), vpm_(vpmap) + { } + + typedef typename boost::property_traits::key_type Vertex; + typedef Vertex Point_3; + typedef Convex_hull_3::internal::Forward_functor< + typename Base_traits::Equal_3, PointPropertyMap> Equal_3; + typedef Convex_hull_3::internal::Forward_functor< + typename Base_traits::Collinear_3, PointPropertyMap> Collinear_3; + typedef Convex_hull_3::internal::Forward_functor< + typename Base_traits::Coplanar_3, PointPropertyMap> Coplanar_3; + typedef Convex_hull_3::internal::Forward_functor< + typename Base_traits::Less_distance_to_point_3, PointPropertyMap> Less_distance_to_point_3; class Less_signed_distance_to_plane_3 - :public Base_traits::Less_signed_distance_to_plane_3 - { + : public Base_traits::Less_signed_distance_to_plane_3 + { PointPropertyMap vpm_; const typename Base_traits::Less_signed_distance_to_plane_3& base; + public: - typedef typename Base_traits::Plane_3 Plane_3; - - typedef bool result_type; - - Less_signed_distance_to_plane_3( - const PointPropertyMap& map, - const typename Base_traits::Less_signed_distance_to_plane_3& base): - Base_traits::Less_signed_distance_to_plane_3(base),vpm_(map), base(base){} - - bool - operator()( const Plane_3& h, const Vertex& p, const Vertex& q) const + typedef typename Base_traits::Plane_3 Plane_3; + typedef bool result_type; + + Less_signed_distance_to_plane_3(const PointPropertyMap& map, + const typename Base_traits::Less_signed_distance_to_plane_3& base) + : Base_traits::Less_signed_distance_to_plane_3(base), vpm_(map), base(base) + { } + + bool operator()(const Plane_3& h, const Vertex& p, const Vertex& q) const { - return base(h, get(vpm_,p), get(vpm_,q)); + return base(h, get(vpm_, p), get(vpm_, q)); } }; - - - Equal_3 equal_3_object () const {return Equal_3(vpm_,static_cast(this)->equal_3_object() );} - Collinear_3 collinear_3_object () const {return Collinear_3(vpm_,static_cast(this)->collinear_3_object() );} - Coplanar_3 coplanar_3_object () const {return Coplanar_3(vpm_,static_cast(this)->coplanar_3_object() );} - Less_distance_to_point_3 less_distance_to_point_3_object() const { - return Less_distance_to_point_3(vpm_,static_cast(this)->less_distance_to_point_3_object() );} - Less_signed_distance_to_plane_3 less_signed_distance_to_plane_3_object() const { - return Less_signed_distance_to_plane_3( - vpm_,static_cast(this)->less_signed_distance_to_plane_3_object() ); - } - - class Construct_plane_3:public Base_traits::Construct_plane_3 - { + + Equal_3 equal_3_object() const + { return Equal_3(vpm_, static_cast(this)->equal_3_object()); } + Collinear_3 collinear_3_object() const + { return Collinear_3(vpm_, static_cast(this)->collinear_3_object()); } + Coplanar_3 coplanar_3_object() const + { return Coplanar_3(vpm_, static_cast(this)->coplanar_3_object()); } + Less_distance_to_point_3 less_distance_to_point_3_object() const + { return Less_distance_to_point_3(vpm_, static_cast(this)->less_distance_to_point_3_object()); } + Less_signed_distance_to_plane_3 less_signed_distance_to_plane_3_object() const + { return Less_signed_distance_to_plane_3(vpm_, static_cast(this)->less_signed_distance_to_plane_3_object()); } + + class Construct_plane_3 + : public Base_traits::Construct_plane_3 + { PointPropertyMap vpm_; const typename Base_traits::Construct_plane_3& base; + public: - Construct_plane_3(const PointPropertyMap& map, const typename Base_traits::Construct_plane_3& base): - Base_traits::Construct_plane_3(base),vpm_(map), base(base){} - typename Base_traits::Plane_3 operator()(const Vertex& p, const Vertex& q, const Vertex& r)const + Construct_plane_3(const PointPropertyMap& map, + const typename Base_traits::Construct_plane_3& base) + : Base_traits::Construct_plane_3(base), vpm_(map), base(base) + { } + + typename Base_traits::Plane_3 operator()(const Vertex& p, const Vertex& q, const Vertex& r) const { - return base(get(vpm_,p),get(vpm_,q),get(vpm_,r)); + return base(get(vpm_, p), get(vpm_, q), get(vpm_, r)); } }; + Construct_plane_3 construct_plane_3_object() const - {return Construct_plane_3(vpm_,static_cast(this)->construct_plane_3_object());} - - class Has_on_positive_side_3:public Base_traits::Has_on_positive_side_3 - { + {return Construct_plane_3(vpm_, static_cast(this)->construct_plane_3_object());} + + class Has_on_positive_side_3 + : public Base_traits::Has_on_positive_side_3 + { PointPropertyMap vpm_; const typename Base_traits::Has_on_positive_side_3& base; + public: - Has_on_positive_side_3(const PointPropertyMap& map,const typename Base_traits::Has_on_positive_side_3& base): - Base_traits::Has_on_positive_side_3(base),vpm_(map), base(base){} - - typedef typename Base_traits::Plane_3 Plane_3; + Has_on_positive_side_3(const PointPropertyMap& map, + const typename Base_traits::Has_on_positive_side_3& base) + : Base_traits::Has_on_positive_side_3(base), vpm_(map), base(base) + { } + + typedef typename Base_traits::Plane_3 Plane_3; public: - typedef bool result_type; - - result_type - operator()( const Plane_3& pl, const Vertex& p) const - { + typedef bool result_type; + + result_type operator()( const Plane_3& pl, const Vertex& p) const + { return base(pl, get(vpm_, p)); } }; - Has_on_positive_side_3 has_on_positive_side_3_object() const {return Has_on_positive_side_3( - vpm_,static_cast(this)->has_on_positive_side_3_object() );} - + + Has_on_positive_side_3 has_on_positive_side_3_object() const + { return Has_on_positive_side_3(vpm_, static_cast(this)->has_on_positive_side_3_object()); } + template - class Proj_traits_3:public Base_proj_traits + class Proj_traits_3 + : public Base_proj_traits { PointPropertyMap vpm_; typedef Base_proj_traits Btt; + public: - Proj_traits_3(const PointPropertyMap& map,const Btt& base): - Base_proj_traits(base),vpm_(map){} - typedef Point_3 Point_2; - typedef Convex_hull_3::internal::Forward_functor Equal_2; - typedef Convex_hull_3::internal::Forward_functor Less_xy_2; - typedef Convex_hull_3::internal::Forward_functor Less_yx_2; - typedef Convex_hull_3::internal::Forward_functor Less_signed_distance_to_line_2; - typedef Convex_hull_3::internal::Forward_functor Left_turn_2; - - class Less_rotate_ccw_2:public Btt::Less_rotate_ccw_2 + Proj_traits_3(const PointPropertyMap& map, const Btt& base) + : Base_proj_traits(base), vpm_(map) + { } + + typedef Point_3 Point_2; + typedef Convex_hull_3::internal::Forward_functor< + typename Btt::Equal_2, PointPropertyMap> Equal_2; + typedef Convex_hull_3::internal::Forward_functor< + typename Btt::Less_xy_2, PointPropertyMap> Less_xy_2; + typedef Convex_hull_3::internal::Forward_functor< + typename Btt::Less_yx_2, PointPropertyMap> Less_yx_2; + typedef Convex_hull_3::internal::Forward_functor< + typename Btt::Less_signed_distance_to_line_2, PointPropertyMap> Less_signed_distance_to_line_2; + typedef Convex_hull_3::internal::Forward_functor< + typename Btt::Left_turn_2, PointPropertyMap> Left_turn_2; + + class Less_rotate_ccw_2 + : public Btt::Less_rotate_ccw_2 { PointPropertyMap vpm_; const typename Btt::Less_rotate_ccw_2& base; + + public: + Less_rotate_ccw_2(const PointPropertyMap& map, + const typename Btt::Less_rotate_ccw_2& base) + : Btt::Less_rotate_ccw_2(base), vpm_(map), base(base) + { } + public: - Less_rotate_ccw_2(const PointPropertyMap& map,const typename Btt::Less_rotate_ccw_2& base): - Btt::Less_rotate_ccw_2(base),vpm_(map), base(base){} - public: bool operator()(Point_2 e, Point_2 p,Point_2 q) const - { + { return base(get(vpm_, e), get(vpm_, p), get(vpm_, q)); } }; - - Equal_2 equal_2_object () const {return Equal_2(vpm_,static_cast(this)->equal_2_object() );} - Less_xy_2 less_xy_2_object ()const{return Less_xy_2(vpm_,static_cast(this)->less_xy_2_object() );} - Less_yx_2 less_yx_2_object ()const{return Less_yx_2(vpm_,static_cast(this)->less_yx_2_object() );} - Less_signed_distance_to_line_2 less_signed_distance_to_line_2_object ()const - {return Less_signed_distance_to_line_2(vpm_,static_cast(this)->Less_signed_distance_to_line_2() );} - Less_rotate_ccw_2 less_rotate_ccw_2_object ()const - {return Less_rotate_ccw_2(vpm_,static_cast(this)->less_rotate_ccw_2_object() );} - Left_turn_2 left_turn_2_object ()const{return Left_turn_2(vpm_,static_cast(this)->left_turn_2_object() );} - - class Orientation_2:public Btt::Orientation_2 + + Equal_2 equal_2_object() const + { return Equal_2(vpm_, static_cast(this)->equal_2_object()); } + Less_xy_2 less_xy_2_object() const + { return Less_xy_2(vpm_, static_cast(this)->less_xy_2_object()); } + Less_yx_2 less_yx_2_object() const + { return Less_yx_2(vpm_, static_cast(this)->less_yx_2_object()); } + Less_signed_distance_to_line_2 less_signed_distance_to_line_2_object() const + { return Less_signed_distance_to_line_2(vpm_, static_cast(this)->Less_signed_distance_to_line_2()); } + Less_rotate_ccw_2 less_rotate_ccw_2_object() const + { return Less_rotate_ccw_2(vpm_, static_cast(this)->less_rotate_ccw_2_object()); } + Left_turn_2 left_turn_2_object() const + { return Left_turn_2(vpm_, static_cast(this)->left_turn_2_object()); } + + class Orientation_2 + : public Btt::Orientation_2 { - PointPropertyMap vpm_; - const typename Btt::Orientation_2& base; - public: - Orientation_2(const PointPropertyMap& map,const typename Btt::Orientation_2& base): - Btt::Orientation_2(base),vpm_(map), base(base){} - - typename CGAL::Orientation operator()(Point_2 e,Point_2 p, Point_2 q) const - { - return base(get(vpm_, e), get(vpm_, p), get(vpm_, q)); + PointPropertyMap vpm_; + const typename Btt::Orientation_2& base; + + public: + Orientation_2(const PointPropertyMap& map, + const typename Btt::Orientation_2& base) + : Btt::Orientation_2(base), vpm_(map), base(base) + { } + + typename CGAL::Orientation operator()(Point_2 e, Point_2 p, Point_2 q) const + { + return base(get(vpm_, e), get(vpm_, p), get(vpm_, q)); } }; - Orientation_2 orientation_2_object ()const{return Orientation_2(vpm_,static_cast(this)->orientation_2_object() );} + + Orientation_2 orientation_2_object() const + { return Orientation_2(vpm_, static_cast(this)->orientation_2_object()); } }; - + typedef Convex_hull_3::internal::Projection_traits Base_PTraits; - typedef Proj_traits_3 Traits_xy_3; - typedef Proj_traits_3 Traits_yz_3; - typedef Proj_traits_3 Traits_xz_3; - - Traits_xy_3 construct_traits_xy_3_object()const - {return Traits_xy_3(vpm_, Base_PTraits(static_cast(*this)).construct_traits_xy_3_object());} - Traits_yz_3 construct_traits_yz_3_object()const - {return Traits_yz_3(vpm_, Base_PTraits(static_cast(*this)).construct_traits_yz_3_object());} - Traits_xz_3 construct_traits_xz_3_object()const - {return Traits_xz_3(vpm_, Base_PTraits(static_cast(*this)).construct_traits_xz_3_object());} + typedef Proj_traits_3 Traits_xy_3; + typedef Proj_traits_3 Traits_yz_3; + typedef Proj_traits_3 Traits_xz_3; + + Traits_xy_3 construct_traits_xy_3_object() const + { return Traits_xy_3(vpm_, Base_PTraits(static_cast(*this)).construct_traits_xy_3_object()); } + Traits_yz_3 construct_traits_yz_3_object() const + { return Traits_yz_3(vpm_, Base_PTraits(static_cast(*this)).construct_traits_yz_3_object()); } + Traits_xz_3 construct_traits_xz_3_object() const + { return Traits_xz_3(vpm_, Base_PTraits(static_cast(*this)).construct_traits_xz_3_object()); } typename boost::property_traits::reference get_point(const typename boost::property_traits::key_type& k) const { return get(vpm_, k); } - }; + template Extreme_points_traits_adapter_3 -make_extreme_points_traits_adapter(const PointPropertyMap& pmap, Base_traits traits = Base_traits()) +make_extreme_points_traits_adapter(const PointPropertyMap& pmap, + Base_traits traits = Base_traits()) { return Extreme_points_traits_adapter_3(pmap, traits); } @@ -248,9 +283,6 @@ make_extreme_points_traits_adapter(const PointPropertyMap& pmap) return Extreme_points_traits_adapter_3(pmap); } - -//helper function - -}//end CGAL +} // namespace CGAL #endif // CGAL_EXTREME_POINTS_TRAITS_ADAPTER_3_H From 4e01ec78cffd1988c7d421144bdb25d8400927ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 16:22:06 +0100 Subject: [PATCH 139/150] Fix copying points argument in Extreme_points_traits_adapter --- Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h b/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h index 68b3bd90755..adeb88c6e26 100644 --- a/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h +++ b/Convex_hull_3/include/CGAL/Extreme_points_traits_adapter_3.h @@ -208,7 +208,7 @@ public: { } public: - bool operator()(Point_2 e, Point_2 p,Point_2 q) const + bool operator()(const Point_2& e, const Point_2& p, const Point_2& q) const { return base(get(vpm_, e), get(vpm_, p), get(vpm_, q)); } @@ -239,7 +239,7 @@ public: : Btt::Orientation_2(base), vpm_(map), base(base) { } - typename CGAL::Orientation operator()(Point_2 e, Point_2 p, Point_2 q) const + typename CGAL::Orientation operator()(const Point_2& e, const Point_2& p, const Point_2& q) const { return base(get(vpm_, e), get(vpm_, p), get(vpm_, q)); } From 3c6e5875d58237a8e58e897c9739bbf82003efb1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Tue, 24 Mar 2020 18:48:32 +0100 Subject: [PATCH 140/150] Grab return Construct_point_3(Weighted_point_3) by reference --- .../include/CGAL/internal/Projection_traits_3.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/Kernel_23/include/CGAL/internal/Projection_traits_3.h b/Kernel_23/include/CGAL/internal/Projection_traits_3.h index c203eb6be7b..6e5aae15f29 100644 --- a/Kernel_23/include/CGAL/internal/Projection_traits_3.h +++ b/Kernel_23/include/CGAL/internal/Projection_traits_3.h @@ -521,7 +521,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } @@ -550,7 +550,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } @@ -577,7 +577,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } @@ -614,7 +614,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } @@ -659,7 +659,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } @@ -697,7 +697,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } @@ -739,7 +739,7 @@ public: Weighted_point_2 project(const Weighted_point_3& wp) const { - Point_3 p = R().construct_point_3_object()(wp); + const Point_3& p = R().construct_point_3_object()(wp); return Weighted_point_2(Point_2(x(p), y(p)), wp.weight()); } From 0c2b32ea4807d1cbde0dc2e913c348ed79a16553 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 12:37:45 +0100 Subject: [PATCH 141/150] Don't generate a new population at each generation... Obviously, the algorithm is now much more efficient. --- .../CGAL/Optimal_bounding_box/internal/evolution.h | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index a130de75c42..72b62959043 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -55,13 +55,13 @@ public: m_traits(traits) { } - void genetic_algorithm(const std::size_t population_size = 50) + void genetic_algorithm() { - // random permutations - m_population.initialize(population_size, m_points, m_rng); + // This evolves an existing population + CGAL_precondition(m_population.empty()); - //groups 1,2 : size m/2 groups 3,4 : size (m - m/2). m/2 is floored - const std::size_t m = population_size; + //groups 1,2 : size = floor(m/2) groups 3,4 : size = ceil(m/2). + const std::size_t m = m_population.size(); const std::size_t first_group_size = m / 2; const std::size_t second_group_size = m - first_group_size; @@ -131,6 +131,8 @@ public: const FT tolerance = 1e-9; int stale = 0; + m_population.initialize(population_size, m_points, m_rng); + std::size_t gen_iter = 0; for(;;) { @@ -138,7 +140,7 @@ public: std::cout << "- - - - generation #" << gen_iter << "\n"; #endif - genetic_algorithm(population_size); + genetic_algorithm(); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_PP std::cout << "population after genetic" << std::endl; From fbfec59341dccb23cfe2cb6ea13adbfebfb716c2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 15:25:59 +0100 Subject: [PATCH 142/150] Add post-processing: 2D optimization along OBB axes --- .../Concepts/OrientedBoundingBoxTraits.h | 10 +- .../Optimal_bounding_box/internal/evolution.h | 23 +- .../internal/optimize_2.h | 216 ++++++++++++++++++ .../oriented_bounding_box.h | 4 +- 4 files changed, 238 insertions(+), 15 deletions(-) create mode 100644 Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h diff --git a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h index 9eb5aee1daa..f31d11252ec 100644 --- a/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h +++ b/Optimal_bounding_box/doc/Optimal_bounding_box/Concepts/OrientedBoundingBoxTraits.h @@ -6,7 +6,7 @@ The concept `OrientedBoundingBoxTraits_3` describes the requirements of the trai used in the function `CGAL::oriented_bounding_box()`, and in particular the need for a 3x3 matrix type. -\cgalRefines `ConvexHullTraits_3` +\cgalRefines `Kernel` \cgalHasModel `CGAL::Oriented_bounding_box_traits_3` @@ -21,18 +21,10 @@ public: /// and be compatible with the type `Point_3` typedef CGAL::Aff_transformation_3 Aff_transformation_3; - /// A construction object that must provide the function operator: - /// `CGAL::Bbox_3 operator()(const Point_3&)`, - /// which returns an axis-aligned bounding box that contains the point - typedef unspecified_type Construct_bbox_3; - /// A 3x3 matrix type; model of the concept `SvdTraits::Matrix` and which supports /// matrix-matrix and scalar-matrix multiplication, as well as matrix-matrix addition typedef unspecified_type Matrix; /// Returns the unitary matrix `Q` obtained in the QR-decomposition of the matrix `m` Matrix get_Q(const Matrix& m) const; - - /// Returns the 3D box construction functor - Construct_bbox_3 construct_bbox_3_object() const; }; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 72b62959043..d6649fbe28a 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -19,6 +19,7 @@ #include #include #include +#include #include #include @@ -157,15 +158,27 @@ public: std::cout << std::endl; #endif + // optimize the current best rotation by using the exact OBB 2D algorithm + // along the axes of the current best OBB + m_best_v = &(m_population.get_best_vertex()); + Matrix& best_m = m_best_v->matrix(); + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + std::cout << "new best matrix: " << std::endl << best_m << std::endl; + std::cout << "fitness: " << m_best_v->fitness() << std::endl; +#endif + + optimize_along_OBB_axes(best_m, m_points, m_traits); + m_best_v->fitness() = compute_fitness(best_m, m_points, m_traits); + // stopping criteria - m_best_v = &(get_best_vertex(m_population)); - const FT new_fit_value = m_best_v->fitness_value(); + const FT new_fit_value = m_best_v->fitness(); const FT difference = new_fit_value - prev_fit_value; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG - const Matrix& best_m = m_best_v->matrix(); - std::cout << "new best matrix: " << std::endl << best_m << std::endl; - std::cout << "value difference with previous: " << difference << std::endl; + std::cout << "post 2D optimization matrix: " << std::endl << best_m << std::endl; + std::cout << "new fit value: " << new_fit_value << std::endl; + std::cout << "difference: " << difference << std::endl; #endif if(CGAL::abs(difference) < tolerance * new_fit_value) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h new file mode 100644 index 00000000000..74306a03c4d --- /dev/null +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h @@ -0,0 +1,216 @@ +// Copyright (c) 2020 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Mael Rouxel-Labbé +// +#ifndef CGAL_OPTIMAL_BOUNDING_BOX_INTERNAL_OPTIMIZE_2_H +#define CGAL_OPTIMAL_BOUNDING_BOX_INTERNAL_OPTIMIZE_2_H + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace CGAL { +namespace Optimal_bounding_box { +namespace internal { + +enum PROJECTION_DIRECTION +{ + ALONG_X = 0, + ALONG_Y, + ALONG_Z +}; + +// Now, we would like to do all of this with projection traits... Unfortunately, it's missing +// a couple of functors (Has_on_negative_side_2, for example), which are necessary in +// CGAL::Min_quadrilateral_default_traits_2. And while we know we have a generic case here, +// it's a bit tedious to get something well-defined in the generic case: for example, +// what should Has_on_negative_side_2 do if the Line_3 is orthogonal to the projection plane? +// +// So, easier to just bail out to real 2D... +template +std::pair +compute_2D_deviation(const PointRange& points, + const PROJECTION_DIRECTION dir, + const Traits& traits) +{ + typedef typename Traits::FT FT; + typedef typename Traits::Point_2 Point_2; + typedef typename Traits::Vector_2 Vector_2; + typedef typename Traits::Point_3 Point_3; + + std::vector points_2D; + points_2D.reserve(points.size()); + for(const Point_3& pt : points) + { + if(dir == ALONG_X) + points_2D.emplace_back(pt.y(), pt.z()); + else if(dir == ALONG_Y) + points_2D.emplace_back(pt.x(), pt.z()); + else if(dir == ALONG_Z) + points_2D.emplace_back(pt.x(), pt.y()); + } + + std::vector extreme_points; + ch_akl_toussaint(points_2D.begin(), points_2D.end(), std::back_inserter(extreme_points), traits); + + CGAL::Polygon_2 pol; + CGAL::Min_quadrilateral_default_traits_2 mrt; + CGAL::min_rectangle_2(extreme_points.begin(), extreme_points.end(), std::back_inserter(pol), mrt); + + CGAL_assertion(pol.size() == 4); + CGAL_assertion(pol.is_counterclockwise_oriented()); + + // Compute the angle between the angle necessary to rotate the rectangle onto the reference frame + auto bot_pos = pol.bottom_vertex(); + auto next_pos = bot_pos; + ++next_pos; + if(next_pos == pol.vertices_end()) + next_pos = pol.begin(); + + const Point_2& p = *bot_pos; + const Point_2& q = *next_pos; + + const Vector_2 pq = traits.construct_vector_2_object()(p, q); + double n = sqrt(to_double(traits.compute_squared_length_2_object()(pq))); + CGAL_assertion(n != 0.); + + const double dot = pq.x(); // that's the scalar product of PQ with V(1, 0) (Ox) + double cosine = dot / n; + + if(cosine > 1.) + cosine = 1.; + if(cosine < -1.) + cosine = -1.; + + double theta = std::acos(cosine); + if(theta > 0.25 * CGAL_PI) // @todo is there a point to this + theta = 0.5 * CGAL_PI - theta; + + return std::make_pair(pol.area(), theta); +} + +template +void optimize_along_OBB_axes(typename Traits::Matrix& rot, + const PointRange& points, + const Traits& traits) +{ + typedef typename Traits::FT FT; + typedef typename Traits::Point_3 Point; + typedef typename Traits::Matrix Matrix; + + CGAL_static_assertion((std::is_same::type, Point>::value)); + + std::vector rotated_points; + rotated_points.size(); + + FT xmin, ymin, zmin, xmax, ymax, zmax; + xmin = ymin = zmin = FT{std::numeric_limits::max()}; + xmax = ymax = zmax = FT{std::numeric_limits::lowest()}; + + for(const Point& pt : points) + { + const FT rx = rot(0, 0) * pt.x() + rot(0, 1) * pt.y() + rot(0, 2) * pt.z(); + const FT ry = rot(1, 0) * pt.x() + rot(1, 1) * pt.y() + rot(1, 2) * pt.z(); + const FT rz = rot(2, 0) * pt.x() + rot(2, 1) * pt.y() + rot(2, 2) * pt.z(); + + rotated_points.emplace_back(rx, ry, rz); + + xmin = (std::min)(xmin, rx); + ymin = (std::min)(ymin, ry); + zmin = (std::min)(zmin, rz); + xmax = (std::max)(xmax, rx); + ymax = (std::max)(ymax, ry); + zmax = (std::max)(zmax, rz); + } + + const FT lx = xmax - xmin; + const FT ly = ymax - ymin; + const FT lz = zmax - zmin; + + std::array angles; + std::array volumes; + + FT area_xy; + std::tie(area_xy, angles[0]) = compute_2D_deviation(rotated_points, ALONG_Z, traits); + volumes[0] = lz * area_xy; + + FT area_xz; + std::tie(area_xz, angles[1]) = compute_2D_deviation(rotated_points, ALONG_Y, traits); + volumes[1] = ly * area_xz; + + FT area_yz; + std::tie(area_yz, angles[2]) = compute_2D_deviation(rotated_points, ALONG_X, traits); + volumes[2] = lx * area_yz; + + auto it = std::min_element(volumes.begin(), volumes.end()); + typename std::iterator_traits::difference_type d = std::distance(volumes.begin(), it); + +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + std::cout << "volumes: " << volumes[0] << " " << volumes[1] << " " << volumes[2] << std::endl; + std::cout << "angles: " << angles[0] << " " << angles[1] << " " << angles[2] << std::endl; + std::cout << "min at " << d << std::endl; +#endif + + if(d == 0) // Along_Z + { + const double c = std::cos(angles[0]); + const double s = std::sin(angles[0]); + + Matrix opt; + opt.set(0, 0, c); opt.set(0, 1, s); opt.set(0, 2, 0); + opt.set(1, 0, -s); opt.set(1, 1, c); opt.set(1, 2, 0); + opt.set(2, 0, 0); opt.set(2, 1, 0); opt.set(2, 2, 1); + + rot = opt * rot; + } + else if(d == 1) // Along_Y + { + const double c = std::cos(angles[1]); + const double s = std::sin(angles[1]); + + Matrix opt; + opt.set(0, 0, c); opt.set(0, 1, 0); opt.set(0, 2, -s); + opt.set(1, 0, 0); opt.set(1, 1, 1); opt.set(1, 2, 0); + opt.set(2, 0, s); opt.set(2, 1, 0); opt.set(2, 2, c); + + rot = opt * rot; + } + else if(d == 2) // Along_X + { + const double c = std::cos(angles[2]); + const double s = std::sin(angles[2]); + + Matrix opt; + opt.set(0, 0, 1); opt.set(0, 1, 0); opt.set(0, 2, 0); + opt.set(1, 0, 0); opt.set(1, 1, c); opt.set(1, 2, s); + opt.set(2, 0, 0); opt.set(2, 1, -s); opt.set(2, 2, c); + + rot = opt * rot; + } + else + { + CGAL_assertion(false); + } +} + +} // namespace internal +} // namespace Optimal_bounding_box +} // namespace CGAL + +#endif // CGAL_OPTIMAL_BOUNDING_BOX_INTERNAL_OPTIMIZE_2_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 7dafd269b66..5a4a8819b6f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -26,6 +26,7 @@ #include #include #include +#include #include #include #include @@ -171,7 +172,8 @@ void construct_oriented_bounding_box(const PointRange& points, if(use_ch) // construct the convex hull to reduce the number of points { std::vector ch_points; - extreme_points_3(points, std::back_inserter(ch_points), traits); + CGAL::Convex_hull_traits_3 CH_traits; + extreme_points_3(points, std::back_inserter(ch_points), CH_traits); #ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG std::cout << ch_points.size() << " points on the convex hull" << std::endl; From a2f8dcf03406ce4f98837aec1a2b8e1df4e03002 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 15:58:23 +0100 Subject: [PATCH 143/150] Misc minor fixes --- .../Optimal_bounding_box/internal/evolution.h | 28 ++++++++++--------- .../internal/fitness_function.h | 4 +-- .../internal/nelder_mead_functions.h | 12 ++++---- .../internal/optimize_2.h | 2 +- .../internal/population.h | 24 ++++++++-------- .../oriented_bounding_box.h | 4 +-- 6 files changed, 38 insertions(+), 36 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index d6649fbe28a..187415d02ed 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -8,8 +8,8 @@ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // -// Author(s) : Konstantinos Katrioplas -// Mael Rouxel-Labbé +// Author(s) : Mael Rouxel-Labbé +// Konstantinos Katrioplas // #ifndef CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H #define CGAL_OPTIMAL_BOUNDING_BOX_EVOLUTION_H @@ -59,7 +59,7 @@ public: void genetic_algorithm() { // This evolves an existing population - CGAL_precondition(m_population.empty()); + CGAL_precondition(m_population.size() != 0); //groups 1,2 : size = floor(m/2) groups 3,4 : size = ceil(m/2). const std::size_t m = m_population.size(); @@ -86,8 +86,8 @@ public: for(int j=0; j<4; ++j) { const FT r{m_rng.get_double()}; - const FT fitnessA = m_population[group1[i]][j].fitness_value(); - const FT fitnessB = m_population[group2[i]][j].fitness_value(); + const FT fitnessA = m_population[group1[i]][j].fitness(); + const FT fitnessB = m_population[group2[i]][j].fitness(); const FT threshold = (fitnessA < fitnessB) ? uweight : lweight; if(r < threshold) @@ -105,8 +105,8 @@ public: Simplex offspring; for(int j=0; j<4; ++j) { - const FT fitnessA = m_population[group3[i]][j].fitness_value(); - const FT fitnessB = m_population[group4[i]][j].fitness_value(); + const FT fitnessA = m_population[group3[i]][j].fitness(); + const FT fitnessB = m_population[group4[i]][j].fitness(); const FT lambda = (fitnessA < fitnessB) ? uweight : lweight; const FT rambda = FT(1) - lambda; // because the 'l' in 'lambda' stands for left @@ -122,14 +122,16 @@ public: m_population.simplices() = std::move(new_simplices); } + // @todo re-enable random mutations as it is -on theory- useful, but don't allow them to override + // the best (current) candidates void evolve(const std::size_t max_generations, const std::size_t population_size, const std::size_t nelder_mead_iterations, - const int max_random_mutations = 5) + const std::size_t max_random_mutations = 0) { // stopping criteria prameters FT prev_fit_value = 0; - const FT tolerance = 1e-9; + const FT tolerance = 1e-10; int stale = 0; m_population.initialize(population_size, m_points, m_rng); @@ -184,7 +186,7 @@ public: if(CGAL::abs(difference) < tolerance * new_fit_value) ++stale; - if(stale == 5 || gen_iter++ > max_generations) + if(stale == 5 || gen_iter++ >= max_generations) break; prev_fit_value = new_fit_value; @@ -194,10 +196,10 @@ public: continue; CGAL_warning(max_random_mutations <= population_size); - const int random_mutations = m_rng.get_int(0, max_random_mutations+1); - for(std::size_t i=0; i(max_random_mutations+1)); + for(int i=0; i(population_size)); m_population[random_pos] = m_population.create_simplex(m_points, m_rng); } } diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h index 9a565992912..b19ca993630 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/fitness_function.h @@ -8,8 +8,8 @@ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // -// Author(s) : Konstantinos Katrioplas -// Mael Rouxel-Labbé +// Author(s) : Mael Rouxel-Labbé +// Konstantinos Katrioplas // #ifndef CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H #define CGAL_OPTIMAL_BOUNDING_FITNESS_FUNCTION_H diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h index a672ab61369..1d2b0c10666 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/nelder_mead_functions.h @@ -8,8 +8,8 @@ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // -// Author(s) : Konstantinos Katrioplas -// Mael Rouxel-Labbé +// Author(s) : Mael Rouxel-Labbé +// Konstantinos Katrioplas // #ifndef CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H #define CGAL_OPTIMAL_BOUNDING_BOX_NEALDER_MEAD_FUNCTIONS_H @@ -85,7 +85,7 @@ void nelder_mead(Simplex& simplex, { std::sort(simplex.begin(), simplex.end(), [](const Vertex& vi, const Vertex& vj) -> bool - { return vi.fitness_value() < vj.fitness_value(); }); + { return vi.fitness() < vj.fitness(); }); // centroid const Matrix centroid_m = nm_centroid(simplex[0].matrix(), @@ -98,10 +98,10 @@ void nelder_mead(Simplex& simplex, const FT refl_f = compute_fitness(refl_m, points, traits); // if reflected point is better than the second worst - if(refl_f < simplex[2].fitness_value()) + if(refl_f < simplex[2].fitness()) { // if reflected point is not better than the best - if(refl_f >= simplex[0].fitness_value()) + if(refl_f >= simplex[0].fitness()) { // reflection simplex[3] = Vertex{refl_m, refl_f}; @@ -122,7 +122,7 @@ void nelder_mead(Simplex& simplex, const Matrix mean_m = mean(centroid_m, worst_m, traits); const FT mean_f = compute_fitness(mean_m, points, traits); - if(mean_f <= simplex[3].fitness_value()) + if(mean_f <= simplex[3].fitness()) { // contraction of worst simplex[3] = Vertex{mean_m, mean_f}; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h index 74306a03c4d..57374162746 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h @@ -102,7 +102,7 @@ compute_2D_deviation(const PointRange& points, if(theta > 0.25 * CGAL_PI) // @todo is there a point to this theta = 0.5 * CGAL_PI - theta; - return std::make_pair(pol.area(), theta); + return std::make_pair(pol.area(), FT{theta}); } template diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h index 67893912b51..2fc1ee3e07a 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/population.h @@ -8,8 +8,8 @@ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // -// Author(s) : Konstantinos Katrioplas -// Mael Rouxel-Labbé +// Author(s) : Mael Rouxel-Labbé +// Konstantinos Katrioplas // #ifndef CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H #define CGAL_OPTIMAL_BOUNDING_BOX_POPULATION_H @@ -29,21 +29,21 @@ namespace Optimal_bounding_box { namespace internal { template -struct Vertex_with_fitness_value +struct Vertex_with_fitness { typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; - Vertex_with_fitness_value() { CGAL_assertion_code(m_is_val_initialized = false;) } - Vertex_with_fitness_value(const Matrix m, const FT v) : m_mat(std::move(m)), m_val(v) + Vertex_with_fitness() { CGAL_assertion_code(m_is_val_initialized = false;) } + Vertex_with_fitness(const Matrix m, const FT v) : m_mat(std::move(m)), m_val(v) { CGAL_assertion_code(m_is_val_initialized = true;) } template - Vertex_with_fitness_value(const Matrix m, - const PointRange& points, - const Traits& traits) + Vertex_with_fitness(const Matrix m, + const PointRange& points, + const Traits& traits) : m_mat(std::move(m)) { @@ -53,8 +53,8 @@ struct Vertex_with_fitness_value Matrix& matrix() { return m_mat; } const Matrix& matrix() const { return m_mat; } - FT& fitness_value() { return m_val; } - FT fitness_value() const { CGAL_assertion(m_is_val_initialized); return m_val; } + FT& fitness() { return m_val; } + FT fitness() const { CGAL_assertion(m_is_val_initialized); return m_val; } private: Matrix m_mat; @@ -69,7 +69,7 @@ public: typedef typename Traits::FT FT; typedef typename Traits::Matrix Matrix; - typedef Vertex_with_fitness_value Vertex; + typedef Vertex_with_fitness Vertex; typedef std::array Simplex; typedef std::vector Simplex_container; @@ -127,7 +127,7 @@ public: for(std::size_t j=0; j<4; ++j) { const Vertex& vertex = m_simplices[i][j]; - const FT fitness = vertex.fitness_value(); + const FT fitness = vertex.fitness(); if(fitness < best_fitness) { simplex_id = i; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 5a4a8819b6f..2eded978f06 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -134,7 +134,7 @@ void compute_best_transformation(const PointRange& points, rot(0, 2), rot(1, 2), rot(2, 2)); } -// Following two functions are overload to dispatch depending on return type +// Following two functions are overloads to dispatch depending on return type template void construct_oriented_bounding_box(const PointRange& points, typename Traits::Aff_transformation_3& transformation, @@ -302,7 +302,7 @@ void oriented_bounding_box(const PointRange& points, std::cout << "Random seed: " << rng.get_seed() << std::endl; #endif - // @todo handle those cases instead + // @todo handle those cases (or call min_rectangle_2 with a projection) if(points.size() <= 3) { std::cerr << "The oriented bounding box cannot (yet) be computed for a mesh with fewer than 4 vertices!\n"; From 6a2c04c3eee8e9bb0901875779115956fa3fc1f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 15:58:37 +0100 Subject: [PATCH 144/150] Update algorithm parameters to sensible values Can now be put to values close to what the paper recommends --- .../CGAL/Optimal_bounding_box/oriented_bounding_box.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 2eded978f06..6157e282c9b 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -101,9 +101,9 @@ void compute_best_transformation(const PointRange& points, CGAL_assertion(points.size() >= 3); - const std::size_t max_generations = 50; // @todo hidden NP - const std::size_t population_size = 50; - const std::size_t nelder_mead_iterations = 150; + const std::size_t max_generations = 100; + const std::size_t population_size = 30; + const std::size_t nelder_mead_iterations = 20; #ifdef CGAL_OPTIMAL_BOUNDING_BOX_BENCHMARKS CGAL::Real_timer timer; From ff10c1594e783c45d61e04937f910f68f5922d94 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 18:46:33 +0100 Subject: [PATCH 145/150] Remove useless data files --- .../Optimal_bounding_box/data/linear.png | Bin 25356 -> 0 bytes .../Optimal_bounding_box/data/sphere_1k.xyz | 1050 ----------------- .../Optimal_bounding_box/data/times.txt | 5 - .../data/random_unit_tetra.off | 11 - 4 files changed, 1066 deletions(-) delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/linear.png delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/sphere_1k.xyz delete mode 100644 Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/times.txt delete mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/random_unit_tetra.off diff --git a/Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/linear.png b/Optimal_bounding_box/benchmarks/Optimal_bounding_box/data/linear.png deleted file mode 100644 index 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zf)p&eZy!8=bddPOG&gIJmyBOxzH-~mFEuhRvt(03B(JHLmvrkLCFUzHh@>W3G-+pN z=iU4F>CqC9g#!-JKoFoAYG`ZMAu%T=C2hpaYC_^lAQnf=7<<;|;ZWHL9wMHe|;WS5)LhrT66g@CNAa=(xDJkUs>3 zh3QaPa#Hn0Va1KNMJ-R_sUTVRaY@Id44A_xI8~lI?9cqOHVB;-S?kJ;8#lb%?#Lj9 zz5rs+eY{ODG&J;ie}9#3(J&@OQt&KXE2Kkp%$>Cly z;|#!Aq(%1i1L3dOOwABh1#oxBp{PgxxnqIzj0#&0-`D z_LBxL+%|hm9lY&O6_KS(aB%SI;^SI16gOl_M`kCE!em792tI%QOoDXB2dd=AgucxW zY=P$}TiYL>`;)vUB>0-NmyvAjvxdi2jVWPUm8HFRl5_p>LEA0=?~L$o62|{ Date: Wed, 25 Mar 2020 18:47:05 +0100 Subject: [PATCH 146/150] Some robustness for degenerate data sets --- .../CGAL/Optimal_bounding_box/internal/optimize_2.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h index 57374162746..3424bae2017 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h @@ -73,8 +73,8 @@ compute_2D_deviation(const PointRange& points, CGAL::Min_quadrilateral_default_traits_2 mrt; CGAL::min_rectangle_2(extreme_points.begin(), extreme_points.end(), std::back_inserter(pol), mrt); - CGAL_assertion(pol.size() == 4); - CGAL_assertion(pol.is_counterclockwise_oriented()); + if(pol.size() == 4 || !pol.is_simple() || pol.is_clockwise_oriented()) + return std::make_pair(0., 0.); // Compute the angle between the angle necessary to rotate the rectangle onto the reference frame auto bot_pos = pol.bottom_vertex(); @@ -88,7 +88,9 @@ compute_2D_deviation(const PointRange& points, const Vector_2 pq = traits.construct_vector_2_object()(p, q); double n = sqrt(to_double(traits.compute_squared_length_2_object()(pq))); - CGAL_assertion(n != 0.); + + if(n == 0.) // degenerate input, maybe? Let's just not do anything + return std::make_pair(pol.area(), 0.); const double dot = pq.x(); // that's the scalar product of PQ with V(1, 0) (Ox) double cosine = dot / n; From 34dd14ced4bb6c39c886b60df7bf7151d752b88a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 18:47:30 +0100 Subject: [PATCH 147/150] Misc verbose changes --- .../include/CGAL/Optimal_bounding_box/internal/evolution.h | 6 +++--- .../include/CGAL/Optimal_bounding_box/internal/optimize_2.h | 2 +- .../CGAL/Optimal_bounding_box/oriented_bounding_box.h | 5 +++++ 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h index 187415d02ed..477c1294fa1 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/evolution.h @@ -139,7 +139,7 @@ public: std::size_t gen_iter = 0; for(;;) { -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_PP std::cout << "- - - - generation #" << gen_iter << "\n"; #endif @@ -165,7 +165,7 @@ public: m_best_v = &(m_population.get_best_vertex()); Matrix& best_m = m_best_v->matrix(); -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_PP std::cout << "new best matrix: " << std::endl << best_m << std::endl; std::cout << "fitness: " << m_best_v->fitness() << std::endl; #endif @@ -177,7 +177,7 @@ public: const FT new_fit_value = m_best_v->fitness(); const FT difference = new_fit_value - prev_fit_value; -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_PP std::cout << "post 2D optimization matrix: " << std::endl << best_m << std::endl; std::cout << "new fit value: " << new_fit_value << std::endl; std::cout << "difference: " << difference << std::endl; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h index 3424bae2017..b4f2ba4a7da 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/internal/optimize_2.h @@ -163,7 +163,7 @@ void optimize_along_OBB_axes(typename Traits::Matrix& rot, auto it = std::min_element(volumes.begin(), volumes.end()); typename std::iterator_traits::difference_type d = std::distance(volumes.begin(), it); -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_PP std::cout << "volumes: " << volumes[0] << " " << volumes[1] << " " << volumes[2] << std::endl; std::cout << "angles: " << angles[0] << " " << angles[1] << " " << angles[2] << std::endl; std::cout << "min at " << d << std::endl; diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 6157e282c9b..0ebf2b207cb 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -86,7 +86,12 @@ void construct_oriented_bounding_box(const PointRange& points, // Apply the inverse rotation to the rotated axis aligned bounding box for(std::size_t i=0; i<8; ++i) + { obb_points[i] = inverse_transformation.transform(obb_points[i]); +#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + std::cout << " OBB[" << i << "] = " << obb_points[i] << std::endl; +#endif + } } template From 79aa6a755ae30d64eb2ce64d1059646d57331b8d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 18:47:46 +0100 Subject: [PATCH 148/150] Enable passing a mesh as output --- .../oriented_bounding_box.h | 40 +++++++++++++++---- 1 file changed, 32 insertions(+), 8 deletions(-) diff --git a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h index 0ebf2b207cb..619412f142f 100644 --- a/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h +++ b/Optimal_bounding_box/include/CGAL/Optimal_bounding_box/oriented_bounding_box.h @@ -140,9 +140,9 @@ void compute_best_transformation(const PointRange& points, } // Following two functions are overloads to dispatch depending on return type -template +template void construct_oriented_bounding_box(const PointRange& points, - typename Traits::Aff_transformation_3& transformation, + CGAL::Aff_transformation_3& transformation, CGAL::Random& rng, const Traits& traits) { @@ -150,11 +150,14 @@ void construct_oriented_bounding_box(const PointRange& points, compute_best_transformation(points, transformation, inverse_transformation, rng, traits); } -template +template void construct_oriented_bounding_box(const PointRange& points, - std::array& obb_points, + Array& obb_points, CGAL::Random& rng, - const Traits& traits) + const Traits& traits, + typename boost::enable_if< + typename boost::has_range_iterator + >::type* = 0) { typename Traits::Aff_transformation_3 transformation, inverse_transformation; compute_best_transformation(points, transformation, inverse_transformation, rng, traits); @@ -162,6 +165,25 @@ void construct_oriented_bounding_box(const PointRange& points, construct_oriented_bounding_box(points, transformation, inverse_transformation, obb_points, traits); } +template +void construct_oriented_bounding_box(const PointRange& points, + PolygonMesh& pm, + CGAL::Random& rng, + const Traits& traits, + typename boost::disable_if< + typename boost::has_range_iterator + >::type* = 0) +{ + typename Traits::Aff_transformation_3 transformation, inverse_transformation; + compute_best_transformation(points, transformation, inverse_transformation, rng, traits); + + std::array obb_points; + construct_oriented_bounding_box(points, transformation, inverse_transformation, obb_points, traits); + + CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], + obb_points[4], obb_points[5], obb_points[6], obb_points[7], pm); +} + // Entry point, decide whether to compute the CH_3 or not template void construct_oriented_bounding_box(const PointRange& points, @@ -237,7 +259,8 @@ void construct_oriented_bounding_box(const PointRange& points, /// \tparam PointRange a model of `Range`. The value type may not be equal to the type `%Point_3` of the traits class /// if a point map is provided via named parameters (see below) to access points. /// \tparam Output either the type `Aff_transformation_3` of the traits class, -/// or `std::array` with `Point` being equivalent to the type `%Point_3` of the traits class +/// or `std::array` with `Point` being equivalent to the type `%Point_3` of the traits class, +/// or a model of `MutableFaceGraph` /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param points the input range @@ -327,7 +350,8 @@ void oriented_bounding_box(const PointRange& points, /// /// \tparam PolygonMesh a model of `VertexListGraph` /// \tparam Output either the type `Aff_transformation_3` of the traits class, -/// or `std::array` with `Point` being equivalent to the type `%Point_3` of the traits class +/// or `std::array` with `Point` being equivalent to the type `%Point_3` of the traits class, +/// or a model of `MutableFaceGraph` /// \tparam NamedParameters a sequence of \ref obb_namedparameters "Named Parameters" /// /// \param pmesh the input mesh @@ -384,7 +408,7 @@ void oriented_bounding_box(const PolygonMesh& pmesh, /// Convenience overloads ///////////////////////////////////////////////////////////////////////////////////////////////// -template +template void oriented_bounding_box(const Input& in, Output& out) { return oriented_bounding_box(in, out, CGAL::parameters::all_default()); From 546f943c6e98b1243bc7499562b4b8a44e56b988 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Wed, 25 Mar 2020 18:48:44 +0100 Subject: [PATCH 149/150] Update tests --- .../Optimal_bounding_box/data/flat_mesh.off | 323 ++++++++++++++++++ .../Optimal_bounding_box/data/points_0D.xyz | 8 + .../Optimal_bounding_box/data/points_1D.xyz | 7 + .../Optimal_bounding_box/data/points_2D.xyz | 282 +++++++++++++++ .../Optimal_bounding_box/data/triangles.off | 9 + .../Optimal_bounding_box/test_OBB_traits.cpp | 41 +-- .../Optimal_bounding_box/test_nelder_mead.cpp | 19 +- .../test_optimization_algorithms.cpp | 234 ++++--------- 8 files changed, 719 insertions(+), 204 deletions(-) create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/flat_mesh.off create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/points_0D.xyz create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/points_1D.xyz create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/points_2D.xyz create mode 100644 Optimal_bounding_box/test/Optimal_bounding_box/data/triangles.off diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/data/flat_mesh.off b/Optimal_bounding_box/test/Optimal_bounding_box/data/flat_mesh.off new file mode 100644 index 00000000000..879b6594b95 --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/data/flat_mesh.off @@ -0,0 +1,323 @@ +OFF +121 200 0 +0 0 0 +0.10000000000000001 0 0 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b/Optimal_bounding_box/test/Optimal_bounding_box/data/triangles.off new file mode 100644 index 00000000000..21806ffd7ff --- /dev/null +++ b/Optimal_bounding_box/test/Optimal_bounding_box/data/triangles.off @@ -0,0 +1,9 @@ +OFF +4 2 0 +0 0 0 +1 0 0 +0 1 0 +1 1 0 +3 0 1 2 +3 2 1 3 + diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp index c5362beb3cd..5635440e4ca 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_OBB_traits.cpp @@ -31,7 +31,7 @@ void check_equality(const FT d1, const FT d2) } } -void test_fitness_function() +void test_fitness_function(const Traits& traits) { std::array points; points[0] = Point_3(0.866802, 0.740808, 0.895304); @@ -50,7 +50,7 @@ void test_fitness_function() rotation.set(2, 1, -0.991602); rotation.set(2, 2, 0.042528); - const double fitness = CGAL::Optimal_bounding_box::internal::compute_fitness(rotation, points); + const double fitness = CGAL::Optimal_bounding_box::internal::compute_fitness(rotation, points, traits); check_equality(fitness, 0.58606); } @@ -95,44 +95,13 @@ void test_eigen_matrix_interface() check_equality(Q(2,0), -0.006573); check_equality(Q(2,1), 0.024478); check_equality(Q(2,2), 0.999679); - - Matrix D; - D.set(0, 0, -0.809204); - D.set(0, 1, 0.124296); - D.set(0, 2, 0.574230); - D.set(1, 0, -0.574694); - D.set(1, 1, 0.035719); - D.set(1, 2, -0.817589); - D.set(2, 0, -0.122134); - D.set(2, 1, -0.991602); - D.set(2, 2, 0.042528); - - Matrix E; - E.set(0, 0, -0.45070); - E.set(0, 1, -0.32769); - E.set(0, 2, -0.83035); - E.set(1, 0, -0.13619); - E.set(1, 1, -0.89406); - E.set(1, 2, 0.42675); - E.set(2, 0, -0.88222); - E.set(2, 1, 0.30543); - E.set(2, 2, 0.35833); - - Matrix Sr = CGAL::Optimal_bounding_box::internal::reflection(D, E); - check_equality(Sr(0,0), -0.13359); - check_equality(Sr(0,1), -0.95986); - check_equality(Sr(0,2), -0.24664); - check_equality(Sr(1,0), -0.60307); - check_equality(Sr(1,1), -0.11875); - check_equality(Sr(1,2), 0.78880); - check_equality(Sr(2,0), -0.78642); - check_equality(Sr(2,1), 0.25411); - check_equality(Sr(2,2), -0.56300); } int main(int, char**) { - test_fitness_function(); + Traits traits; + + test_fitness_function(traits); test_eigen_matrix_interface(); std::cout << "Done!" << std::endl; diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp index bf4acdb39de..944d47673db 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_nelder_mead.cpp @@ -10,6 +10,7 @@ typedef K::Point_3 Point_3; typedef CGAL::Oriented_bounding_box_traits_3 Traits; typedef Traits::Matrix Matrix; +typedef CGAL::Optimal_bounding_box::internal::Population::Vertex Vertex; void check_equality(const FT d1, const FT d2) { @@ -122,7 +123,7 @@ void test_nelder_mead(const Traits& traits) points[3] = Point_3(0.166461, 0.149912, 0.364944); // one simplex - std::array simplex; + std::array simplex; Matrix v0, v1, v2, v3; v0.set(0, 0, -0.2192721); v0.set(0, 1, 0.2792986); v0.set(0, 2, -0.9348326); @@ -141,15 +142,15 @@ void test_nelder_mead(const Traits& traits) v3.set(1, 0, -0.20022); v3.set(1, 1, -0.71110); v3.set(1, 2, 0.67398); v3.set(2, 0, -0.92372); v3.set(2, 1, 0.36630); v3.set(2, 2, 0.11207); - simplex[0] = v0; - simplex[1] = v1; - simplex[2] = v2; - simplex[3] = v3; + simplex[0] = Vertex{v0, points, traits}; + simplex[1] = Vertex{v1, points, traits}; + simplex[2] = Vertex{v2, points, traits}; + simplex[3] = Vertex{v3, points, traits}; std::size_t nm_iterations = 19; CGAL::Optimal_bounding_box::internal::nelder_mead(simplex, nm_iterations, points, traits); - const Matrix& v0_new = simplex[0]; + const Matrix& v0_new = simplex[0].matrix(); check_equality(v0_new(0,0), -0.288975); check_equality(v0_new(0,1), 0.7897657); check_equality(v0_new(0,2), -0.541076); @@ -160,7 +161,7 @@ void test_nelder_mead(const Traits& traits) check_equality(v0_new(2,1), 0.5111260); check_equality(v0_new(2,2), 0.84094); - const Matrix& v1_new = simplex[1]; + const Matrix& v1_new = simplex[1].matrix(); check_equality(v1_new(0,0), -0.458749); check_equality(v1_new(0,1), 0.823283); check_equality(v1_new(0,2), -0.334296); @@ -171,7 +172,7 @@ void test_nelder_mead(const Traits& traits) check_equality(v1_new(2,1), 0.338040); check_equality(v1_new(2,2), 0.937987); - const Matrix& v2_new = simplex[2]; + const Matrix& v2_new = simplex[2].matrix(); check_equality(v2_new(0,0), -0.346582); check_equality(v2_new(0,1), 0.878534); check_equality(v2_new(0,2), -0.328724); @@ -182,7 +183,7 @@ void test_nelder_mead(const Traits& traits) check_equality(v2_new(2,1), 0.334057); check_equality(v2_new(2,2), 0.941423); - const Matrix& v3_new = simplex[3]; + const Matrix& v3_new = simplex[3].matrix(); check_equality(v3_new(0,0), -0.394713); check_equality(v3_new(0,1), 0.791782); check_equality(v3_new(0,2), -0.466136); diff --git a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp index 488530965ad..7433312e300 100644 --- a/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp +++ b/Optimal_bounding_box/test/Optimal_bounding_box/test_optimization_algorithms.cpp @@ -1,8 +1,14 @@ +#define CGAL_OPTIMAL_BOUNDING_BOX_DEBUG + #include #include +#include +#include #include +#include +#include #include #include @@ -10,211 +16,121 @@ typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef K::FT FT; -typedef K::Point_3 Point_3; +typedef K::Point_3 Point; -typedef CGAL::Surface_mesh Mesh; +typedef CGAL::Polyhedron_3 Mesh; typedef CGAL::Oriented_bounding_box_traits_3 Traits; typedef Traits::Matrix Matrix; -void check_equality(const FT d1, const FT d2) +bool is_equal(const FT d1, const FT d2) { const FT epsilon = 1e-3; bool ok; if(std::is_floating_point::value) - ok = CGAL::abs(d1 - d2) < epsilon * CGAL::abs(d2); + ok = CGAL::abs(d1 - d2) < std::max(epsilon * d1, epsilon); else ok = (d1 == d2); if(!ok) { std::cout << "Error: got " << d1 << " but expected: " << d2 << std::endl; - assert(false); + return false; } + + return true; } -void test_genetic_algorithm() +template +void test_OBB_data(const PointRange& points, + const double expected_vol, + const bool with_convex_hull = true) { - std::array points; - points[0] = Point_3(0.866802, 0.740808, 0.895304); - points[1] = Point_3(0.912651, 0.761565, 0.160330); - points[2] = Point_3(0.093661, 0.892578, 0.737412); - points[3] = Point_3(0.166461, 0.149912, 0.364944); + namespace PMP = CGAL::Polygon_mesh_processing; - CGAL::Optimal_bounding_box::internal::Population pop(5); - CGAL::Optimal_bounding_box::internal::Evolution evolution(pop, data_points); - evolution.genetic_algorithm(); - assert(pop.size() == 5); + // the algorithm is allowed to fail, but not too often + int failure_count = 0; + for(int i=0; i<100; ++i) + { + CGAL::Surface_mesh obb_mesh; + CGAL::oriented_bounding_box(points, obb_mesh, CGAL::parameters::use_convex_hull(with_convex_hull)); + PMP::triangulate_faces(obb_mesh); + + // the triangulate algorithm might fail if the algorithm manages + // to fit perfectly the box to have a true 0 volume + if(CGAL::is_triangle_mesh(obb_mesh)) + { + double vol = PMP::volume(obb_mesh); + std::cout << " volume is: " << vol << ", expected: " << expected_vol << std::endl; + if(!is_equal(vol, expected_vol)) + { + std::cout << "Failure!" << std::endl; + ++failure_count; + } + } + } + + std::cout << "failures: " << failure_count << std::endl; + assert(failure_count < 5); // 5% failure } -void test_random_unit_tetra() +void test_OBB_of_mesh(const std::string fname, + const double expected_vol) { - std::array points; - points[0] = Point_3(0.866802, 0.740808, 0.895304); - points[1] = Point_3(0.912651, 0.761565, 0.160330); - points[2] = Point_3(0.093661, 0.892578, 0.737412); - points[3] = Point_3(0.166461, 0.149912, 0.364944); + std::cout << "Test: " << fname << std::endl; + std::ifstream input(fname); Mesh mesh; - CGAL::make_tetrahedron(points[0], points[1], points[2], points[3], mesh); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - std::ofstream out("data/random_unit_tetra.off"); - out << mesh; - out.close(); -#endif - - std::size_t generations = 10; - CGAL::Optimal_bounding_box::internal::Population pop(50); - CGAL::Optimal_bounding_box::internal::Evolution evolution(pop, data_points); - evolution.evolve(generations); - - Matrix R = evolution.get_best(); - check_equality(Traits::compute_determinant(R), 1); - check_equality(R(0,0), -0.25791); - check_equality(R(0,1), 0.796512); - check_equality(R(0,2), -0.546855); - check_equality(R(1,0), -0.947128); - check_equality(R(1,1), -0.320242); - check_equality(R(1,2), -0.0197553); - check_equality(R(2,0), -0.190861); - check_equality(R(2,1), 0.512847); - check_equality(R(2,2), 0.836992); -} - -void test_reference_tetrahedron(const char* fname) -{ - std::ifstream input(fname); - CGAL::Surface_mesh mesh; if(!input || !(input >> mesh) || mesh.is_empty()) { - std::cerr << fname << " is not a valid off file." << std::endl; + std::cerr << fname << " is not a valid input file." << std::endl; std::exit(1); } - // points in a matrix - Matrix points; - CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); + std::vector points; + for(const auto v : vertices(mesh)) + points.push_back(v->point()); - std::size_t generations = 10; - CGAL::Optimal_bounding_box::internal::Population pop(50); - CGAL::Optimal_bounding_box::internal::Evolution experiment(pop, points); - experiment.evolve(generations); - - Matrix R = experiment.get_best(); - check_equality(Traits::compute_determinant(R), 1); + test_OBB_data(points, expected_vol); } -void test_long_tetrahedron(const std::string fname) +void test_OBB_of_point_set(const std::string fname, + const double expected_vol) { + std::cout << "Test: " << fname << std::endl; + std::ifstream input(fname); - CGAL::Surface_mesh mesh; - if(!input || !(input >> mesh) || mesh.is_empty()) + if(!input) { - std::cerr << fname << " is not a valid off file." << std::endl; + std::cerr << fname << " is not a valid input file." << std::endl; std::exit(1); } - // points in a matrix - Matrix points; - CGAL::Optimal_bounding_box::sm_to_matrix(mesh, points); + std::deque points; + double x, y, z; + while(input >> x >> y >> z) + points.emplace_back(x, y, z); - std::size_t max_generations = 10; - CGAL::Optimal_bounding_box::internal::Population pop(50); - CGAL::Optimal_bounding_box::internal::Evolution experiment(pop, points); - experiment.evolve(max_generations); - - Matrix R = experiment.get_best(); - check_equality(Traits::compute_determinant(R), 1); - check_equality(R(0,0), -1); - check_equality(R(0,1), 0); - check_equality(R(0,2), 0); - check_equality(R(1,0), 0); - check_equality(R(1,1), -0.707107); - check_equality(R(1,2), 0.707106) || assert_doubles(R(1,2), -0.707106); - check_equality(R(2,0), 0); - check_equality(R(2,1), 0.707106) || assert_doubles(R(1,2), -0.707106); - check_equality(R(2,2), 0.707107); -} - -void test_compute_obb_evolution(const std::string fname) -{ - std::ifstream input(fname); - typedef CGAL::Surface_mesh SMesh; - SMesh mesh; - if(!input || !(input >> mesh) || mesh.is_empty()) - { - std::cerr << fname << " is not a valid off file." << std::endl; - std::exit(1); - } - - Traits traits; - std::array obb_points; - CGAL::oriented_bounding_box(sm, obb_points, CGAL::parameters::use_convex_hull(true) - .geom_traits(traits)); - - FT vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); - check_equality(vol, 0.883371); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - CGAL::Surface_mesh result_mesh; - CGAL::make_hexahedron(obb_points[0], obb_points[1], obb_points[2], obb_points[3], - obb_points[4], obb_points[5], obb_points[6], obb_points[7], result_mesh); - - std::ofstream out("data/obb_result.off"); - out << result_mesh; - out.close(); -#endif -} - -void test_compute_obb_mesh(const std::string fname) -{ - std::ifstream input(fname); - CGAL::Surface_mesh mesh; - if(!input || !(input >> mesh) || mesh.is_empty()) - { - std::cerr << fname << " is not a valid off file." << std::endl; - std::exit(1); - } - - CGAL::Surface_mesh obbmesh; - CGAL::oriented_bounding_box(mesh, obbmesh); - -#ifdef CGAL_OPTIMAL_BOUNDING_BOX_DEBUG_TEST - std::ofstream out("/tmp/result_elephant.off"); - out << obbmesh; - out.close(); -#endif -} - -void test_function_defaults_traits(const std::string fname1) -{ - std::ifstream input1(fname1); - CGAL::Surface_mesh mesh1; - if(!input1 || !(input1 >> mesh1) || mesh1.is_empty()) - { - std::cerr << fname1 << " is not a valid off file." << std::endl; - std::exit(1); - } - - std::array obb_points; - CGAL::oriented_bounding_box(sm_points, obb_points, CGAL::parameters::use_convex_hull(true)); - - const FT vol = CGAL::Optimal_bounding_box::calculate_volume(obb_points); - check_equality(vol, 0.883371); + test_OBB_data(points, expected_vol, false /*no convex hull due to degenerate data*/); } int main() { - test_genetic_algorithm(); + std::cout.precision(17); - test_random_unit_tetra(); - test_reference_tetrahedron("data/reference_tetrahedron.off"); - test_long_tetrahedron("data/long_tetrahedron.off"); - test_compute_obb_evolution("data/random_unit_tetra.off"); - test_compute_obb_mesh("data/elephant.off"); - test_function_defaults_traits("data/random_unit_tetra.off"); + test_OBB_of_mesh("data/elephant.off", 0.294296); + test_OBB_of_mesh("data/long_tetrahedron.off", 0.04); + test_OBB_of_mesh("data/reference_tetrahedron.off", 1); + + // degenerate cases + test_OBB_of_mesh("data/triangles.off", 0); // 2D data set + test_OBB_of_mesh("data/flat_mesh.off", 0); // 2D data set + test_OBB_of_point_set("data/points_2D.xyz", 0); // 2D data set + test_OBB_of_point_set("data/points_1D.xyz", 0); // 1D data set + test_OBB_of_point_set("data/points_0D.xyz", 0); // 0D data set + + std::cout << "Done!" << std::endl; return 0; } From 4b04b752e581d64ca85969f4bf74b49fdda733c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mael=20Rouxel-Labb=C3=A9?= Date: Thu, 26 Mar 2020 08:59:39 +0100 Subject: [PATCH 150/150] Update dependencies --- .../package_info/Optimal_bounding_box/dependencies | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies b/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies index 12c0af8bdbb..2939f3c62fa 100644 --- a/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies +++ b/Optimal_bounding_box/package_info/Optimal_bounding_box/dependencies @@ -1,6 +1,7 @@ Algebraic_foundations Arithmetic_kernel BGL +Bounding_volumes Cartesian_kernel Circulator Convex_hull_2 @@ -19,6 +20,8 @@ Kernel_d Modular_arithmetic Number_types Optimal_bounding_box +Optimisation_basic +Polygon Profiling_tools Property_map Random_numbers