mirror of https://github.com/CGAL/cgal
Merge remote-tracking branch 'cgal/6.0.x-branch'
This commit is contained in:
Sébastien Loriot
commit
4ceec7daa5
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@ -283,6 +283,8 @@ requires solving complex non-linear least squares problems.
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Visit the official website of the library at <A HREF="http://ceres-solver.org/index.html">`ceres-solver.org`</A>
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for more information.
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\attention \ceres requires to be compiled with the exact same version of \eigen that is used for \cgal.
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\attention \ceres indicates that `glog` is a recommended dependency. `glog` has `libunwind` as a recommended dependency.
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On some platforms, linking with `libunwind` was responsible for an increase of the runtime of the final application.
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If you experience such an issue, we recommend to compile \ceres without `glog` support.
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@ -309,7 +311,7 @@ The \scip web site is <A HREF="https://www.scipopt.org/">`https://www.scipopt.or
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\osqp (Operator Splitting Quadratic Program) is currently one of the fastest open source solvers for convex Quadratic Programs (QP).
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In \cgal, \osqp provides an optional solver for the QP problems often arising in various computational geometry algorithms.
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In \cgal, \osqp provides an optional solver for the quadratic programming used in the \ref PkgShapeRegularization package.
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In order to use \osqp in \cgal programs, the executables should be linked with the CMake imported target `CGAL::OSQP_support` provided in `CGAL_OSQP_support.cmake`.
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The \osqp web site is <A HREF="https://osqp.org">`https://osqp.org`</A>.
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@ -289,9 +289,8 @@ public:
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m_initial_intervals.resize(e.size());
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std::size_t idx = 0;
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for (const auto& edge : e) {
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for (const auto& edge : e)
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m_initial_intervals[idx++] = m_graph[edge].intervals;
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}
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m_initial_part_of_partition.resize(m_ifaces.size());
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for (idx = 0; idx < m_ifaces.size(); idx++)
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@ -303,9 +302,8 @@ public:
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CGAL_assertion(e.size() == m_initial_intervals.size());
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std::size_t idx = 0;
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for (auto edge : e) {
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m_graph[edge].intervals = m_initial_intervals[idx];
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}
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for (auto edge : e)
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m_graph[edge].intervals = m_initial_intervals[idx++];
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CGAL_assertion(m_ifaces.size() == m_initial_part_of_partition.size());
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for (idx = 0; idx < m_ifaces.size(); idx++)
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@ -731,7 +731,7 @@ public:
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}
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if (m_parameters.verbose)
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std::cout << "ksp v: " << m_partition_nodes[0].m_data->vertices().size() << " f: " << m_partition_nodes[0].face2vertices.size() << " vol: " << m_volumes.size() << std::endl;
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std::cout << "ksp v: " << m_partition_nodes[0].m_data->vertices().size() << " f: " << m_partition_nodes[0].face2vertices.size() << " vol: " << m_volumes.size() << std::endl;
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return;
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}
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@ -284,9 +284,9 @@ Building_C
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<TD class="math" ALIGN=RIGHT NOWRAP>
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3.432
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<TD class="math" ALIGN=RIGHT NOWRAP>
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370
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369
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<TD class="math" ALIGN=RIGHT NOWRAP>
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1.466
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1.457
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<TD class="math" ALIGN=RIGHT NOWRAP>
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40,1
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<TD class="math" ALIGN=RIGHT NOWRAP>
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@ -376,10 +376,10 @@ Meeting Room
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<TD class="math" ALIGN=RIGHT NOWRAP>
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15
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,03
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<TD class="math" ALIGN=RIGHT NOWRAP>
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10
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,03
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<TD class="math" ALIGN=RIGHT NOWRAP>
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3
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,5
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@ -396,10 +396,10 @@ Full Thing
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<TD class="math" ALIGN=RIGHT NOWRAP>
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12
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,05
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<TD class="math" ALIGN=RIGHT NOWRAP>
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3
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,05
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<TD class="math" ALIGN=RIGHT NOWRAP>
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1
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,5
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@ -416,10 +416,10 @@ Hilbert cube
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<TD class="math" ALIGN=RIGHT NOWRAP>
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12
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,03
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<TD class="math" ALIGN=RIGHT NOWRAP>
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5
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,03
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<TD class="math" ALIGN=RIGHT NOWRAP>
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4
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,5
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@ -456,10 +456,10 @@ Building_C
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<TD class="math" ALIGN=RIGHT NOWRAP>
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15
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,5
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<TD class="math" ALIGN=RIGHT NOWRAP>
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3
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,5
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<TD class="math" ALIGN=RIGHT NOWRAP>
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2
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<TD class="math" ALIGN=RIGHT NOWRAP>
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0,77
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@ -171,15 +171,10 @@ int main(const int argc, const char** argv) {
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timer.start();
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std::size_t num_shapes = ksr.detect_planar_shapes(param);
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std::cout << num_shapes << " detected planar shapes" << std::endl;
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std::cout << num_shapes << " regularized detected planar shapes" << std::endl;
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FT after_shape_detection = timer.time();
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ksr.initialize_partition(param);
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FT after_init = timer.time();
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ksr.partition(parameters.k_intersections);
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FT after_partition = timer.time();
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@ -198,6 +193,8 @@ int main(const int argc, const char** argv) {
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FT after_reconstruction = timer.time();
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std::cout << polylist.size() << " polygons, " << vtx.size() << " vertices" << std::endl;
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if (polylist.size() > 0)
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_lambda) + (parameters.use_ground ? "_g" : "_") + ".off", vtx, polylist);
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@ -220,19 +217,16 @@ int main(const int argc, const char** argv) {
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else
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ksr.reconstruct(l, external_nodes, std::back_inserter(vtx), std::back_inserter(polylist));
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if (polylist.size() > 0) {
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non_empty = true;
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(l) + (parameters.use_ground ? "_g" : "_") + ".off", vtx, polylist);
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}
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}
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std::cout << "Shape detection: " << after_shape_detection << " seconds!" << std::endl;
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std::cout << "Kinetic partition: " << (after_partition - after_shape_detection) << " seconds!" << std::endl;
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std::cout << " initialization: " << (after_init - after_shape_detection) << " seconds!" << std::endl;
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std::cout << " partition: " << (after_partition - after_init) << " seconds!" << std::endl;
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std::cout << "Kinetic reconstruction: " << (after_reconstruction - after_partition) << " seconds!" << std::endl;
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std::cout << "Total time: " << time << " seconds!" << std::endl << std::endl;
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std::cout << "Shape detection and initialization\nof kinetic partition: " << after_shape_detection << " seconds!" << std::endl;
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std::cout << "Kinetic partition: " << (after_partition - after_shape_detection) << " seconds!" << std::endl;
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std::cout << "Kinetic reconstruction: " << (after_reconstruction - after_partition) << " seconds!" << std::endl;
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std::cout << "Total time: " << time << " seconds!" << std::endl << std::endl;
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return (non_empty) ? EXIT_SUCCESS : EXIT_FAILURE;
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}
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@ -627,7 +627,6 @@ private:
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std::vector<std::pair<std::size_t, std::size_t> > m_volume_votes; // pair<inside, outside> votes
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std::vector<bool> m_volume_below_ground;
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std::vector<std::vector<double> > m_cost_matrix;
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std::vector<FT> m_volumes; // normalized volume of each kinetic volume
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std::vector<std::size_t> m_labels;
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std::size_t m_total_inliers;
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@ -747,9 +746,9 @@ private:
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std::cout << "* computing data term ... ";
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std::size_t max_inside = 0, max_outside = 0;
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for (std::size_t i = 0; i < m_volumes.size(); i++) {
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max_inside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[0][i + 6]), max_inside);
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max_outside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[1][i + 6]), max_outside);
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for (std::size_t i = 6; i < m_cost_matrix[0].size(); i++) {
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max_inside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[0][i]), max_inside);
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max_outside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[1][i]), max_outside);
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}
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// Dump volumes colored by votes
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@ -1743,55 +1742,14 @@ private:
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return face_area;
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}
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FT volume(typename LCC::Dart_descriptor volume_dart) {
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FT x = 0, y = 0, z = 0;
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std::size_t count = 0;
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From_exact from_exact;
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// Collect vertices to obtain point on the inside.
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for (auto& fd : m_lcc.template one_dart_per_incident_cell<2, 3>(volume_dart)) {
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typename LCC::Dart_descriptor fdh = m_lcc.dart_descriptor(fd);
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for (const auto& vd : m_lcc.template one_dart_per_incident_cell<0, 2>(fdh)) {
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const auto &p = from_exact(m_lcc.point(m_lcc.dart_descriptor(vd)));
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x += p.x();
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y += p.y();
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z += p.z();
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count++;
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}
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}
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Point_3 center(x / count, y / count, z / count);
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FT vol = 0;
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// Second iteration for computing the area of each face and the volume spanned with the center point.
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for (auto& fd : m_lcc.template one_dart_per_incident_cell<2, 3>(volume_dart)) {
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typename LCC::Dart_descriptor fdh = m_lcc.dart_descriptor(fd);
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Plane_3 plane;
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FT a = area(fdh, plane);
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Vector_3 n = plane.orthogonal_vector();
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FT distance = CGAL::abs((plane.point() - center) * n);
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vol += distance * a / 3.0;
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}
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return vol;
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}
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void count_volume_votes_lcc() {
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// const int debug_volume = -1;
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FT total_volume = 0;
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std::size_t num_volumes = m_kinetic_partition.number_of_volumes();
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m_volume_votes.clear();
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m_volume_votes.resize(num_volumes, std::make_pair(0, 0));
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m_volumes.resize(num_volumes, 0);
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for (std::size_t i = 6; i < num_volumes; i++) {
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for (std::size_t i = 6; i < num_volumes; i++)
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m_cost_matrix[0][i] = m_cost_matrix[1][i] = 0;
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m_volumes[i] = 0;
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}
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From_exact from_exact;
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@ -1829,28 +1787,15 @@ private:
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m_cost_matrix[1][v[j] + 6] += static_cast<double>(out[j]);
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}
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}
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for (auto& d : m_lcc.template one_dart_per_cell<3>()) {
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typename LCC::Dart_descriptor dh = m_lcc.dart_descriptor(d);
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std::size_t volume_index = m_lcc.template info<3>(dh).volume_id;
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m_volumes[volume_index] = volume(dh);
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total_volume += m_volumes[volume_index];
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}
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// Normalize volumes
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for (FT& v : m_volumes)
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v /= total_volume;
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}
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template<typename NamedParameters>
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void create_planar_shapes(const NamedParameters& np) {
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if (m_points.size() < 3) {
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if (m_verbose) std::cout << "* no points found, skipping" << std::endl;
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return;
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}
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if (m_verbose) std::cout << "* getting planar shapes using region growing" << std::endl;
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FT xmin, ymin, zmin, xmax, ymax, zmax;
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