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dust3d/thirdparty/cgal/CGAL-4.13/include/CGAL/jet_estimate_normals.h

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// Copyright (c) 2007-09 INRIA Sophia-Antipolis (France).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org).
// You can redistribute it and/or modify it under the terms of the GNU
// General Public License as published by the Free Software Foundation,
// either version 3 of the License, or (at your option) any later version.
//
// Licensees holding a valid commercial license may use this file in
// accordance with the commercial license agreement provided with the software.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
//
// $URL$
// $Id$
// SPDX-License-Identifier: GPL-3.0+
//
// Author(s) : Pierre Alliez and Laurent Saboret and Marc Pouget and Frederic Cazals
#ifndef CGAL_JET_ESTIMATE_NORMALS_H
#define CGAL_JET_ESTIMATE_NORMALS_H
#include <CGAL/license/Point_set_processing_3.h>
#include <CGAL/disable_warnings.h>
#include <CGAL/trace.h>
#include <CGAL/Search_traits_3.h>
#include <CGAL/Orthogonal_k_neighbor_search.h>
#include <CGAL/Monge_via_jet_fitting.h>
#include <CGAL/property_map.h>
#include <CGAL/point_set_processing_assertions.h>
#include <CGAL/Memory_sizer.h>
#include <CGAL/function.h>
#include <CGAL/boost/graph/named_function_params.h>
#include <CGAL/boost/graph/named_params_helper.h>
#include <iterator>
#include <list>
#ifdef CGAL_LINKED_WITH_TBB
#include <CGAL/internal/Parallel_callback.h>
#include <tbb/parallel_for.h>
#include <tbb/blocked_range.h>
#include <tbb/scalable_allocator.h>
#endif // CGAL_LINKED_WITH_TBB
namespace CGAL {
// ----------------------------------------------------------------------------
// Private section
// ----------------------------------------------------------------------------
/// \cond SKIP_IN_MANUAL
namespace internal {
/// Estimates normal direction using jet fitting
/// on the k nearest neighbors.
///
/// \pre `k >= 2`
///
/// @tparam Kernel Geometric traits class.
/// @tparam Tree KD-tree.
///
/// @return Computed normal. Orientation is random.
template < typename Kernel,
typename SvdTraits,
typename Tree
>
typename Kernel::Vector_3
jet_estimate_normal(const typename Kernel::Point_3& query, ///< point to compute the normal at
Tree& tree, ///< KD-tree
unsigned int k, ///< number of neighbors
unsigned int degree_fitting)
{
// basic geometric types
typedef typename Kernel::Point_3 Point;
// types for K nearest neighbors search
typedef typename CGAL::Search_traits_3<Kernel> Tree_traits;
typedef typename CGAL::Orthogonal_k_neighbor_search<Tree_traits> Neighbor_search;
typedef typename Neighbor_search::iterator Search_iterator;
// types for jet fitting
typedef Monge_via_jet_fitting< Kernel,
Simple_cartesian<double>,
SvdTraits> Monge_jet_fitting;
typedef typename Monge_jet_fitting::Monge_form Monge_form;
// Gather set of (k+1) neighboring points.
// Perform k+1 queries (as in point set, the query point is
// output first). Search may be aborted if k is greater
// than number of input points.
std::vector<Point> points; points.reserve(k+1);
Neighbor_search search(tree,query,k+1);
Search_iterator search_iterator = search.begin();
unsigned int i;
for(i=0;i<(k+1);i++)
{
if(search_iterator == search.end())
break; // premature ending
points.push_back(search_iterator->first);
search_iterator++;
}
CGAL_point_set_processing_precondition(points.size() >= 1);
// performs jet fitting
Monge_jet_fitting monge_fit;
const unsigned int degree_monge = 1; // we seek for normal and not more.
Monge_form monge_form = monge_fit(points.begin(), points.end(),
degree_fitting, degree_monge);
// output normal vector (already normalized in monge form)
return monge_form.normal_direction();
}
#ifdef CGAL_LINKED_WITH_TBB
template <typename Kernel, typename SvdTraits, typename Tree>
class Jet_estimate_normals {
typedef typename Kernel::Point_3 Point;
typedef typename Kernel::Vector_3 Vector;
const Tree& tree;
const unsigned int k;
const unsigned int degree_fitting;
const std::vector<Point>& input;
std::vector<Vector>& output;
cpp11::atomic<std::size_t>& advancement;
cpp11::atomic<bool>& interrupted;
public:
Jet_estimate_normals(Tree& tree, unsigned int k, std::vector<Point>& points,
unsigned int degree_fitting, std::vector<Vector>& output,
cpp11::atomic<std::size_t>& advancement,
cpp11::atomic<bool>& interrupted)
: tree(tree), k (k), degree_fitting (degree_fitting), input (points), output (output)
, advancement (advancement)
, interrupted (interrupted)
{ }
void operator()(const tbb::blocked_range<std::size_t>& r) const
{
for( std::size_t i = r.begin(); i != r.end(); ++i)
{
if (interrupted)
break;
output[i] = CGAL::internal::jet_estimate_normal<Kernel,SvdTraits>(input[i], tree, k, degree_fitting);
++ advancement;
}
}
};
#endif // CGAL_LINKED_WITH_TBB
} /* namespace internal */
/// \endcond
// ----------------------------------------------------------------------------
// Public section
// ----------------------------------------------------------------------------
/**
\ingroup PkgPointSetProcessingAlgorithms
Estimates normal directions of the range of `points`
using jet fitting on the k nearest neighbors.
The output normals are randomly oriented.
\pre `k >= 2`
\tparam ConcurrencyTag enables sequential versus parallel algorithm.
Possible values are `Sequential_tag`
and `Parallel_tag`.
\tparam PointRange is a model of `Range`. The value type of
its iterator is the key type of the named parameter `point_map`.
\param points input point range.
\param k number of neighbors
\param np optional sequence of \ref psp_namedparameters "Named Parameters" among the ones listed below.
\cgalNamedParamsBegin
\cgalParamBegin{point_map} a model of `ReadablePropertyMap` with value type `geom_traits::Point_3`.
If this parameter is omitted, `CGAL::Identity_property_map<geom_traits::Point_3>` is used.\cgalParamEnd
\cgalParamBegin{normal_map} a model of `ReadWritePropertyMap` with value type
`geom_traits::Vector_3`.\cgalParamEnd
\cgalParamBegin{degree_fitting} degree of jet fitting.\cgalParamEnd
\cgalParamBegin{svd_traits} template parameter for the class `Monge_via_jet_fitting`. If
\ref thirdpartyEigen "Eigen" 3.2 (or greater) is available and `CGAL_EIGEN3_ENABLED` is defined,
then `CGAL::Eigen_svd` is used.\cgalParamEnd
\cgalParamBegin{callback} an instance of
`cpp11::function<bool(double)>`. It is called regularly when the
algorithm is running: the current advancement (between 0. and
1.) is passed as parameter. If it returns `true`, then the
algorithm continues its execution normally; if it returns
`false`, the algorithm is stopped and the remaining normals are
left unchanged.\cgalParamEnd
\cgalParamBegin{geom_traits} an instance of a geometric traits class, model of `Kernel`\cgalParamEnd
\cgalNamedParamsEnd
*/
template <typename ConcurrencyTag,
typename PointRange,
typename NamedParameters
>
void
jet_estimate_normals(
PointRange& points,
unsigned int k,
const NamedParameters& np)
{
using boost::choose_param;
CGAL_TRACE("Calls jet_estimate_normals()\n");
// basic geometric types
typedef typename Point_set_processing_3::GetPointMap<PointRange, NamedParameters>::type PointMap;
typedef typename Point_set_processing_3::GetNormalMap<PointRange, NamedParameters>::type NormalMap;
typedef typename Point_set_processing_3::GetK<PointRange, NamedParameters>::Kernel Kernel;
typedef typename GetSvdTraits<NamedParameters>::type SvdTraits;
CGAL_static_assertion_msg(!(boost::is_same<NormalMap,
typename Point_set_processing_3::GetNormalMap<PointRange, NamedParameters>::NoMap>::value),
"Error: no normal map");
CGAL_static_assertion_msg(!(boost::is_same<SvdTraits,
typename GetSvdTraits<NamedParameters>::NoTraits>::value),
"Error: no SVD traits");
PointMap point_map = choose_param(get_param(np, internal_np::point_map), PointMap());
NormalMap normal_map = choose_param(get_param(np, internal_np::normal_map), NormalMap());
unsigned int degree_fitting = choose_param(get_param(np, internal_np::degree_fitting), 2);
const cpp11::function<bool(double)>& callback = choose_param(get_param(np, internal_np::callback),
cpp11::function<bool(double)>());
typedef typename Kernel::Point_3 Point;
// Input points types
typedef typename boost::property_traits<NormalMap>::value_type Vector;
// types for K nearest neighbors search structure
typedef typename CGAL::Search_traits_3<Kernel> Tree_traits;
typedef typename CGAL::Orthogonal_k_neighbor_search<Tree_traits> Neighbor_search;
typedef typename Neighbor_search::Tree Tree;
// precondition: at least one element in the container.
// to fix: should have at least three distinct points
// but this is costly to check
CGAL_point_set_processing_precondition(points.begin() != points.end());
// precondition: at least 2 nearest neighbors
CGAL_point_set_processing_precondition(k >= 2);
std::size_t memory = CGAL::Memory_sizer().virtual_size(); CGAL_TRACE(" %ld Mb allocated\n", memory>>20);
CGAL_TRACE(" Creates KD-tree\n");
typename PointRange::iterator it;
// Instanciate a KD-tree search.
// Note: We have to convert each input iterator to Point_3.
std::vector<Point> kd_tree_points;
for(it = points.begin(); it != points.end(); it++)
kd_tree_points.push_back(get(point_map, *it));
Tree tree(kd_tree_points.begin(), kd_tree_points.end());
memory = CGAL::Memory_sizer().virtual_size(); CGAL_TRACE(" %ld Mb allocated\n", memory>>20);
CGAL_TRACE(" Computes normals\n");
// iterate over input points, compute and output normal
// vectors (already normalized)
#ifndef CGAL_LINKED_WITH_TBB
CGAL_static_assertion_msg (!(boost::is_convertible<ConcurrencyTag, Parallel_tag>::value),
"Parallel_tag is enabled but TBB is unavailable.");
#else
if (boost::is_convertible<ConcurrencyTag,Parallel_tag>::value)
{
internal::Point_set_processing_3::Parallel_callback
parallel_callback (callback, kd_tree_points.size());
std::vector<Vector> normals (kd_tree_points.size (),
CGAL::NULL_VECTOR);
CGAL::internal::Jet_estimate_normals<Kernel, SvdTraits, Tree>
f (tree, k, kd_tree_points, degree_fitting, normals,
parallel_callback.advancement(),
parallel_callback.interrupted());
tbb::parallel_for(tbb::blocked_range<size_t>(0, kd_tree_points.size ()), f);
std::size_t i = 0;
for(it = points.begin(); it != points.end(); ++ it, ++ i)
if (normals[i] != CGAL::NULL_VECTOR)
put (normal_map, *it, normals[i]);
parallel_callback.join();
}
else
#endif
{
std::size_t nb = 0;
for(it = points.begin(); it != points.end(); it++, ++ nb)
{
Vector normal = internal::jet_estimate_normal<Kernel,SvdTraits,Tree>(
get(point_map,*it),
tree, k, degree_fitting);
put(normal_map, *it, normal); // normal_map[it] = normal
if (callback && !callback ((nb+1) / double(kd_tree_points.size())))
break;
}
}
memory = CGAL::Memory_sizer().virtual_size(); CGAL_TRACE(" %ld Mb allocated\n", memory>>20);
CGAL_TRACE("End of jet_estimate_normals()\n");
}
/// \cond SKIP_IN_MANUAL
// variant with default NP
template <typename ConcurrencyTag,
typename PointRange>
void
jet_estimate_normals(
PointRange& points,
unsigned int k) ///< number of neighbors.
{
jet_estimate_normals<ConcurrencyTag>
(points, k, CGAL::Point_set_processing_3::parameters::all_default(points));
}
#ifndef CGAL_NO_DEPRECATED_CODE
// deprecated API
template <typename ConcurrencyTag,
typename ForwardIterator,
typename PointMap,
typename NormalMap,
typename Kernel,
typename SvdTraits
>
CGAL_DEPRECATED_MSG("you are using the deprecated V1 API of CGAL::jet_estimate_normals(), please update your code")
void
jet_estimate_normals(
ForwardIterator first, ///< iterator over the first input point.
ForwardIterator beyond, ///< past-the-end iterator over the input points.
PointMap point_map, ///< property map: value_type of ForwardIterator -> Point_3.
NormalMap normal_map, ///< property map: value_type of ForwardIterator -> Vector_3.
unsigned int k, ///< number of neighbors.
const Kernel& /*kernel*/, ///< geometric traits.
unsigned int degree_fitting = 2) ///< fitting degree
{
CGAL::Iterator_range<ForwardIterator> points (first, beyond);
return jet_estimate_normals<ConcurrencyTag>
(points,
k,
CGAL::parameters::point_map (point_map).
normal_map (normal_map).
degree_fitting (degree_fitting).
geom_traits(Kernel()));
}
#if defined(CGAL_EIGEN3_ENABLED) || defined(CGAL_LAPACK_ENABLED)
// deprecated API
template <typename ConcurrencyTag,
typename ForwardIterator,
typename PointMap,
typename NormalMap,
typename Kernel
>
CGAL_DEPRECATED_MSG("you are using the deprecated V1 API of CGAL::jet_estimate_normals(), please update your code")
void
jet_estimate_normals(
ForwardIterator first,
ForwardIterator beyond,
PointMap point_map,
NormalMap normal_map,
unsigned int k,
const Kernel& kernel,
unsigned int degree_fitting = 2)
{
#ifdef CGAL_EIGEN3_ENABLED
typedef Eigen_svd SvdTraits;
#else
typedef Lapack_svd SvdTraits;
#endif
CGAL::Iterator_range<ForwardIterator> points (first, beyond);
return jet_estimate_normals<ConcurrencyTag>
(points,
k,
CGAL::parameters::point_map (point_map).
normal_map (normal_map).
degree_fitting (degree_fitting).
svd_traits (SvdTraits()).
geom_traits(kernel));
}
// deprecated API
template <typename ConcurrencyTag,
typename ForwardIterator,
typename PointMap,
typename NormalMap
>
CGAL_DEPRECATED_MSG("you are using the deprecated V1 API of CGAL::jet_estimate_normals(), please update your code")
void
jet_estimate_normals(
ForwardIterator first, ///< iterator over the first input point.
ForwardIterator beyond, ///< past-the-end iterator over the input points.
PointMap point_map, ///< property map: value_type of ForwardIterator -> Point_3.
NormalMap normal_map, ///< property map: value_type of ForwardIterator -> Vector_3.
unsigned int k, ///< number of neighbors.
unsigned int degree_fitting = 2)
{
CGAL::Iterator_range<ForwardIterator> points (first, beyond);
return jet_estimate_normals<ConcurrencyTag>
(points,
k,
CGAL::parameters::point_map (point_map).
normal_map (normal_map).
degree_fitting (degree_fitting));
}
// deprecated API
template <typename ConcurrencyTag,
typename ForwardIterator,
typename NormalMap
>
CGAL_DEPRECATED_MSG("you are using the deprecated V1 API of CGAL::jet_estimate_normals(), please update your code")
void
jet_estimate_normals(
ForwardIterator first, ///< iterator over the first input point.
ForwardIterator beyond, ///< past-the-end iterator over the input points.
NormalMap normal_map, ///< property map: value_type of ForwardIterator -> Vector_3.
unsigned int k, ///< number of neighbors.
unsigned int degree_fitting = 2)
{
CGAL::Iterator_range<ForwardIterator> points (first, beyond);
return jet_estimate_normals<ConcurrencyTag>
(points,
k,
CGAL::parameters::normal_map (normal_map).
degree_fitting (degree_fitting));
}
#endif // CGAL Eigen / Lapack
#endif // CGAL_NO_DEPRECATED_CODE
/// \endcond
} //namespace CGAL
#include <CGAL/enable_warnings.h>
#endif // CGAL_JET_ESTIMATE_NORMALS_H
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