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Misc cleaning

This commit is contained in:
Mael Rouxel-Labbé 2021-12-23 17:43:51 +01:00
parent a2c13412b3
commit e28a459c14
1 changed files with 32 additions and 39 deletions
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71
Surface_mesh_simplification/include/CGAL/Surface_mesh_simplification/Policies/Edge_collapse/internal/GarlandHeckbert_functions.h
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@ -169,9 +169,9 @@ vectors_from_face(typename boost::graph_traits<TriangleMesh>::face_descriptor f,
const halfedge_descriptor h = halfedge(f, tmesh);
// get all points and turn them into location vectors so we can use cross product on them
const Point_reference p = get(vpm, source(h, tmesh));
const Point_reference q = get(vpm, target(h, tmesh));
const Point_reference r = get(vpm, target(next(h, tmesh), tmesh));
const Point_reference p = get(vpm, target(h, tmesh));
const Point_reference q = get(vpm, target(next(h, tmesh), tmesh));
const Point_reference r = get(vpm, source(h, tmesh));
std::array<typename GeomTraits::Vector_3, 3> arr { vector(ORIGIN, p),
vector(ORIGIN, q),
@ -242,18 +242,18 @@ construct_optimal_point_singular(const typename GarlandHeckbert_matrix_types<Geo
const FT a = (p1mp0.transpose() * quadric * p1mp0)(0, 0);
const FT b = 2 * (p0.transpose() * quadric * p1mp0)(0, 0);
if(a == 0)
if(is_zero(a))
{
if(b < 0)
opt_pt = p1;
else if(b == 0)
else if(is_zero(b))
opt_pt = 0.5 * (p0 + p1);
else
opt_pt = p0;
}
else
{
FT ext_t = - b / (2 * a);
FT ext_t = - b / (FT(2) * a);
if(ext_t < 0 || ext_t > 1 || a < 0)
{
// one of endpoints
@ -318,7 +318,7 @@ construct_classic_plane_quadric_from_edge(typename boost::graph_traits<TriangleM
// use this normal to construct the quadric analogously to constructing quadric
// from the normal of the face
return construct_classic_plane_quadric_from_normal(normal, get(vpm, source(he, mesh)), gt);
return construct_classic_plane_quadric_from_normal(normal, get(vpm, target(he, mesh)), gt);
}
template <typename TriangleMesh, typename VertexPointMap, typename GeomTraits>
@ -331,7 +331,7 @@ construct_classic_plane_quadric_from_face(typename boost::graph_traits<TriangleM
auto normal = construct_unit_normal_from_face(f, mesh, vpm, gt);
// get any point of the face
const auto p = get(vpm, source(halfedge(f, mesh), mesh));
const auto p = get(vpm, target(halfedge(f, mesh), mesh));
return construct_classic_plane_quadric_from_normal(normal, p, gt);
}
@ -353,10 +353,10 @@ construct_classic_triangle_quadric_from_face(typename boost::graph_traits<Triang
typedef typename GarlandHeckbert_matrix_types<GeomTraits>::Row_4 Row_4;
auto cross_product = gt.construct_cross_product_vector_3_object();
auto sum_vectors = gt.construct_sum_of_vectors_3_object();
auto dot_product = gt.compute_scalar_product_3_object();
auto sum_vectors = gt.construct_sum_of_vectors_3_object();
auto vectors = vectors_from_face(f, tmesh, vpm, gt);
std::array<Vector_3, 3> vectors = vectors_from_face(f, tmesh, vpm, gt);
const Vector_3& a = vectors[0];
const Vector_3& b = vectors[1];
@ -366,14 +366,13 @@ construct_classic_triangle_quadric_from_face(typename boost::graph_traits<Triang
const Vector_3 bc = cross_product(b, c);
const Vector_3 ca = cross_product(c, a);
const Vector_3 sum_of_cross_product = sum_vectors(sum_vectors(ab, bc), ca);
const Vector_3 sum_of_cross_products = sum_vectors(sum_vectors(ab, bc), ca);
const FT scalar_triple_product = dot_product(ab, c);
Row_4 row;
row << sum_of_cross_product.x(), sum_of_cross_product.y(),
sum_of_cross_product.z(), - scalar_triple_product;
row << sum_of_cross_products.x(), sum_of_cross_products.y(),
sum_of_cross_products.z(), - scalar_triple_product;
// calculate the outer product of row^t * row
return row.transpose() * row;
}
@ -400,35 +399,29 @@ construct_prob_plane_quadric_from_normal(const typename GeomTraits::Vector_3& me
auto squared_length = gt.compute_squared_length_3_object();
const Vector_3 mean_vec = vector(ORIGIN, point);
const FT dot_mnmv = dot_product(mean_normal, mean_vec);
// Eigen column vector of length 3
Col_3 mean_n_col { mean_normal.x(), mean_normal.y(), mean_normal.z() };
const Col_3 mean_n_col { mean_normal.x(), mean_normal.y(), mean_normal.z() };
// start by setting values along the diagonal
Mat_4 mat = face_nv * Mat_4::Identity();
// add outer product of the mean normal with itself
// to the upper left 3x3 block
// add outer product of the mean normal with itself to the upper left 3x3 block
mat.block(0, 0, 3, 3) += mean_n_col * mean_n_col.transpose();
// set the first 3 values of the last row and the first
// 3 values of the last column
// the negative sign comes from the fact that in the paper,
// the b column and row appear with a negative sign
const auto b1 = -(dot_mnmv * mean_normal + face_nv * mean_vec);
// set the first 3 values of the last row and the first 3 values of the last column
const FT dot_mnmv = dot_product(mean_normal, mean_vec);
const Vector_3 b1 = dot_mnmv * mean_normal + face_nv * mean_vec;
const Col_3 b { b1.x(), b1.y(), b1.z() };
mat.col(3).head(3) = b;
mat.row(3).head(3) = b.transpose();
mat.col(3).head(3) = - b;
mat.row(3).head(3) = - b.transpose();
// set the value in the bottom right corner, we get this by considering
// that we only have single variances given instead of covariance matrices
mat(3, 3) = square(dot_mnmv)
+ face_nv * squared_length(mean_vec)
+ face_mv * squared_length(mean_normal)
+ 3 * face_nv * face_mv;
+ 3 * face_nv * face_mv; // tr(Sigma_n * Sigma_m)
return mat;
}
@ -455,6 +448,7 @@ construct_prob_triangle_quadric_from_face(typename boost::graph_traits<TriangleM
auto cross_product = gt.construct_cross_product_vector_3_object();
auto sum_vectors = gt.construct_sum_of_vectors_3_object();
auto dot_product = gt.compute_scalar_product_3_object();
auto squared_length = gt.compute_squared_length_3_object();
// array containing the position vectors corresponding to
// the vertices of the given face
@ -464,12 +458,10 @@ construct_prob_triangle_quadric_from_face(typename boost::graph_traits<TriangleM
const Vector_3& b = vectors[1];
const Vector_3& c = vectors[2];
// calculate certain vectors used later
const Vector_3 ab = cross_product(a, b);
const Vector_3 bc = cross_product(b, c);
const Vector_3 ca = cross_product(c, a);
// subtracting vectors using GeomTraits
const Vector_3 a_minus_b = sum_vectors(a, -b);
const Vector_3 b_minus_c = sum_vectors(b, -c);
const Vector_3 c_minus_a = sum_vectors(c, -a);
@ -479,31 +471,30 @@ construct_prob_triangle_quadric_from_face(typename boost::graph_traits<TriangleM
const Mat_3 cp_ca = skew_sym_mat_cross_product<GeomTraits>(c_minus_a);
const Vector_3 sum_of_cross_product = sum_vectors(sum_vectors(ab, bc), ca);
const Col_3 sum_cp_col { sum_of_cross_product.x(), sum_of_cross_product.y(), sum_of_cross_product.z() };
Mat_3 A = sum_cp_col * sum_cp_col.transpose();
A += var * (cp_ab * cp_ab.transpose() + cp_bc * cp_bc.transpose() + cp_ca * cp_ca.transpose());
// add the 3 simple cross inference matrix - components (we only have one variance here)
// Add the 3 simple cross inference matrix - components (we only have one variance here)
A += 6 * square(var) * Mat_3::Identity();
// we need the determinant of matrix with columns a, b, c - we use the scalar triple product
const FT det = dot_product(ab, c);
// compute the b vector, this follows the formula directly - but we can factor
// Compute the b vector, this follows the formula directly - but we can factor
// out the diagonal covariance matrices
const Col_3 res_b = det * sum_cp_col - var * (vector_to_col_3<GeomTraits>(cross_product(a_minus_b, ab))
+ vector_to_col_3<GeomTraits>(cross_product(b_minus_c, bc))
+ vector_to_col_3<GeomTraits>(cross_product(c_minus_a, ca)))
+ 2 * square(var) * vector_to_col_3<GeomTraits>(sum_vectors(sum_vectors(a, b), c));
const FT ab2 = dot_product(ab, ab);
const FT bc2 = dot_product(bc, bc);
const FT ca2 = dot_product(ca, ca);
const FT a2 = dot_product(a, a);
const FT b2 = dot_product(b, b);
const FT c2 = dot_product(c, c);
const FT ab2 = squared_length(ab);
const FT bc2 = squared_length(bc);
const FT ca2 = squared_length(ca);
const FT a2 = squared_length(a);
const FT b2 = squared_length(b);
const FT c2 = squared_length(c);
const FT res_c = square(det)
+ var * (ab2 + bc2 + ca2)
@ -536,6 +527,8 @@ estimate_variances(const TriangleMesh& mesh,
typedef typename GeomTraits::Point_3 Point_3;
typedef typename GeomTraits::Vector_3 Vector_3;
CGAL_precondition(!empty(mesh));
auto construct_vector = gt.construct_vector_3_object();
auto squared_length = gt.compute_squared_length_3_object();