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[KSP & KSR] Bugfixes and doc update (#8613) 

## Summary of Changes

Fixed redundant initialization of kinetic space partition
Removed unnecessary computations
Fixed and updated doc 

## Release Management

* Affected package(s): Kinetic Space Partition, Kinetic Surface
Reconstruction
* Issue(s) solved (if any): fix #8594
This commit is contained in:
Sebastien Loriot 2024-11-20 08:50:55 +01:00 committed by GitHub
parent f692014d1c c71488fcaf
commit d0bdc70a0e
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
5 changed files with 26 additions and 89 deletions
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8
Kinetic_space_partition/include/CGAL/KSP_3/Intersection_graph.h
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@ -289,9 +289,8 @@ public:
m_initial_intervals.resize(e.size());
std::size_t idx = 0;
for (const auto& edge : e) {
for (const auto& edge : e)
m_initial_intervals[idx++] = m_graph[edge].intervals;
}
m_initial_part_of_partition.resize(m_ifaces.size());
for (idx = 0; idx < m_ifaces.size(); idx++)
@ -303,9 +302,8 @@ public:
CGAL_assertion(e.size() == m_initial_intervals.size());
std::size_t idx = 0;
for (auto edge : e) {
m_graph[edge].intervals = m_initial_intervals[idx];
}
for (auto edge : e)
m_graph[edge].intervals = m_initial_intervals[idx++];
CGAL_assertion(m_ifaces.size() == m_initial_part_of_partition.size());
for (idx = 0; idx < m_ifaces.size(); idx++)

2
Kinetic_space_partition/include/CGAL/Kinetic_space_partition_3.h
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@ -731,7 +731,7 @@ public:
}
if (m_parameters.verbose)
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;
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;
return;
}

20
Kinetic_surface_reconstruction/doc/Kinetic_surface_reconstruction/Kinetic_surface_reconstruction.txt
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@ -284,9 +284,9 @@ Building_C
<TD class="math" ALIGN=RIGHT NOWRAP>
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<TD class="math" ALIGN=RIGHT NOWRAP>
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<TD class="math" ALIGN=RIGHT NOWRAP>
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@ -376,10 +376,10 @@ Meeting Room
<TD class="math" ALIGN=RIGHT NOWRAP>
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@ -396,10 +396,10 @@ Full Thing
<TD class="math" ALIGN=RIGHT NOWRAP>
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@ -416,10 +416,10 @@ Hilbert cube
<TD class="math" ALIGN=RIGHT NOWRAP>
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@ -456,10 +456,10 @@ Building_C
<TD class="math" ALIGN=RIGHT NOWRAP>
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0,77

20
Kinetic_surface_reconstruction/examples/Kinetic_surface_reconstruction/ksr_parameters.cpp
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@ -171,15 +171,10 @@ int main(const int argc, const char** argv) {
timer.start();
std::size_t num_shapes = ksr.detect_planar_shapes(param);
std::cout << num_shapes << " detected planar shapes" << std::endl;
std::cout << num_shapes << " regularized detected planar shapes" << std::endl;
FT after_shape_detection = timer.time();
ksr.initialize_partition(param);
FT after_init = timer.time();
ksr.partition(parameters.k_intersections);
FT after_partition = timer.time();
@ -198,6 +193,8 @@ int main(const int argc, const char** argv) {
FT after_reconstruction = timer.time();
std::cout << polylist.size() << " polygons, " << vtx.size() << " vertices" << std::endl;
if (polylist.size() > 0)
CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_lambda) + (parameters.use_ground ? "_g" : "_") + ".off", vtx, polylist);
@ -220,19 +217,16 @@ int main(const int argc, const char** argv) {
else
ksr.reconstruct(l, external_nodes, std::back_inserter(vtx), std::back_inserter(polylist));
if (polylist.size() > 0) {
non_empty = true;
CGAL::IO::write_polygon_soup("polylist_" + std::to_string(l) + (parameters.use_ground ? "_g" : "_") + ".off", vtx, polylist);
}
}
std::cout << "Shape detection: " << after_shape_detection << " seconds!" << std::endl;
std::cout << "Kinetic partition: " << (after_partition - after_shape_detection) << " seconds!" << std::endl;
std::cout << " initialization: " << (after_init - after_shape_detection) << " seconds!" << std::endl;
std::cout << " partition: " << (after_partition - after_init) << " seconds!" << std::endl;
std::cout << "Kinetic reconstruction: " << (after_reconstruction - after_partition) << " seconds!" << std::endl;
std::cout << "Total time: " << time << " seconds!" << std::endl << std::endl;
std::cout << "Shape detection and initialization\nof kinetic partition: " << after_shape_detection << " seconds!" << std::endl;
std::cout << "Kinetic partition: " << (after_partition - after_shape_detection) << " seconds!" << std::endl;
std::cout << "Kinetic reconstruction: " << (after_reconstruction - after_partition) << " seconds!" << std::endl;
std::cout << "Total time: " << time << " seconds!" << std::endl << std::endl;
return (non_empty) ? EXIT_SUCCESS : EXIT_FAILURE;
}

65
Kinetic_surface_reconstruction/include/CGAL/Kinetic_surface_reconstruction_3.h
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@ -627,7 +627,6 @@ private:
std::vector<std::pair<std::size_t, std::size_t> > m_volume_votes; // pair<inside, outside> votes
std::vector<bool> m_volume_below_ground;
std::vector<std::vector<double> > m_cost_matrix;
std::vector<FT> m_volumes; // normalized volume of each kinetic volume
std::vector<std::size_t> m_labels;
std::size_t m_total_inliers;
@ -747,9 +746,9 @@ private:
std::cout << "* computing data term ... ";
std::size_t max_inside = 0, max_outside = 0;
for (std::size_t i = 0; i < m_volumes.size(); i++) {
max_inside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[0][i + 6]), max_inside);
max_outside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[1][i + 6]), max_outside);
for (std::size_t i = 6; i < m_cost_matrix[0].size(); i++) {
max_inside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[0][i]), max_inside);
max_outside = (std::max<std::size_t>)(static_cast<std::size_t>(m_cost_matrix[1][i]), max_outside);
}
// Dump volumes colored by votes
@ -1743,55 +1742,14 @@ private:
return face_area;
}
FT volume(typename LCC::Dart_descriptor volume_dart) {
FT x = 0, y = 0, z = 0;
std::size_t count = 0;
From_exact from_exact;
// Collect vertices to obtain point on the inside.
for (auto& fd : m_lcc.template one_dart_per_incident_cell<2, 3>(volume_dart)) {
typename LCC::Dart_descriptor fdh = m_lcc.dart_descriptor(fd);
for (const auto& vd : m_lcc.template one_dart_per_incident_cell<0, 2>(fdh)) {
const auto &p = from_exact(m_lcc.point(m_lcc.dart_descriptor(vd)));
x += p.x();
y += p.y();
z += p.z();
count++;
}
}
Point_3 center(x / count, y / count, z / count);
FT vol = 0;
// Second iteration for computing the area of each face and the volume spanned with the center point.
for (auto& fd : m_lcc.template one_dart_per_incident_cell<2, 3>(volume_dart)) {
typename LCC::Dart_descriptor fdh = m_lcc.dart_descriptor(fd);
Plane_3 plane;
FT a = area(fdh, plane);
Vector_3 n = plane.orthogonal_vector();
FT distance = CGAL::abs((plane.point() - center) * n);
vol += distance * a / 3.0;
}
return vol;
}
void count_volume_votes_lcc() {
// const int debug_volume = -1;
FT total_volume = 0;
std::size_t num_volumes = m_kinetic_partition.number_of_volumes();
m_volume_votes.clear();
m_volume_votes.resize(num_volumes, std::make_pair(0, 0));
m_volumes.resize(num_volumes, 0);
for (std::size_t i = 6; i < num_volumes; i++) {
for (std::size_t i = 6; i < num_volumes; i++)
m_cost_matrix[0][i] = m_cost_matrix[1][i] = 0;
m_volumes[i] = 0;
}
From_exact from_exact;
@ -1829,28 +1787,15 @@ private:
m_cost_matrix[1][v[j] + 6] += static_cast<double>(out[j]);
}
}
for (auto& d : m_lcc.template one_dart_per_cell<3>()) {
typename LCC::Dart_descriptor dh = m_lcc.dart_descriptor(d);
std::size_t volume_index = m_lcc.template info<3>(dh).volume_id;
m_volumes[volume_index] = volume(dh);
total_volume += m_volumes[volume_index];
}
// Normalize volumes
for (FT& v : m_volumes)
v /= total_volume;
}
template<typename NamedParameters>
void create_planar_shapes(const NamedParameters& np) {
if (m_points.size() < 3) {
if (m_verbose) std::cout << "* no points found, skipping" << std::endl;
return;
}
if (m_verbose) std::cout << "* getting planar shapes using region growing" << std::endl;
FT xmin, ymin, zmin, xmax, ymax, zmax;