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[fuseCut] DelaunayGraphCut: remove unnecessary neighbourCellToTheCamO…
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…nTheRay function (CRITIC)

Remove the unnecessary neighborCellToTheCamOnTheRay function by using rayCellIntersection directly in loops and use mirrorFacet when it' s necessary to ensure loop recursion and get the next cell.
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@dsmtE
dsmtE committed Jul 7, 2020
1 parent 4aaf816 commit d13085f
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Showing 2 changed files with 67 additions and 75 deletions.
109 changes: 67 additions & 42 deletions src/aliceVision/fuseCut/DelaunayGraphCut.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1722,10 +1722,14 @@ void DelaunayGraphCut::fillGraphPartPtRc(int& out_nstepsFront, int& out_nstepsBe
++nsteps;

Point3d pold = p;
Facet f1, f2;
Facet outFacet;
Point3d lpi;
// find cell which is nearest to the cam and which is intersected with cam-p ray
if(!nearestNeighbourCellToTheCamOnTheRay(mp->CArr[cam], p, ci, f1, f2, lpi))

// Intersection with the next facet in the current tetrahedron (ci) in order to find the cell nearest to the
// cam which is intersected with cam-p ray
// true here mean nearest
const bool nearestFarest = true;
if(!rayCellIntersection(mp->CArr[cam], p, ci, outFacet, nearestFarest, lpi))
{
ok = false;
}
Expand All @@ -1735,14 +1739,16 @@ void DelaunayGraphCut::fillGraphPartPtRc(int& out_nstepsFront, int& out_nstepsBe

{
#pragma OMP_ATOMIC_UPDATE
_cellsAttr[f1.cellIndex].gEdgeVisWeight[f1.localVertexIndex] += weight * dist;
_cellsAttr[outFacet.cellIndex].gEdgeVisWeight[outFacet.localVertexIndex] += weight * dist;
}

if(f2.cellIndex == GEO::NO_CELL)
// Take the mirror facet to iterate over the next cell
ci = mirrorFacet(outFacet).cellIndex;

if(ci == GEO::NO_CELL)
ok = false;
ci = f2.cellIndex;
p = lpi;
lastFinite = f2.cellIndex;
lastFinite = ci;
}
}

Expand All @@ -1758,7 +1764,7 @@ void DelaunayGraphCut::fillGraphPartPtRc(int& out_nstepsFront, int& out_nstepsBe
out_nstepsBehind = 0;
// get the tetrahedron next to point p on the ray from c
Facet f1 = getFacetBehindVertexOnTheRayToTheCam(vertexIndex, cam);
Facet f2;
Facet outFacet;

CellIndex ci = f1.cellIndex;
if(ci != GEO::NO_CELL)
Expand Down Expand Up @@ -1788,8 +1794,12 @@ void DelaunayGraphCut::fillGraphPartPtRc(int& out_nstepsFront, int& out_nstepsBe

Point3d pold = p;
Point3d lpi;
// find cell which is farest to the cam and which intersect cam-p ray
if((!farestNeighbourCellToTheCamOnTheRay(mp->CArr[cam], p, ci, f1, f2, lpi)) ||

// Intersection with the next facet in the current tetrahedron (ci) in order to find the cell farest to the
// cam which is intersected with cam-p ray
// False here mean farest
const bool nearestFarest = false;
if(!rayCellIntersection(mp->CArr[cam], p, ci, outFacet, nearestFarest, lpi) ||
((po - pold).size() >= maxDist) || (!allPoints))
{
ok = false;
Expand All @@ -1804,16 +1814,18 @@ void DelaunayGraphCut::fillGraphPartPtRc(int& out_nstepsFront, int& out_nstepsBe

float dist = distFcn(maxDist, (po - pold).size(), distFcnHeight);

if(f2.cellIndex == GEO::NO_CELL)
// Take the mirror facet to iterate over the next cell
const Facet mFacet = mirrorFacet(outFacet);
ci = mFacet.cellIndex;
if(ci == GEO::NO_CELL)
{
ok = false;
}
else
{
#pragma OMP_ATOMIC_UPDATE
_cellsAttr[f2.cellIndex].gEdgeVisWeight[f2.localVertexIndex] += weight * dist;
_cellsAttr[ci].gEdgeVisWeight[mFacet.localVertexIndex] += weight * dist;
}
ci = f2.cellIndex;
p = lpi;
}
}
Expand Down Expand Up @@ -1865,14 +1877,12 @@ void DelaunayGraphCut::forceTedgesByGradientCVPR11(bool fixesSigma, float nPixel
Facet fFirst = getFacetInFrontVertexOnTheRayToTheCam(vi, cam);

// get the tetrahedron next to point p on the ray from c
Facet f2;
Facet f1 = getFacetBehindVertexOnTheRayToTheCam(vi, cam);

if((fFirst.cellIndex != GEO::NO_CELL) && (f1.cellIndex != GEO::NO_CELL) && (!isInfiniteCell(f1.cellIndex)))
{
float eFirst = _cellsAttr[fFirst.cellIndex].out;

f2 = mirrorFacet(f1);
CellIndex ci = f1.cellIndex;
Point3d p = po; // HAS TO BE HERE !!!
float maxDist = nPixelSizeBehind * mp->getCamPixelSize(p, cam);
Expand All @@ -1886,29 +1896,30 @@ void DelaunayGraphCut::forceTedgesByGradientCVPR11(bool fixesSigma, float nPixel
{
Point3d pold = p;
Point3d lpi;
Facet ff1, ff2;
// find cell which is farest to the cam and which is
// intersected with cam-p
// ray
if((!farestNeighbourCellToTheCamOnTheRay(mp->CArr[cam], p, ci, ff1, ff2, lpi)) ||
Facet outFacet;

// Intersection with the next facet in the current tetrahedron (ci) in order to find the cell farest
// to the cam which is intersected with cam-p ray
// False here mean farest
const bool nearestFarest = false;
if(!rayCellIntersection(mp->CArr[cam], p, ci, outFacet, nearestFarest, lpi) ||
((po - pold).size() >= maxDist))
{
ok = false;
}
else
{
if(ff2.cellIndex == GEO::NO_CELL)
// Take the mirror facet to iterate over the next cell
ci = mirrorFacet(outFacet).cellIndex;
if(ci == GEO::NO_CELL)
ok = false;
ci = ff2.cellIndex;
p = lpi;
f1 = ff1;
f2 = ff2;
}
}

if(ci != GEO::NO_CELL)
{
float eLast = _cellsAttr[f2.cellIndex].out;
float eLast = _cellsAttr[ci].out;
if((eFirst > eLast) && (eFirst < beta) && (eLast / eFirst < delta))
{
#pragma OMP_ATOMIC_UPDATE
Expand Down Expand Up @@ -2021,19 +2032,23 @@ void DelaunayGraphCut::forceTedgesByGradientIJCV(bool fixesSigma, float nPixelSi
maxSilent = std::max(maxSilent, c.out);
}

Facet f1, f2;
Facet outFacet;
Point3d lpi;
// find cell which is nearest to the cam and which intersect cam-p ray
// Intersection with the next facet in the current tetrahedron (ci) in order to find the cell nearest
// to the cam which is intersected with cam-p ray
// True here mean nearest
const bool nearestFarest = true;
if(((p - po).size() > (nsigmaJumpPart + nsigmaFrontSilentPart) * maxDist) || // (2 + 2) * sigma
(!nearestNeighbourCellToTheCamOnTheRay(mp->CArr[cam], p, ci, f1, f2, lpi)))
!rayCellIntersection(mp->CArr[cam], p, ci, outFacet, nearestFarest, lpi))
{
ok = false;
}
else
{
if(f2.cellIndex == GEO::NO_CELL)
// Take the mirror facet to iterate over the next cell
ci = mirrorFacet(outFacet).cellIndex;
if(ci == GEO::NO_CELL)
ok = false;
ci = f2.cellIndex;
p = lpi;
}
}
Expand All @@ -2056,19 +2071,24 @@ void DelaunayGraphCut::forceTedgesByGradientIJCV(bool fixesSigma, float nPixelSi
minSilent = std::min(minSilent, c.out);
maxSilent = std::max(maxSilent, c.out);

Facet f1, f2;
Facet outFacet;
Point3d lpi;
// find cell which is farest to the cam and which intersect cam-p ray

// Intersection with the next facet in the current tetrahedron (ci) in order to find the cell farest
// to the cam which is intersected with cam-p ray
// False here mean farest
const bool nearestFarest = false;
if(((p - po).size() > nsigmaBackSilentPart * maxDist) || // (p-po).size() > 2 * sigma
(!farestNeighbourCellToTheCamOnTheRay(mp->CArr[cam], p, ci, f1, f2, lpi)))
!rayCellIntersection(mp->CArr[cam], p, ci, outFacet, nearestFarest, lpi))
{
ok = false;
}
else
{
if(f2.cellIndex == GEO::NO_CELL)
// Take the mirror facet to iterate over the next cell
ci = mirrorFacet(outFacet).cellIndex;
if(ci == GEO::NO_CELL)
ok = false;
ci = f2.cellIndex;
p = lpi;
}
}
Expand Down Expand Up @@ -2201,26 +2221,31 @@ void DelaunayGraphCut::updateGraphFromTmpPtsCamsHexahRC(int rc, Point3d hexah[8]
_cellsAttr[tmp_ci].out += weight;
}

Facet f1, f2;
Facet outFacet;
Point3d lpi;
// find cell which is nearest to the pont and which is
// intersected with point-p ray
if(!farestNeighbourCellToTheCamOnTheRay(camBehind, p, tmp_ci, f1, f2, lpi))

// Intersection with the next facet in the current tetrahedron (ci) in order to find the cell farest
// to the cam which is intersected with cam-p ray
// False here mean farest
const bool nearestFarest = false;
if(!rayCellIntersection(camBehind, p, tmp_ci, outFacet, nearestFarest, lpi))
{
ok = false;
}
else
{
if(f2.cellIndex == GEO::NO_CELL)
// Take the mirror facet to iterate over the next cell
const Facet mFacet = mirrorFacet(outFacet);
tmp_ci = mFacet.cellIndex;
if(ci == GEO::NO_CELL)
{
ok = false;
}
else
{
#pragma OMP_ATOMIC_UPDATE
_cellsAttr[f2.cellIndex].gEdgeVisWeight[f2.localVertexIndex] += weight;
_cellsAttr[tmp_ci].gEdgeVisWeight[mFacet.localVertexIndex] += weight;
}
tmp_ci = f2.cellIndex;
p = lpi;
++nwup;
}
Expand Down
33 changes: 0 additions & 33 deletions src/aliceVision/fuseCut/DelaunayGraphCut.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -270,13 +270,6 @@ class DelaunayGraphCut
bool rayCellIntersection(const Point3d& camCenter, const Point3d& p, GEO::index_t tetrahedronIndex, Facet& outFacet,
bool nearestFarest, Point3d& outIntersectPt) const;

inline bool neighbourCellToTheCamOnTheRay(const Point3d& camC, const Point3d& p, int tetrahedron, bool nearestFarest,
Facet& f1, Facet& f2, Point3d& outIntersectPt) const;
inline bool nearestNeighbourCellToTheCamOnTheRay(const Point3d& camC, const Point3d& p, int tetrahedron, Facet& f1, Facet& f2,
Point3d& outIntersectPt) const;
inline bool farestNeighbourCellToTheCamOnTheRay(const Point3d& camC, const Point3d& p, int tetrahedron, Facet& f1, Facet& f2,
Point3d& outIntersectPt) const;

inline Facet getFacetInFrontVertexOnTheRayToTheCam(int vertexIndex, int cam) const;
Facet getFacetInFrontVertexOnTheRayToThePoint3d(VertexIndex vi, Point3d& ptt) const;
Facet getFacetBehindVertexOnTheRayToTheCam(VertexIndex vi, int cam) const;
Expand Down Expand Up @@ -349,32 +342,6 @@ class DelaunayGraphCut
mesh::Mesh* createMesh(bool filterHelperPointsTriangles = true);
};

inline bool DelaunayGraphCut::neighbourCellToTheCamOnTheRay(const Point3d& camC, const Point3d& p, int tetrahedron, bool nearestFarest,
Facet& f1, Facet& f2, Point3d& outIntersectPt) const
{
f2.cellIndex = GEO::NO_CELL;
f2.localVertexIndex = GEO::NO_VERTEX;
outIntersectPt = p;

if(rayCellIntersection(camC, p, tetrahedron, f1, nearestFarest, outIntersectPt))
{
f2 = mirrorFacet(f1);
return true;
}
return false;
}

inline bool DelaunayGraphCut::nearestNeighbourCellToTheCamOnTheRay(const Point3d& camC, const Point3d& p, int tetrahedron, Facet& f1, Facet& f2,
Point3d& outIntersectPt) const
{
return neighbourCellToTheCamOnTheRay(camC, p, tetrahedron, true, f1, f2, outIntersectPt);
}
inline bool DelaunayGraphCut::farestNeighbourCellToTheCamOnTheRay(const Point3d& camC, const Point3d& p, int tetrahedron, Facet& f1, Facet& f2,
Point3d& outIntersectPt) const
{
return neighbourCellToTheCamOnTheRay(camC, p, tetrahedron, false, f1, f2, outIntersectPt);
}

inline DelaunayGraphCut::Facet DelaunayGraphCut::getFacetInFrontVertexOnTheRayToTheCam(int vertexIndex,
int cam) const
{
Expand Down

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