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raycast.jl
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raycast.jl
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## Implementations of different raycasting search algorithms
# default raycast
Raycast(xs) = RaycastIncircleSkip(KDTree(xs))
struct RaycastBruteforce end
""" shooting a ray in the given direction, find the next connecting point.
This is the bruteforce variant, using a linear search to find the closest point """
function raycast(sig::Sigma, r, u, xs, searcher::RaycastBruteforce)
(tau, ts) = [0; sig], Inf
x0 = xs[sig[1]]
c = maximum(dot(xs[g], u) for g in sig)
skip(i) = (dot(xs[i], u) <= c) || i ∈ sig
for i in 1:length(xs)
skip(i) && continue
x = xs[i]
t = (sum(abs2, r .- x) - sum(abs2, r .- x0)) / (2 * u' * (x-x0))
if 0 < t < ts
(tau, ts) = vcat(sig, [i]), t
end
end
return sort(tau), ts
end
struct RaycastBisection{T}
tree::T
tmax
eps::Float64
end
""" shooting a ray in the given direction, find the next connecting point.
This variant (by Poliaski, Pokorny) uses a binary search """
function raycast(sig::Sigma, r::Point, u::Point, xs::Points, searcher::RaycastBisection)
tau, tl, tr = [], 0, searcher.tmax
x0 = xs[sig[1]]
while tr-tl > searcher.eps
tm = (tl+tr)/2
i, _ = nn(searcher.tree, r+tm*u)
x = xs[i]
if i in sig
tl = tm
else
tr = (sum(abs2, r .- x) - sum(abs2, r .- x0)) / (2 * u' * (x-x0))
tau = vcat(sig, [i])
# early stopping
idxs, _ = knn(searcher.tree, r+tr*u, length(sig)+1, true)
length(intersect(idxs, [sig; i])) == length(sig)+1 && break
end
end
if tau == []
tau = [0; sig]
tr = Inf
end
return sort(tau), tr
end
struct RaycastIncircle{T}
tree::T
tmax::Float64
end
""" Shooting a ray in the given direction, find the next connecting point.
This variant uses an iterative NN search """
function raycast(sig::Sigma, r::Point, u::Point, xs::Points, searcher::RaycastIncircle)
i = 0
t = 1
x0 = xs[sig[1]]
local d, n
# find a t large enough to include a non-boundary (sig) point
while t < searcher.tmax
n, d = nn(searcher.tree, r+t*u)
if d==Inf
warn("d==Inf in raycast expansion, this should never happen")
return [0; sig], Inf
end
if n in sig
t = t * 2
else
i = n
break
end
end
if i == 0
return [0; sig], Inf
end
# sucessively reduce incircles unless nothing new is found
while true
x = xs[i]
t = (sum(abs2, r - x) - sum(abs2, r - x0)) / (2 * u' * (x-x0))
j, _ = nn(searcher.tree, r+t*u)
if j in [sig; i]
break
else
i = j
end
end
tau = sort([i; sig])
return tau, t
end
global warn_degenerate::Bool = false
struct RaycastIncircleSkip{T}
tree::T
end
"""
raycast(sig::Sigma, r::Point, u::Point, xs::Points, seacher::RaycastIncircleSkip)
Return `(tau, t)` where `tau = [sig..., i]` are the new generators
and `t` the distance to walk from `r` to find the new representative.
`::RaycastIncircleSkip` uses the nearest-neighbours skip predicate
to find the initial candidate on the right half plane.
Resumes with successive incircle searches until convergence
(just as in ``::RaycastIncircle`).
Q: Why is this routine split in these two parts
instead of only iterating on the right half plane?
A: The first might find no generator in case of a ray. This is handled explicitly here.
"""
function raycast(sig::Sigma, r::Point, u::Point, xs::Points, searcher::RaycastIncircleSkip)
x0 = xs[sig[1]]
# only consider points on the right side of the hyperplane
c = maximum(dot(xs[g], u) for g in sig)
skip(i) = (dot(xs[i], u) <= c) || i ∈ sig
candidate = raycast_start_heuristic(sig, r, u, xs)
#candidate = r
is, _ = knn(searcher.tree, candidate, 1, false, skip)
(length(is) == 0) && return [0; sig], Inf # no point was found
i = is[1]
# sucessively reduce incircles unless nothing new is found
local t
while true
x = xs[i]
t = (sum(abs2, r - x) - sum(abs2, r - x0)) / (2 * u' * (x-x0))
candidate = r + t*u
j, d = nn(searcher.tree, candidate)
(j in sig || j == i) && break # converged to the smallest circle
if warn_degenerate
# why is this test actually meaningful?
dold = sqrt(sum(abs2, x0 - candidate))
isapprox(d, dold) && @warn "degenerate vertex at $sig + [$j]/[$i] ($d $dold)"
end
i = j
end
tau = sort([i; sig])
return tau, t
end
global USE_HEURISTIC::Bool = true
use_heuristic(usage) = (global USE_HEURISTIC = usage)
"""
compute initial candidate assuming the resulting delauney simplex was regular
this reduces number of extra searches by about 10%
"""
function raycast_start_heuristic(sig::Sigma, r::Point, u::Point, xs::Points)
USE_HEURISTIC || return r
x0 = xs[sig[1]]
n = length(sig)
u = u / norm(u)
# shift candidate onto the plane spanned by the generators
r = r + u * (u' * (x0 - r))
if n > 1
# more accurate but slower, not worth it
# radius = sum(norm(r-xs[s]) for s in sig) / n
radius = norm(r - x0)
# This is derived by solving r_d^2 = r_(d-1)^2 + h^2
# for h with r_d = l*(d/(2(d+1))^(1/2)
t = radius / sqrt((n + 1) * (n - 1))
r += t * u
end
return r
end
struct RaycastCompare
tree::KDTree
tmax
eps
timings
end
RaycastCompare(xs) = RaycastCompare(KDTree(xs), 1_000., 1e-8, zeros(4))
function raycast(sig::Sigma, r::Point, u::Point, xs::Points, searcher::RaycastCompare)
s1 = RaycastBruteforce()
s2 = RaycastBisection(searcher.tree, searcher.tmax, searcher.eps)
s3 = RaycastIncircle(searcher.tree, searcher.tmax)
s4 = RaycastIncircleSkip(searcher.tree)
t1 = @elapsed r1 = raycast(sig, r, u, xs, s1)
t2 = @elapsed r2 = raycast(sig, r, u, xs, s2)
t3 = @elapsed r3 = raycast(sig, r, u, xs, s3)
t4 = @elapsed r4 = raycast(sig, r, u, xs, s4)
searcher.timings .+= [t1, t2, t3, t4]
if !(r1[1]==r2[1]==r3[1]==r4[1]) && r3[2] < searcher.tmax
@warn "raycast algorithms return different results" r1 r2 r3 r4 tuple(r...)
end
return r4
end