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Fix symmetry regularization

This commit is contained in:
Simon Giraudot 2016-04-21 09:41:03 +02:00
parent abf2070f77
commit 5d5778f58e
1 changed files with 14 additions and 8 deletions
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22
Point_set_shape_detection_3/include/CGAL/regularize_planes.h
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@ -284,8 +284,14 @@ void compute_parallel_clusters (PlaneContainer& planes,
while(propagation);
if (symmetry_direction != CGAL::NULL_VECTOR)
clu.cosangle_symmetry = std::fabs(symmetry_direction * clu.normal);
{
clu.cosangle_symmetry = symmetry_direction * clu.normal;
if (clu.cosangle_symmetry < 0.)
{
clu.normal = -clu.normal;
clu.cosangle_symmetry = -clu.cosangle_symmetry;
}
}
}
}
@ -295,7 +301,8 @@ void compute_parallel_clusters (PlaneContainer& planes,
template <typename Traits,
typename PlaneClusterContainer>
void cluster_symmetric_cosangles (PlaneClusterContainer& clusters,
typename Traits::FT tolerance_cosangle)
typename Traits::FT tolerance_cosangle,
typename Traits::FT tolerance_cosangle_ortho)
{
typedef typename Traits::FT FT;
@ -317,7 +324,7 @@ void cluster_symmetric_cosangles (PlaneClusterContainer& clusters,
{
if (list_cluster_index[j] == static_cast<std::size_t>(-1)
&& std::fabs (clusters[j].cosangle_symmetry -
mean / mean_area) < tolerance_cosangle)
mean / mean_area) < tolerance_cosangle_ortho)
{
list_cluster_index[j] = mean_index;
mean_area += clusters[j].area;
@ -332,7 +339,7 @@ void cluster_symmetric_cosangles (PlaneClusterContainer& clusters,
for (std::size_t i = 0; i < cosangle_centroids.size(); ++ i)
{
if (cosangle_centroids[i] < tolerance_cosangle)
if (cosangle_centroids[i] < tolerance_cosangle_ortho)
cosangle_centroids[i] = 0;
else if (cosangle_centroids[i] > 1. - tolerance_cosangle)
cosangle_centroids[i] = 1;
@ -657,7 +664,7 @@ void regularize_planes (const Shape_detection_3::Efficient_RANSAC<EfficientRANSA
//cosangle_centroids and the centroid index of each cluster in
//list_cluster_index
internal::PlaneRegularization::cluster_symmetric_cosangles<EfficientRANSACTraits>
(clusters, tolerance_cosangle);
(clusters, tolerance_cosangle, tolerance_cosangle_ortho);
}
//find subgraphs of mutually orthogonal clusters (store index of
@ -672,7 +679,6 @@ void regularize_planes (const Shape_detection_3::Efficient_RANSAC<EfficientRANSA
{
Vector vec_reg = clusters[i].normal;
for (std::size_t j = 0; j < clusters[i].planes.size(); ++ j)
{
std::size_t index_prim = clusters[i].planes[j];
@ -681,7 +687,7 @@ void regularize_planes (const Shape_detection_3::Efficient_RANSAC<EfficientRANSA
vec_reg=-vec_reg;
Plane plane_reg(pt_reg,vec_reg);
if( std::fabs(planes[index_prim]->plane_normal () * plane_reg.orthogonal_vector ()) > 1. - tolerance_cosangle)
if( std::fabs(planes[index_prim]->plane_normal () * vec_reg) > 1. - tolerance_cosangle)
planes[index_prim]->update (plane_reg);
}
}