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Merge remote-tracking branch 'cgal/6.0.x-branch'
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@sloriot
sloriot committed Nov 20, 2024
2 parents 0957261 + 3f1759d commit 4ceec7d
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4 changes: 3 additions & 1 deletion Documentation/doc/Documentation/Third_party.txt
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Expand Up @@ -283,6 +283,8 @@ requires solving complex non-linear least squares problems.
Visit the official website of the library at <A HREF="http://ceres-solver.org/index.html">`ceres-solver.org`</A>
for more information.

\attention \ceres requires to be compiled with the exact same version of \eigen that is used for \cgal.

\attention \ceres indicates that `glog` is a recommended dependency. `glog` has `libunwind` as a recommended dependency.
On some platforms, linking with `libunwind` was responsible for an increase of the runtime of the final application.
If you experience such an issue, we recommend to compile \ceres without `glog` support.
Expand All @@ -309,7 +311,7 @@ The \scip web site is <A HREF="https://www.scipopt.org/">`https://www.scipopt.or

\osqp (Operator Splitting Quadratic Program) is currently one of the fastest open source solvers for convex Quadratic Programs (QP).

In \cgal, \osqp provides an optional solver for the QP problems often arising in various computational geometry algorithms.
In \cgal, \osqp provides an optional solver for the quadratic programming used in the \ref PkgShapeRegularization package.
In order to use \osqp in \cgal programs, the executables should be linked with the CMake imported target `CGAL::OSQP_support` provided in `CGAL_OSQP_support.cmake`.

The \osqp web site is <A HREF="https://osqp.org">`https://osqp.org`</A>.
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8 changes: 3 additions & 5 deletions Kinetic_space_partition/include/CGAL/KSP_3/Intersection_graph.h
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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++)
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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;
}
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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>
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Expand Down Expand Up @@ -376,10 +376,10 @@ Meeting Room
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Expand All @@ -396,10 +396,10 @@ Full Thing
<TD class="math" ALIGN=RIGHT NOWRAP>
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Expand All @@ -416,10 +416,10 @@ Hilbert cube
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Expand Down Expand Up @@ -456,10 +456,10 @@ Building_C
<TD class="math" ALIGN=RIGHT NOWRAP>
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20 changes: 7 additions & 13 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;
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();
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

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