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[KSP & KSR] Bugfixes and doc update #8613

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[KSP & KSR] Bugfixes and doc update #8613

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0507f51
bugfix initial intervals
soesau Nov 15, 2024
b617399
doc fix
soesau Nov 15, 2024
9f8dd67
removed unnecessary computations
soesau Nov 15, 2024
f27bc65
removing redundant initialization
soesau Nov 15, 2024
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8 changes: 3 additions & 5 deletions Kinetic_space_partition/include/CGAL/KSP_3/Intersection_graph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -289,9 +289,8 @@ class Intersection_graph {
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++)
Expand All @@ -303,9 +302,8 @@ class Intersection_graph {
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++)
Expand Down
2 changes: 1 addition & 1 deletion Kinetic_space_partition/include/CGAL/Kinetic_space_partition_3.h
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Expand Up @@ -731,7 +731,7 @@ class Kinetic_space_partition_3 {
}

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;
}
Expand Down
20 changes: 10 additions & 10 deletions ...face_reconstruction/doc/Kinetic_surface_reconstruction/Kinetic_surface_reconstruction.txt
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Expand Up @@ -284,9 +284,9 @@ Building_C
<TD class="math" ALIGN=RIGHT NOWRAP>
3.432
<TD class="math" ALIGN=RIGHT NOWRAP>
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<TD class="math" ALIGN=RIGHT NOWRAP>
1.466
1.457
<TD class="math" ALIGN=RIGHT NOWRAP>
40,1
<TD class="math" ALIGN=RIGHT NOWRAP>
Expand Down Expand Up @@ -376,10 +376,10 @@ Meeting Room
<TD class="math" ALIGN=RIGHT NOWRAP>
15
<TD class="math" ALIGN=RIGHT NOWRAP>
0,03
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10
<TD class="math" ALIGN=RIGHT NOWRAP>
0,03
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Expand All @@ -396,10 +396,10 @@ Full Thing
<TD class="math" ALIGN=RIGHT NOWRAP>
12
<TD class="math" ALIGN=RIGHT NOWRAP>
0,05
<TD class="math" ALIGN=RIGHT NOWRAP>
3
<TD class="math" ALIGN=RIGHT NOWRAP>
0,05
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Expand All @@ -416,10 +416,10 @@ Hilbert cube
<TD class="math" ALIGN=RIGHT NOWRAP>
12
<TD class="math" ALIGN=RIGHT NOWRAP>
0,03
<TD class="math" ALIGN=RIGHT NOWRAP>
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Expand Down Expand Up @@ -456,10 +456,10 @@ Building_C
<TD class="math" ALIGN=RIGHT NOWRAP>
15
<TD class="math" ALIGN=RIGHT NOWRAP>
0,5
<TD class="math" ALIGN=RIGHT NOWRAP>
3
<TD class="math" ALIGN=RIGHT NOWRAP>
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0,77
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18 changes: 6 additions & 12 deletions Kinetic_surface_reconstruction/examples/Kinetic_surface_reconstruction/ksr_parameters.cpp
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Expand Up @@ -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;

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();
Expand All @@ -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);

Expand All @@ -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 changes: 5 additions & 60 deletions Kinetic_surface_reconstruction/include/CGAL/Kinetic_surface_reconstruction_3.h
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Expand Up @@ -627,7 +627,6 @@ class Kinetic_surface_reconstruction_3 {
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;
Expand Down Expand Up @@ -747,9 +746,9 @@ class Kinetic_surface_reconstruction_3 {
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
Expand Down Expand Up @@ -1743,55 +1742,14 @@ class Kinetic_surface_reconstruction_3 {
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;

Expand Down Expand Up @@ -1829,28 +1787,15 @@ class Kinetic_surface_reconstruction_3 {
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;
Expand Down