MRCylinderApproximator.h

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#pragma once
 
#include "MRMeshFwd.h"
#include "MRCylinder3.h"
#include "MRVector.h"
#include "MRMatrix.h"
#include "MRPch/MRTBB.h"
#include "MRToFromEigen.h"
#include "MRConstants.h"
#include "MRPch/MRSpdlog.h"
 
 
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable:5054)  //operator '&': deprecated between enumerations of different types
#pragma warning(disable:4127)  //C4127. "Consider using 'if constexpr' statement instead"
#elif defined(__clang__)
#elif defined(__GNUC__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
#endif
 
#include <Eigen/Eigenvalues>
 
#ifdef _MSC_VER
#pragma warning(pop)
#elif defined(__clang__)
#elif defined(__GNUC__)
#pragma GCC diagnostic pop
#endif
 
 
// https://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
 
namespace MR
{
template <typename T>
class Cylinder3Approximation
{
 
private:
 
    enum class CylinderFitterType
    {
        // The algorithm implimentation needs an initial approximation to refine the cylinder axis.
        // In this option, we sort through several possible options distributed over the hemisphere.
        HemisphereSearchFit,
 
        // In this case, we assume that there is an external estimate for the cylinder axis.
        // Therefore, we specify only the position that is given from the outside
        SpecificAxisFit
 
        // TODO for Meshes try to impliment specific algorithm from https://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
        // TODO Also, an estimate of the cylinder axis can be obtained by the gravel component method or the like. But this requires additional. experiments.
        // TODO for future try eigen vector covariance   https://www.geometrictools.com/Documentation/RobustEigenSymmetric3x3.pdf
    };
 
    CylinderFitterType fitter_ = CylinderFitterType::HemisphereSearchFit;
 
    //  CylinderFitterType::SpecificAxisFit params
    Eigen::Vector<T, 3> baseCylinderAxis_;
 
    // CylinderFitterType::HemisphereSearchFit params
    size_t thetaResolution_ = 0;
    size_t phiResolution_ = 0;
    bool isMultithread_ = true;
 
    //Input data converted to Eigen format and normalized to the avgPoint position of all points in the cloud.
    std::vector<Eigen::Vector<T, 3>> normalizedPoints_ = {};
 
    // Precalculated values for speed up.
    // In https://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf page 35-36:
    // Text below is a direct copy from pdf file:
    // The sample application that used equation (94) directly was really slow.
    // On an Intel CoreTM i7-6700 CPU at 3.40 GHz, the single - threaded version for 10765 points required 129 seconds
    // and the multithreaded version using 8 hyperthreads required 22 seconds.The evaluation of G using the precomputed summations is much faster.
    // The single - threaded version required 85 milliseconds and the multithreaded version using 8 hyperthreads required 22 milliseconds.
 
    Eigen::Vector <T, 6>  precomputedMu_ = {};
    Eigen::Matrix <T, 3, 3>  precomputedF0_ = {};
    Eigen::Matrix <T, 3, 6>  precomputedF1_ = {};
    Eigen::Matrix <T, 6, 6>  precomputedF2_ = {};
 
public:
    Cylinder3Approximation()
    {
        reset();
    };
 
    void reset()
    {
        thetaResolution_ = 0;
        phiResolution_ = 0;
        precomputedMu_.setZero();
        precomputedF0_.setZero();
        precomputedF1_.setZero();
        precomputedF2_.setZero();
        normalizedPoints_.clear();
    };
    // Solver for CylinderFitterType::HemisphereSearchFit type
    // thetaResolution_, phiResolution_  must be positive and as large as it posible. Price is CPU time. (~ 100 gives good results).
    T solveGeneral( const std::vector<MR::Vector3<T>>& points, Cylinder3<T>& cylinder, size_t theta = 180, size_t phi = 90, bool isMultithread = true )
    {
        thetaResolution_ = theta;
        phiResolution_ = phi;
        isMultithread_ = isMultithread;
        fitter_ = CylinderFitterType::HemisphereSearchFit;
        assert( thetaResolution_ > 0 );
        assert( phiResolution_ > 0 );
        auto result = solve( points, cylinder );
        reset();
        return result;
    };
 
    // Solver for CylinderFitterType::SpecificAxisFit type
    // Simplet way in case of we already know clinder axis
    T solveSpecificAxis( const std::vector<MR::Vector3<T>>& points, Cylinder3<T>& cylinder, MR::Vector3<T> const& cylinderAxis )
    {
 
        baseCylinderAxis_ = MR::toEigen( cylinderAxis.normalized() );
        fitter_ = CylinderFitterType::SpecificAxisFit;
        assert( baseCylinderAxis_.isZero() == false ); //  "The cylinder axis must be nonzero."
        auto result = solve( points, cylinder );
        reset();
        return result;
    };
private:
    // main solver.
    T solve( const std::vector<MR::Vector3<T>>& points, Cylinder3<T>& cylinder )
    {
        if ( points.size() < 6 )
        {
            spdlog::warn( "Cylinder3Approximation :: Too low point for cylinder approximation count={}" , points.size() );
            return -1;
        }
        assert( points.size() >= 6 ); // "At least 6 points needs for correct fitting requires ."
 
        normalizedPoints_.clear();
        cylinder = Cylinder3<T>();
        Vector3<T> avgPoint;
        Eigen::Vector<T, 3> bestPC;
        Eigen::Vector<T, 3> bestW; // cylinder main axis
        T rootSquare = 0;
        T error = 0;
 
        //For significant increase speed, we make a preliminary calculation based on the initial data.
        updatePrecomputeParams( points, avgPoint );
 
        // Listing 16. page 38.
        if ( fitter_ == CylinderFitterType::HemisphereSearchFit )
        {
            if ( isMultithread_ )
                error = fitCylindeHemisphereMultiThreaded( bestPC, bestW, rootSquare );
 
            else
                error = fitCylindeHemisphereSingleThreaded( bestPC, bestW, rootSquare );
        }
        else if ( fitter_ == CylinderFitterType::SpecificAxisFit )
        {
            error = SpecificAxisFit( bestPC, bestW, rootSquare );
        }
        else
        {
            spdlog::warn( "Cylinder3Approximation :: unsupported fitter" );
            assert( false ); // unsupported fitter
            return -1;
        }
 
        assert( rootSquare >= 0 );
 
        cylinder.center() = fromEigen( bestPC ) + avgPoint;
        cylinder.direction() = ( fromEigen( bestW ) ).normalized();
        cylinder.radius = std::sqrt( rootSquare );
 
        // Calculate a max. possible length of a cylinder covered by dataset.
        // Project point on a main cylinder axis
        T hmin = std::numeric_limits<T>::max();
        T hmax = -std::numeric_limits<T>::max();
 
        for ( size_t i = 0; i < points.size(); ++i )
        {
            T h = MR::dot( cylinder.direction(), points[i] - cylinder.center() );
            hmin = std::min( h, hmin );
            hmax = std::max( h, hmax );
        }
        T hmid = ( hmin + hmax ) / 2;
 
        // Very tiny correct a cylinder center.
        cylinder.center() = cylinder.center() + hmid * cylinder.direction();
        cylinder.length = hmax - hmin;
 
        assert( cylinder.length >= 0 );
 
        return error;
    }
 
    void updatePrecomputeParams( const std::vector <MR::Vector3<T>>& points, Vector3<T>& average )
    {
        // Listing 15. page 37.
        normalizedPoints_.resize( points.size() );
 
        // calculate avg point of dataset
        average = Vector3<T>{};
        for ( size_t i = 0; i < points.size(); ++i )
            average += points[i];
        average = average / static_cast< T > ( points.size() );
 
        // normalize points and store it.
        for ( size_t i = 0; i < points.size(); ++i )
            normalizedPoints_[i] = toEigen( points[i] - average );
 
        const Eigen::Vector<T, 6> zeroEigenVector6{ 0, 0, 0, 0, 0, 0 };
        std::vector<Eigen::Vector<T, 6>> products( normalizedPoints_.size(), zeroEigenVector6 );
        precomputedMu_ = zeroEigenVector6;
 
        for ( size_t i = 0; i < normalizedPoints_.size(); ++i )
        {
            products[i][0] = normalizedPoints_[i][0] * normalizedPoints_[i][0];
            products[i][1] = normalizedPoints_[i][0] * normalizedPoints_[i][1];
            products[i][2] = normalizedPoints_[i][0] * normalizedPoints_[i][2];
            products[i][3] = normalizedPoints_[i][1] * normalizedPoints_[i][1];
            products[i][4] = normalizedPoints_[i][1] * normalizedPoints_[i][2];
            products[i][5] = normalizedPoints_[i][2] * normalizedPoints_[i][2];
            precomputedMu_[0] += products[i][0];
            precomputedMu_[1] += 2 * products[i][1];
            precomputedMu_[2] += 2 * products[i][2];
            precomputedMu_[3] += products[i][3];
            precomputedMu_[4] += 2 * products[i][4];
            precomputedMu_[5] += products[i][5];
        }
        precomputedMu_ = precomputedMu_ / points.size();
 
        precomputedF0_.setZero();
        precomputedF1_.setZero();
        precomputedF2_.setZero();
        for ( size_t i = 0; i < normalizedPoints_.size(); ++i )
        {
            Eigen::Vector<T, 6> delta{};
            delta[0] = products[i][0] - precomputedMu_[0];
            delta[1] = 2 * products[i][1] - precomputedMu_[1];
            delta[2] = 2 * products[i][2] - precomputedMu_[2];
            delta[3] = products[i][3] - precomputedMu_[3];
            delta[4] = 2 * products[i][4] - precomputedMu_[4];
            delta[5] = products[i][5] - precomputedMu_[5];
            precomputedF0_( 0, 0 ) += products[i][0];
            precomputedF0_( 0, 1 ) += products[i][1];
            precomputedF0_( 0, 2 ) += products[i][2];
            precomputedF0_( 1, 1 ) += products[i][3];
            precomputedF0_( 1, 2 ) += products[i][4];
            precomputedF0_( 2, 2 ) += products[i][5];
            precomputedF1_ = precomputedF1_ + normalizedPoints_[i] * delta.transpose();
            precomputedF2_ += delta * delta.transpose();
        }
        precomputedF0_ = precomputedF0_ / static_cast < T > ( points.size() );
        precomputedF0_( 1, 0 ) = precomputedF0_( 0, 1 );
        precomputedF0_( 2, 0 ) = precomputedF0_( 0, 2 );
        precomputedF0_( 2, 1 ) = precomputedF0_( 1, 2 );
        precomputedF1_ = precomputedF1_ / static_cast < T > ( points.size() );
        precomputedF2_ = precomputedF2_ / static_cast < T > ( points.size() );
    }
 
    // Core minimization function.
    // Functional that needs to be minimized to obtain the optimal value of W (i.e. the cylinder axis)
    // General definition is formula 94, but for speed up we use formula 99.
    // https://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
    T G( const Eigen::Vector<T, 3>& W, Eigen::Vector<T, 3>& PC, T& rsqr ) const
    {
        Eigen::Matrix<T, 3, 3> P = Eigen::Matrix<T, 3, 3>::Identity() - ( W * W.transpose() ); // P = I - W * W^T
 
        Eigen::Matrix<T, 3, 3> S;
        S << 0, -W[2], W[1],
            W[2], 0, -W[0],
            -W[1], W[0], 0;
 
        Eigen::Matrix<T, 3, 3> A = P * precomputedF0_ * P;
        Eigen::Matrix<T, 3, 3> hatA = -( S * A * S );
        Eigen::Matrix<T, 3, 3> hatAA = hatA * A;
        T trace = hatAA.trace();
        Eigen::Matrix<T, 3, 3> Q = hatA / trace;
        Eigen::Vector<T, 6> pVec{ P( 0, 0 ), P( 0, 1 ), P( 0, 2 ), P( 1, 1 ), P( 1, 2 ), P( 2, 2 ) };
        Eigen::Vector<T, 3> alpha = precomputedF1_ * pVec;
        Eigen::Vector<T, 3> beta = Q * alpha;
        T error = ( pVec.dot( precomputedF2_ * pVec ) - 4 * alpha.dot( beta ) + 4 * beta.dot( precomputedF0_ * beta ) ) / static_cast< T >( normalizedPoints_.size() );
 
        // some times appears floating points calculation errors. Error is a non negative value by default, so, make it positive.
        // absolute value (instead of error=0) is used to avoid collisions for near-null values and subsequent ambiguous work, since this code can be used in parallel algorithms
        if ( error < 0 )
            error = std::abs( error );
 
        PC = beta;
        rsqr = pVec.dot( precomputedMu_ ) + beta.dot( beta );
 
        return error;
    }
 
    T fitCylindeHemisphereSingleThreaded( Eigen::Vector<T, 3>& PC, Eigen::Vector<T, 3>& W, T& resultedRootSquare ) const
    {
        T const theraStep = static_cast< T >( 2 * PI ) / thetaResolution_;
        T const phiStep = static_cast< T >( PI2 ) / phiResolution_;
 
        // problem in list. 16. => start from pole.
        W = { 0, 0, 1 };
        T minError = G( W, PC, resultedRootSquare );
 
        for ( size_t j = 1; j <= phiResolution_; ++j )
        {
            T phi = phiStep * j; //  [0 .. pi/2]
            T cosPhi = std::cos( phi );
            T sinPhi = std::sin( phi );
            for ( size_t i = 0; i < thetaResolution_; ++i )
            {
                T theta = theraStep * i; //  [0 .. 2*pi)
                T cosTheta = std::cos( theta );
                T sinTheta = std::sin( theta );
                Eigen::Vector<T, 3> currW{ cosTheta * sinPhi, sinTheta * sinPhi, cosPhi };
                Eigen::Vector<T, 3> currPC{};
                T rsqr;
                T error = G( currW, currPC, rsqr );
                if ( error < minError )
                {
                    minError = error;
                    resultedRootSquare = rsqr;
                    W = currW;
                    PC = currPC;
                }
            }
        }
 
        return minError;
    }
 
    class BestHemisphereStoredData
    {
    public:
        T error = std::numeric_limits<T>::max();
        T rootSquare = std::numeric_limits<T>::max();
        Eigen::Vector<T, 3> W;
        Eigen::Vector<T, 3> PC;
    };
 
    T fitCylindeHemisphereMultiThreaded( Eigen::Vector<T, 3>& PC, Eigen::Vector<T, 3>& W, T& resultedRootSquare ) const
    {
        T const theraStep = static_cast< T >( 2 * PI ) / thetaResolution_;
        T const phiStep = static_cast< T >( PI2 ) / phiResolution_;
 
        // problem in list. 16. => start from pole.
        W = { 0, 0, 1 };
        T minError = G( W, PC, resultedRootSquare );
 
        std::vector<BestHemisphereStoredData> storedData;
        storedData.resize( phiResolution_ + 1 ); //  [0 .. pi/2] +1 for include upper bound
 
        tbb::parallel_for( tbb::blocked_range<size_t>( size_t( 0 ), phiResolution_ + 1 ),
                           [&] ( const tbb::blocked_range<size_t>& range )
        {
            for ( size_t j = range.begin(); j < range.end(); ++j )
            {
 
                T phi = phiStep * j; // [0 .. pi/2]
                T cosPhi = std::cos( phi );
                T sinPhi = std::sin( phi );
                for ( size_t i = 0; i < thetaResolution_; ++i )
                {
 
                    T theta = theraStep * i; // [0 .. 2*pi)
                    T cosTheta = std::cos( theta );
                    T sinTheta = std::sin( theta );
                    Eigen::Vector<T, 3> currW{ cosTheta * sinPhi, sinTheta * sinPhi, cosPhi };
                    Eigen::Vector<T, 3> currPC{};
                    T rsqr;
                    T error = G( currW, currPC, rsqr );
 
                    if ( error < storedData[j].error )
                    {
                        storedData[j].error = error;
                        storedData[j].rootSquare = rsqr;
                        storedData[j].W = currW;
                        storedData[j].PC = currPC;
                    }
                }
            }
        }
        );
 
        for ( size_t i = 0; i <= phiResolution_; ++i )
        {
            if ( storedData[i].error < minError )
            {
                minError = storedData[i].error;
                resultedRootSquare = storedData[i].rootSquare;
                W = storedData[i].W;
                PC = storedData[i].PC;
            }
        }
 
        return minError;
    };
 
    T SpecificAxisFit( Eigen::Vector<T, 3>& PC, Eigen::Vector<T, 3>& W, T& resultedRootSquare )
    {
        W = baseCylinderAxis_;
        return G( W, PC, resultedRootSquare );
    };
};
 
}