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bugfix for non simple input polygons 

deactivated console logging
deactivated data integrity check (based on old data structure)
timing of initializer (creation of ifaces is slow, followed by mapping)
This commit is contained in:
Sven Oesau 2022-11-07 14:47:53 +01:00
parent 27f4ba7293
commit b6082e2bc5
6 changed files with 81 additions and 82 deletions
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109
Kinetic_shape_reconstruction/include/CGAL/KSR_3/Data_structure.h
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@ -506,16 +506,16 @@ public:
//std::cout << "kinetic segments on intersection line" << std::endl;
std::cout << edge << std::endl;
std::cout << point_3(m_intersection_graph.source(edge)) << " ";
std::cout << point_3(m_intersection_graph.target(edge)) << std::endl;
std::cout << std::endl;
//std::cout << edge << std::endl;
//std::cout << point_3(m_intersection_graph.source(edge)) << " ";
//std::cout << point_3(m_intersection_graph.target(edge)) << std::endl;
//std::cout << std::endl;
std::cout << "centroid source" << std::endl;
std::cout << point_3(m_intersection_graph.source(edge)) << " " << sp.to_3d(sp.data().centroid) << std::endl;
std::cout << "centroid target" << std::endl;
std::cout << point_3(m_intersection_graph.target(edge)) << " " << sp.to_3d(sp.data().centroid) << std::endl;
std::cout << std::endl;
//std::cout << "centroid source" << std::endl;
//std::cout << point_3(m_intersection_graph.source(edge)) << " " << sp.to_3d(sp.data().centroid) << std::endl;
//std::cout << "centroid target" << std::endl;
//std::cout << point_3(m_intersection_graph.target(edge)) << " " << sp.to_3d(sp.data().centroid) << std::endl;
//std::cout << std::endl;
// Just intersect all vertex rays with the line of the edge and interpolate? accurate? It is linear, so it should be accurate.
Point_2 s = sp.to_2d(point_3(m_intersection_graph.source(edge)));
@ -541,16 +541,9 @@ public:
else
event.face = faces.first;
//original_directions is ordered in ascending order
Vector_2 tos = s - centroid;
tos = tos * (1.0 / sqrt(tos * tos));
Vector_2 tot = t - centroid;
tot = tot * (1.0 / sqrt(tot * tot));
for (std::size_t i = 0; i < sp.data().original_directions.size(); i++) {
Vector_2 tmp = sp.data().original_directions[i].vector();
std::cout << "2 " << sp.to_3d(centroid + tmp) << " " << sp.to_3d(centroid) << std::endl;
//std::cout << "2 " << sp.to_3d(centroid + tmp) << " " << sp.to_3d(centroid) << std::endl;
//std::cout << sp.to_3d(sp.data().original_vertices[i]) << " " << sp.data().centroid << std::endl;
if (source_idx == -1 && sp.data().original_directions[i] > to_source)
source_idx = i;
@ -584,17 +577,15 @@ public:
const EK::Point_2* p = nullptr;
if (p = boost::get<EK::Point_2>(&*result)) {
FT l = CGAL::sqrt(sp.data().original_vectors[idx].squared_length());
std::cout << "i " << sp.to_3d(to_inexact(sp.data().original_rays[idx].point(0))) << " " << sp.to_3d(to_inexact(*p)) << std::endl;
//std::cout << "i " << sp.to_3d(to_inexact(sp.data().original_rays[idx].point(0))) << " " << sp.to_3d(to_inexact(*p)) << std::endl;
double l2 = CGAL::to_double((*p - sp.data().original_rays[idx].point(0)).squared_length());
time[i] = l2 / l;
CGAL_assertion(0 < time[i]);
CGAL_assertion(0 <= time[i]);
intersections[i] = to_inexact(*p);
intersections_bary[i] = ((to_inexact(*p) - s) * segment) / segment_length;
//std::cout << "intersection t:" << time[i] << " at " << intersections_bary[i] << " p: " << sp.to_3d(intersections[i]) << std::endl;
}
else {
std::cout << "no intersection, NYI" << std::endl;
}
// If the intersection is a segment, it can be safely ignored as there are also two intersections with the adjacent edges.
}
// Calculate pedge vs ivertex collision
@ -604,10 +595,10 @@ public:
if (source_idx == upper) {
// Moving direction of pedges is orthogonal to their direction
// Direction of pedge 1
std::cout << "lower for source_idx == upper:" << std::endl;
std::cout << sp.to_3d(sp.data().original_vertices[lower]) << " ";
std::cout << sp.to_3d(sp.data().original_vertices[(lower + 1) % sp.data().original_vertices.size()]) << std::endl;
std::cout << "target: " << point_3(m_intersection_graph.target(edge)) << " ";
//std::cout << "lower for source_idx == upper:" << std::endl;
//std::cout << sp.to_3d(sp.data().original_vertices[lower]) << " ";
//std::cout << sp.to_3d(sp.data().original_vertices[(lower + 1) % sp.data().original_vertices.size()]) << std::endl;
//std::cout << "target: " << point_3(m_intersection_graph.target(edge)) << " ";
Vector_2 dir = sp.data().original_vertices[lower] - sp.data().original_vertices[(lower + 1) % sp.data().original_vertices.size()];
// Normalize
dir = dir / CGAL::sqrt(dir * dir);
@ -622,16 +613,16 @@ public:
// Distance from edge to endpoint of iedge
FT dist = (t - sp.data().original_vertices[lower]) * dir;
Point_3 vis = sp.to_3d(t - (dist * dir));
std::cout << vis << std::endl;
//std::cout << vis << std::endl;
edge_time[0] = dist / speed;
CGAL_assertion(0 < edge_time[0]);
CGAL_assertion(0 <= edge_time[0]);
//std::cout << "time: " << edge_time[0] << std::endl;
// Same for the upper boundary edge.
std::cout << "upper for source_idx == upper:" << std::endl;
std::cout << sp.to_3d(sp.data().original_vertices[(upper + sp.data().original_vertices.size() - 1) % sp.data().original_vertices.size()]) << " ";
std::cout << sp.to_3d(sp.data().original_vertices[upper]) << std::endl;
std::cout << "source: " << point_3(m_intersection_graph.source(edge)) << " ";
//std::cout << "upper for source_idx == upper:" << std::endl;
//std::cout << sp.to_3d(sp.data().original_vertices[(upper + sp.data().original_vertices.size() - 1) % sp.data().original_vertices.size()]) << " ";
//std::cout << sp.to_3d(sp.data().original_vertices[upper]) << std::endl;
//std::cout << "source: " << point_3(m_intersection_graph.source(edge)) << " ";
dir = sp.data().original_vertices[(upper + sp.data().original_vertices.size() - 1) % sp.data().original_vertices.size()] - sp.data().original_vertices[upper];
// Normalize
dir = dir / CGAL::sqrt(dir * dir);
@ -646,9 +637,9 @@ public:
// Distance from edge to endpoint of iedge
dist = (s - sp.data().original_vertices[upper]) * dir;
vis = sp.to_3d(s - (dist * dir));
std::cout << vis << std::endl;
//std::cout << vis << std::endl;
edge_time[1] = dist / speed;
CGAL_assertion(0 < edge_time[1]);
CGAL_assertion(0 <= edge_time[1]);
//std::cout << "time: " << edge_time[1] << std::endl;
event.time = edge_time[1];
@ -673,10 +664,10 @@ public:
}
else {
// Moving direction of pedges is orthogonal to their direction
std::cout << "lower for source_idx == lower:" << std::endl;
std::cout << sp.to_3d(sp.data().original_vertices[lower]) << " ";
std::cout << sp.to_3d(sp.data().original_vertices[(lower + 1) % sp.data().original_vertices.size()]) << std::endl;
std::cout << "source: " << point_3(m_intersection_graph.source(edge)) << " ";
//std::cout << "lower for source_idx == lower:" << std::endl;
//std::cout << sp.to_3d(sp.data().original_vertices[lower]) << " ";
//std::cout << sp.to_3d(sp.data().original_vertices[(lower + 1) % sp.data().original_vertices.size()]) << std::endl;
//std::cout << "source: " << point_3(m_intersection_graph.source(edge)) << " ";
Vector_2 dir = sp.data().original_vertices[lower] - sp.data().original_vertices[(lower + 1) % sp.data().original_directions.size()];
// Normalize
dir = dir / CGAL::sqrt(dir * dir);
@ -691,16 +682,16 @@ public:
// Distance from edge to endpoint of iedge
FT dist = (s - sp.data().original_vertices[lower]) * dir;
Point_3 vis = sp.to_3d(s - (dist * dir));
std::cout << vis << std::endl;
//std::cout << vis << std::endl;
edge_time[0] = dist / speed;
CGAL_assertion(0 < edge_time[0]);
CGAL_assertion(0 <= edge_time[0]);
//std::cout << "time: " << edge_time[0] << std::endl;
// Same for the upper boundary edge.
std::cout << "upper for source_idx == lower:" << std::endl;
std::cout << sp.to_3d(sp.data().original_vertices[(upper + sp.data().original_vertices.size() - 1) % sp.data().original_vertices.size()]) << " ";
std::cout << sp.to_3d(sp.data().original_vertices[upper]) << std::endl;
std::cout << "target: " << point_3(m_intersection_graph.target(edge)) << " ";
//std::cout << "upper for source_idx == lower:" << std::endl;
//std::cout << sp.to_3d(sp.data().original_vertices[(upper + sp.data().original_vertices.size() - 1) % sp.data().original_vertices.size()]) << " ";
//std::cout << sp.to_3d(sp.data().original_vertices[upper]) << std::endl;
//std::cout << "target: " << point_3(m_intersection_graph.target(edge)) << " ";
dir = sp.data().original_vertices[(upper + sp.data().original_directions.size() - 1) % sp.data().original_directions.size()] - sp.data().original_vertices[upper];
// Normalize
dir = dir / CGAL::sqrt(dir * dir);
@ -715,9 +706,9 @@ public:
// Distance from edge to endpoint of iedge
dist = (t - sp.data().original_vertices[upper]) * dir;
vis = sp.to_3d(t - (dist * dir));
std::cout << vis << std::endl;
//std::cout << vis << std::endl;
edge_time[1] = dist / speed;
CGAL_assertion(0 < edge_time[1]);
CGAL_assertion(0 <= edge_time[1]);
//std::cout << "time: " << edge_time[1] << std::endl;
event.time = edge_time[0];
@ -741,7 +732,7 @@ public:
}
}
std::cout << "new event: sp " << event.support_plane << " f " << event.face << " edge " << event.crossed_edge << " t " << event.time << std::endl;
//std::cout << "new event: sp " << event.support_plane << " f " << event.face << " edge " << event.crossed_edge << " t " << event.time << std::endl;
CGAL_assertion(0 <= event.intersection_bary && event.intersection_bary <= 1);
@ -1080,7 +1071,7 @@ public:
CGAL_assertion(points.size() == polygon.size());
preprocess(points);
//const auto centroid = sort_points_by_direction(points);
sort_points_by_direction(points);
support_plane(support_plane_idx).
add_input_polygon(points, input_indices, support_plane_idx);
for (const std::size_t input_index : input_indices) {
@ -1202,21 +1193,6 @@ public:
template<typename Pair>
void sort_points_by_direction(std::vector<Pair>& points) const {
// Naive version.
// const auto centroid = CGAL::centroid(points.begin(), points.end());
// Better version.
// using TRI = CGAL::Delaunay_triangulation_2<Kernel>;
// TRI tri(points.begin(), points.end());
// std::vector<Triangle_2> triangles;
// triangles.reserve(tri.number_of_faces());
// for (auto fit = tri.finite_faces_begin(); fit != tri.finite_faces_end(); ++fit) {
// triangles.push_back(Triangle_2(
// fit->vertex(0)->point(), fit->vertex(1)->point(), fit->vertex(2)->point()));
// }
// const auto centroid = CGAL::centroid(triangles.begin(), triangles.end());
FT x = FT(0), y = FT(0);
for (const auto& pair : points) {
const auto& point = pair.first;
@ -1225,15 +1201,14 @@ public:
}
x /= static_cast<FT>(points.size());
y /= static_cast<FT>(points.size());
const Point_2 centroid(x, y);
const Point_2 mid(x, y);
std::sort(points.begin(), points.end(),
[&](const Pair& a, const Pair& b) -> bool {
const Segment_2 sega(centroid, a.first);
const Segment_2 segb(centroid, b.first);
const Segment_2 sega(mid, a.first);
const Segment_2 segb(mid, b.first);
return ( Direction_2(sega) < Direction_2(segb) );
});
return centroid;
}
/*******************************

4
Kinetic_shape_reconstruction/include/CGAL/KSR_3/FacePropagation.h
View File

@ -552,9 +552,9 @@ private:
}
void apply(const FaceEvent& event) {
std::cout << "support plane: " << event.support_plane << " edge: " << event.crossed_edge << " t: " << event.time << std::endl;
//std::cout << "support plane: " << event.support_plane << " edge: " << event.crossed_edge << " t: " << event.time << std::endl;
if (m_data.igraph().face(event.face).part_of_partition) {
std::cout << " face already crossed, skipping event" << std::endl;
//std::cout << " face already crossed, skipping event" << std::endl;
return;
}

2
Kinetic_shape_reconstruction/include/CGAL/KSR_3/Finalizer.h
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@ -117,7 +117,7 @@ public:
const bool should_be_removed = false;
std::size_t num_hanging_pfaces = detect_hanging_pfaces(should_be_removed);
if (num_hanging_pfaces >= stop_value) {
if (false && num_hanging_pfaces >= stop_value) {
if (m_parameters.verbose) {
std::cout << "* number of hanging pfaces: " << num_hanging_pfaces << std::endl;
}

38
Kinetic_shape_reconstruction/include/CGAL/KSR_3/Initializer.h
View File

@ -90,7 +90,10 @@ public:
typename PolygonMap>
double initialize(const InputRange& input_range, const PolygonMap polygon_map) {
Timer timer;
FT time_step;
timer.reset();
timer.start();
std::array<Point_3, 8> bbox;
create_bounding_box(
input_range, polygon_map,
@ -99,10 +102,13 @@ public:
if (m_parameters.verbose) {
std::cout << "* precomputed time_step: " << time_step << std::endl;
}
const double time_to_bbox = timer.time();
std::vector< std::vector<Point_3> > bbox_faces;
bounding_box_to_polygons(bbox, bbox_faces);
const double time_to_bbox_poly = timer.time();
add_polygons(input_range, polygon_map, bbox_faces);
const double time_to_add_polys = timer.time();
m_data.igraph().finished_bbox();
@ -114,17 +120,22 @@ public:
CGAL_assertion(m_data.check_integrity(false));
make_polygons_intersection_free();
const double time_to_intersection = timer.time();
// Generation of ifaces
create_ifaces();
const double time_to_ifaces = timer.time();
initial_polygon_iedge_intersections();
const double time_to_initial_intersections = timer.time();
map_polygon_to_ifaces();
const double time_to_map_ifaces = timer.time();
// Starting from here the intersection graph is const, it won't change anymore.
CGAL_assertion(m_data.check_integrity(false));
set_k_intersections(m_parameters.k);
const double time_to_set_k = timer.time();
if (m_parameters.verbose) std::cout << "done" << std::endl;
if (m_parameters.debug) {
@ -143,11 +154,22 @@ public:
// }
CGAL_assertion(m_data.check_bbox());
m_data.set_limit_lines();
//m_data.set_limit_lines();
m_data.precompute_iedge_data();
const double time_to_precompute = timer.time();
CGAL_assertion(m_data.check_integrity());
CGAL_assertion(m_data.check_intersection_graph());
std::cout << time_to_bbox << "s for bbox" << std::endl;
std::cout << (time_to_bbox_poly - time_to_bbox) << "s for bbox poly" << std::endl;
std::cout << (time_to_add_polys - time_to_bbox_poly) << "s for add poly" << std::endl;
std::cout << (time_to_intersection - time_to_add_polys) << "s for intersection free" << std::endl;
std::cout << (time_to_ifaces - time_to_intersection) << "s for ifaces" << std::endl;
std::cout << (time_to_initial_intersections - time_to_ifaces) << "s for initial intersections" << std::endl;
std::cout << (time_to_map_ifaces - time_to_initial_intersections) << "s for map ifaces" << std::endl;
std::cout << (time_to_set_k - time_to_map_ifaces) << "s for set k" << std::endl;
std::cout << (time_to_precompute - time_to_set_k) << "s for precompute iedge data" << std::endl;
return CGAL::to_double(time_step);
}
@ -1146,7 +1168,7 @@ void initial_polygon_iedge_intersections() {
Polygon_splitter splitter(m_data, m_parameters);
splitter.split_support_plane(i);
// if (i >= 6 && m_parameters.export_all) {
KSR_3::dump(m_data, "intersected-iter-" + std::to_string(i));
//KSR_3::dump(m_data, "intersected-iter-" + std::to_string(i));
// }
}
// exit(EXIT_SUCCESS);
@ -1160,7 +1182,7 @@ void initial_polygon_iedge_intersections() {
for (std::size_t i = 6; i < m_data.support_planes().size(); i++) {
auto& sp = m_data.support_plane(i);
std::cout << "Support plane " << i << " has " << sp.mesh().faces().size() << " faces" << std::endl;
//std::cout << "Support plane " << i << " has " << sp.mesh().faces().size() << " faces" << std::endl;
CGAL_assertion(sp.mesh().faces().size() == 1);
// Turn single PFace into Polygon_2
@ -1198,10 +1220,10 @@ void initial_polygon_iedge_intersections() {
}
j++;
}
std::cout << "Support plane " << i << " has faces: ";
for (auto f : faces)
std::cout << f << " ";
std::cout << std::endl;
//std::cout << "Support plane " << i << " has faces: ";
//for (auto f : faces)
// std::cout << f << " ";
//std::cout << std::endl;
// Setting crossed edges
/*
@ -1225,7 +1247,7 @@ void initial_polygon_iedge_intersections() {
}
}*/
dump_2d_surface_mesh(m_data, i, "map-surface-mesh-" + std::to_string(i));
//dump_2d_surface_mesh(m_data, i, "map-surface-mesh-" + std::to_string(i));
}
}

4
Kinetic_shape_reconstruction/include/CGAL/KSR_3/Support_plane.h
View File

@ -399,7 +399,7 @@ public:
if (n == Mesh::null_halfedge()) {
std::cout << " NULL_HALFEDGE!";
}
std::cout << "edges: " << border.size() << std::endl;
//std::cout << "edges: " << border.size() << std::endl;
}
void get_border(Intersection_graph& igraph, const Face_index &fi, std::vector<IEdge>& border) {
@ -420,7 +420,7 @@ public:
if (h == Mesh::null_halfedge()) {
std::cout << " NULL_HALFEDGE!";
}
std::cout << "edges: " << border.size() << std::endl;
//std::cout << "edges: " << border.size() << std::endl;
}
Data& data() { return *m_data; }

6
Kinetic_shape_reconstruction/include/CGAL/Kinetic_shape_reconstruction_3.h
View File

@ -182,6 +182,7 @@ public:
std::tie(num_queue_calls, m_num_events) = propagation.propagate(time_step);
timer.stop();
const double time_to_propagate = timer.time();
std::cout << time_to_propagate << "s for propagation" << std::endl;
if (m_parameters.verbose) {
std::cout << "* propagation finished" << std::endl;
@ -196,7 +197,9 @@ public:
// Finalization.
timer.reset();
timer.start();
if (m_parameters.debug) dump(m_data, "jiter-final-a-result");
if (m_parameters.debug) dump(m_data, "final-" + m_parameters.k);
return true;
Finalizer finalizer(m_data, m_parameters);
//finalizer.clean();
@ -235,7 +238,6 @@ public:
std::cout << "* finalization: " << time_to_finalize << std::endl;
std::cout << "* total time: " << total_time << std::endl;
}
return true;
}