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// Copyright (c) 2007-09 INRIA Sophia-Antipolis (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). // // $URL: https://github.com/CGAL/cgal/blob/v6.1/Point_set_processing_3/include/CGAL/grid_simplify_point_set.h $ // $Id: include/CGAL/grid_simplify_point_set.h b26b07a1242 $ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // Author(s) : Nader Salman and Laurent Saboret #ifndef CGAL_GRID_SIMPLIFY_POINT_SET_H #define CGAL_GRID_SIMPLIFY_POINT_SET_H #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include namespace CGAL { // ---------------------------------------------------------------------------- // Private section // ---------------------------------------------------------------------------- /// \cond SKIP_IN_MANUAL namespace internal { // Round number to multiples of epsilon inline double round_epsilon(double value, double epsilon) { return std::floor(value / epsilon); } /// Utility class for grid_simplify_point_set(): Hash_epsilon_points_3 /// defines a 3D point hash / 2 points are equal iff they belong to /// the same cell of a grid of cell size = epsilon. template struct Hash_epsilon_points_3 { private: double m_epsilon; PointMap point_map; typedef typename boost::property_traits::value_type Point; public: Hash_epsilon_points_3 (double epsilon, PointMap p_map) : m_epsilon (epsilon), point_map(p_map) { CGAL_precondition(epsilon > 0); } std::size_t operator() (const Point_3& a) const { const Point& pa = get(point_map,a); std::size_t result = boost::hash_value(round_epsilon(pa.x(), m_epsilon)); boost::hash_combine(result, boost::hash_value(round_epsilon(pa.y(), m_epsilon))); boost::hash_combine(result, boost::hash_value(round_epsilon(pa.z(), m_epsilon))); return result; } }; /// Utility class for grid_simplify_point_set(): Hash_epsilon_points_3 /// defines a 3D point equality / 2 points are equal iff they belong /// to the same cell of a grid of cell size = epsilon. template struct Equal_epsilon_points_3 { private: const double m_epsilon; PointMap point_map; typedef typename boost::property_traits::value_type Point; public: Equal_epsilon_points_3 (const double& epsilon, PointMap p_map) : m_epsilon (epsilon), point_map(p_map) { CGAL_precondition(epsilon > 0); } bool operator() (const Point_3& a, const Point_3& b) const { const Point& pa = get(point_map,a); const Point& pb = get(point_map,b); double ra = round_epsilon(pa.x(), m_epsilon); double rb = round_epsilon(pb.x(), m_epsilon); if (ra != rb) return false; ra = round_epsilon(pa.y(), m_epsilon); rb = round_epsilon(pb.y(), m_epsilon); if (ra != rb) return false; ra = round_epsilon(pa.z(), m_epsilon); rb = round_epsilon(pb.z(), m_epsilon); return ra == rb; } }; template using Epsilon_point_set_3_base = typename std::conditional , internal::Equal_epsilon_points_3 >, std::unordered_set, internal::Equal_epsilon_points_3 > >::type; /// Utility class for grid_simplify_point_set(): /// 3D points set which allows at most 1 (or N) point per cell /// of a grid of cell size = epsilon. /// /// Warning: /// This class is a container sorted wrt points position /// => you should not modify directly the order or the position of points. template class Epsilon_point_set_3 : public internal::Epsilon_point_set_3_base { private: // superclass using Base = internal::Epsilon_point_set_3_base; unsigned int min_points_per_cell; public: Epsilon_point_set_3 (double epsilon, PointMap point_map, unsigned int min_points_per_cell = 1) : Base(10, internal::Hash_epsilon_points_3(epsilon, point_map), internal::Equal_epsilon_points_3(epsilon, point_map)) , min_points_per_cell (min_points_per_cell) { CGAL_precondition(epsilon > 0); } bool insert (const Point_3& p) { return insert (p, UseMap()); } private: bool insert (const Point_3& p, const Tag_true&) { auto iter = Base::insert(std::make_pair (p, 0)); iter.first->second ++; return iter.first->second == min_points_per_cell; } bool insert (const Point_3& p, const Tag_false&) { return Base::insert (p).second; } }; } /* namespace internal */ /// \endcond // ---------------------------------------------------------------------------- // Public section // ---------------------------------------------------------------------------- /** \ingroup PkgPointSetProcessing3Algorithms Merges points which belong to the same cell of a grid of cell size = `epsilon`. This method modifies the order of input points so as to pack all remaining points first, and returns an iterator over the first point to remove (see erase-remove idiom). For this reason it should not be called on sorted containers. \pre `epsilon > 0` \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 epsilon tolerance value when merging 3D points. \param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below \cgalNamedParamsBegin \cgalParamNBegin{point_map} \cgalParamDescription{a property map associating points to the elements of the point set `points`} \cgalParamType{a model of `ReadWritePropertyMap` whose key type is the value type of the iterator of `PointRange` and whose value type is `geom_traits::Point_3`} \cgalParamDefault{`CGAL::Identity_property_map`} \cgalParamNEnd \cgalParamNBegin{min_points_per_cell} \cgalParamDescription{minimum number of points in a cell such that a point in this cell is kept after simplification} \cgalParamType{unsigned int} \cgalParamDefault{1} \cgalParamExtra{If a value greater than 1 is used, the algorithm also acts as an outlier filtering algorithm, by removing low-density areas.} \cgalParamNEnd \cgalParamNBegin{geom_traits} \cgalParamDescription{an instance of a geometric traits class} \cgalParamType{a model of `Kernel`} \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} \cgalParamNEnd \cgalNamedParamsEnd \return iterator over the first point to remove. */ template typename PointRange::iterator grid_simplify_point_set( PointRange& points, double epsilon, const NamedParameters& np = parameters::default_values()) { using parameters::choose_parameter; using parameters::get_parameter; typedef Point_set_processing_3_np_helper NP_helper; typedef typename NP_helper::Point_map PointMap; PointMap point_map = NP_helper::get_point_map(points, np); unsigned int min_points_per_cell = choose_parameter(get_parameter(np, internal_np::min_points_per_cell), 1); // actual type of input points typedef typename std::iterator_traits::value_type Enriched_point; CGAL_precondition(epsilon > 0); if (min_points_per_cell == 1) { // Merges points which belong to the same cell of a grid of cell size = epsilon. // Keep 1 point per occupied cell internal::Epsilon_point_set_3 point_set(epsilon, point_map); return std::partition (points.begin(), points.end(), [&](const auto& p) -> bool { return point_set.insert(p); }); } // else // Merges points which belong to the same cell of a grid of cell size = epsilon. // Keep 1 point per cell occupied by at least `min_points_per_cell` points internal::Epsilon_point_set_3 point_set(epsilon, point_map, min_points_per_cell); return std::partition (points.begin(), points.end(), [&](const auto& p) -> bool { return point_set.insert(p); }); } } //namespace CGAL #include #endif // CGAL_GRID_SIMPLIFY_POINT_SET_H