Split Node

Report
Data Structures for 3D Searching
partly based on:
chapter 12 in
Fundamentals of Computer Graphics, 3rd ed.
(Shirley & Marschner)
Slides by Marc van Kreveld
1
Data structures
• Data structures for representation
– geometry (coordinates)
– topology (connectivity)
– attributes (anything else like material, …)
• Data structures for searching
– use the geometry to reduce the number objects that need
be tested from all of them to some small subset
– windowing queries, ray tracing, nearest neighbors
2
Data structures for searching
• Several steps in the algorithms we have seen until
now can be sped up using data structures for efficient
searching
– Find the k nearest neighbors to each point
(straightforward in O(n2) time; linear time per point)
– Find the support of a plane tried in RANSAC
(straightforward in O(n) time)
– Test whether a mesh-changing operator causes selfintersections of the manifold (straightforward in O(n) time)
– Also: for ray tracing, windowing
3
Data structures for searching
•
•
•
•
•
Grid structure
Quadtree and Octree
Bounding Volume Hierarchy, R-tree
Kd-tree
BSP tree (Binary Space Partition)
4
Simple grid structure
• Also: cubical grid, cubic partitioning
• Tile the space with equal-size cubes and store each
object with every cube it intersects
• The 3D grid is a 3D array of lists; list elements are
pointers to the objects
• Small grid cells: much storage overhead, but good
for query time
• Big grid cells: little storage overhead, worse query
time
5
Simple grid structure
6
Simple grid structure
ray tracing query
7
Simple grid structure
k nearest neighbors query
8
Simple grid structure
RANSAC line support computation
9
Simple grid structure
windowing query
10
Simple grid structure
• A hierarchical version of a grid may give more efficient
querying: one emptiness test at a higher level square
may make
several tests
at lower level
squares
unnecessary
11
Quadtrees and Octrees
• Tree version of the (hierarchical) square/cube grid
• Storage requirements better than grid when large
parts of the grid contain no objects
• In a quadtree
– the root corresponds to a bounding square
– children correspond to four subsquares : NW, NE, SW, SE
– nodes with 0 or 1 objects in their square are leaves
• In an octree
– the root corresponds to a bounding cube
– children correspond to eight subcubes
– nodes with 0 or 1 objects in their cube are leaves
12
Quadtrees and Octrees
NW
NE
NW NE SW SE
root
leaf
leaf
leaf storing one object
SW
SE
13
Quadtrees and Octrees
NW
NE
NW NE SW SE
root
leaf
leaf
leaf storing one object
SW
SE
14
Quadtrees and Octrees
NW
NE
This ray tracing query
visits 10 nodes in the
quadtree (12 squares
in the original grid)
SW
SE
15
Quadtrees and Octrees
• Other queries are performed in the straightforward
way
– windowing query: easy
– RANSAC support of line: determine all cells intersected by
the strip, and test points in those cells only for inclusion in
the strip, right normal, and therefore support
– k nearest neighbors: explore cells further and further away
from the query point until we know for sure that we have
the k nearest neighbors
 explore all cells that intersect the circle centered at the
query point and through the k-th closest point
16
17
Octree
18
Quadtrees and Octrees
• Often a quadtree or octree is not made deeper than a
desired level of precision
• E.g., given an object of 1 x 1 x 1 meters stored in a
triangle mesh, store the triangles in an octree up to a
cell size of 4 x 4 x 4 millimeters
• Leaves that contain more than one object store them
in a list (it is assumed that there would only be O(1) of
them at this detail level)
• Also possible: split a square/cube until at most some
constant c objects or points intersect a cell
19
Bounding Volume Hierarchies
• Tree structure where internal nodes store bounding
shapes of all objects in the subtree
• If a query object intersects the bounding shape, it
may intersect some object in that subtree, otherwise
certainly not
• Bounding shapes can be spheres, axis-parallel
bounding boxes, or arbitrarily oriented bounding
boxes; axis-parallel BB is most common
20
Bounding Volume Hierarchies
• In graphics usually binary trees
• For huge data sets where the data must be on disk,
usually higher-degree trees: R-tree
21
R-trees
• 2-dimensional version of the B-tree:
B-tree of maximum degree 8; degree between 3 and 8
Internal nodes with k children have k – 1 split values
22
R-trees
• Can store:
–
–
–
–
a set of polygons (regions of a subdivision)
a set of polygonal lines (or boundaries)
a set of points
a mix of the above
• Stored objects may overlap
23
R-trees
• Originally by Guttman, 1984
• Dozens of variations and optimizations since
• Suitable for windowing, point location, intersection
queries, and ray tracing
• Heuristic structure, no order bounds ( O(..) )
• Example of a bounding volume hierarchy
24
R-trees
• Every internal node contains
entries (rectangle, pointer to
child node)
• All leaves contain entries
(rectangle, pointer to object)
in database or file
• Rectangles are minimal axisparallel bounding rectangles
• The root has  2 and  M
entries
• All other nodes have at
least m and at most M
entries
• All leaves have the same
depth
• m > 1 and M > 2m
(e.g. m = 200; M = 1000)
25
R-trees
• M is chosen so that a full node still (just) fits in a
single block of disk memory
• m is chosen depending on a trade-off in search time
and update time
– larger m: faster queries, slower updates
– smaller m: slower queries, faster updates
26
Object descriptions
27
Grouping of objects
Windowing query: the fewer
rectangles intersected, the fewer
subtrees to descend into
28
Grouping of objects
• Objects close together in same leaves  small
rectangles  queries descend in only few subtrees
• Group the child nodes under a parent node such that
small rectangles arise
29
Heuristics for fast queries
•
•
•
•
Small area of rectangles
Small perimeter of rectangles
Little overlap among rectangles
Well-filled nodes (tree less deep  fewer disk
accesses on each search path)
30
Example R-tree
31
32
33
34
35
Object descriptions
36
point
containment
query
37
point
containment
query
38
Searching in an R-tree
• Q is query object (point, window, object); we search
for intersections with stored objects
• For each rectangle R in the current node,
if Q and R intersect,
– search recursively in the subtree under the pointer at R
(at an internal node)
– get the object corresponding to R and test for intersection
with R (at a leaf)
39
Nearest neighbor queries
• An R-tree can be used for nearest neighbor queries
• The idea is to perform a DFS, maintain the closest
object so far and use the distance for pruning
pruned
closest
object so far
queried
40
1
4
5
2
3
41
Inserting in an R-tree
• Determine minimal bounding rectangle of new object
• When not yet at a leaf (choose subtree):
– determine rectangle whose area increment after insertion
of R is smallest
– increase this rectangle if necessary and insert R
• At a leaf:
– if there is space, insert, otherwise Split Node
42
43
44
45
46
47
Split Node
• Divide the M+1 rectangles into two groups, each with
at least m and at most M rectangles
• Make a node for each group, with the rectangles and
corresponding subtrees as entries
• Hang the two new nodes under the parent node in
the place of the overfull node; determine the new
bounding rectangles (if the root was overfull, make a
new root with two child nodes)
• If the parent has M+1 children, repeat Split Node with
this parent
48
Split Node, example
new bounding
rectangles
49
Strategies for Split Node
• Determine R1 and R2 with largest bounding rectangle:
the seeds for sets S1 and S2
• While |S1| , |S2| < M – m and not all rectangles
distributed:
– Take not yet distributed rectangle Rj , add to the set whose
bounding rectangle increases least
Linear R-tree of Guttman, 1984
50
Example Split Node
51
Strategies for Split Node
• If the total x-extent is larger than the total y-extent,
then sort the rectangles by x-coordinate of center,
otherwise by y-coordinate of center
• Split halfway in this sorted order
• Alternatively: choose a split close to halfway if this
gives smaller resulting bounding box overlap
52
Example Split Node
x-extent is larger
53
Example Split Node
split in the middle
54
Example Split Node
split close to the middle
55
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57
58
Deletion from an R-tree
• Find the leaf (node) and delete object; determine new
(possibly smaller) bounding rectangle
• If the node is too empty (< m entries):
– delete the node recursively at its parent
– insert all entries of the deleted node into the R-tree
• Note: Insertion of entries/subtrees always occurs at
the level where it came from
59
60
61
62
63
Insert as rectangle
on middle level
64
Insert in a leaf
object
65
66
67
68
69
70
71
72
73
74
75
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Bounding Volume Hierarchy
• Other examples of bounding volume hierarchies are
often binary trees
• Not all leaves will be on the same depth
• Different balancing schemes are needed if insertions
and deletions occur
• All bounding volume hierarchies try to group objects
suitably in their subtrees
Kd-trees
• Binary search tree that splits a point set through the
middle, alternating on x- and y- (3D: on x-, y- and z-)
coordinate
split on x, vertical line
split on y, horizontal line
leaves, each with one point
78
Kd-trees
79
Kd-trees
80
Kd-trees in 3D
• The point set is split on x-, y- and z-coordinate in the
topmost three levels, and this is repeated
• Geometrically, this is splitting by axis-parallel planes
x = c, y = c, or z = c
81
Kd-trees
• Every node corresponds to a region of the plane that
is a rectangle (possibly unbounded)
• The points in the subtree below that node are exactly
the points of the stored set in that region
• Denote the region of a node  by Region()
– Region(root) = R2 (the whole plane)
– Region(child of root) = half-plane left/right of vertical line
– “most” nodes : Region() = some bounded rectangle
82
Kd-trees, windowing query
• Windowing query (report all points in the window) in
a kd-tree with window W
– [ at node , initially the root ]
– if  is a leaf, then report the stored point if it is in W
– otherwise, if Region() intersects W then recursively query
further in both subtrees
Note: if Region() does not intersect W, then we return
from recursion (we do nothing at this node, nor its subtree)
83
Kd-trees, window query
• For a set of n points in the plane, a kd-tree that stores
them allows windowing queries with an axis-parallel
rectangular window takes O(n + k) time in the worst
case, where k is the number of answers reported
3 2
• In 3D this is O(n + k) = O(n2/3 + k) time
• For circular windowing queries similar bounds hold in
practice, but these are not provable worst-case
bounds
• For queries with small windows the observed bounds
are better
84
Kd-trees, other objects, other queries
• kd-trees can store triangles, etc., where objects are
split by the vertical and horizontal lines
 need different splitting rule
 storage may become large
• Ray tracing query can be performed easily
• k-nearest neighbor query can be done similar to such
a query in a quadtree
85
3D kd-tree
BSP-trees
• BSP = Binary Space Partition
• Similar to a kd-tree that stores
triangles, but with arbitrarily
oriented splitting lines/planes
• Often lines/planes are chosen
through edges/triangles of the
set to be stored
• For query answering and for
producing depth orders for
the painter’s algorithm
87
BSP-trees
• BSP-trees were used in Doom and in Quake
88
BSP-trees
89
BSP-trees
90
BSP-trees
B
E
A
D
B
D
A
C
E
F
G
H
H
F
C
G
91
BSP-trees
B
E
A
D
B
C
P
D
A
P
R
F
H
E
F
G
Q H
P
Q
Q
R
Q
C
G
92
BSP-trees
• BSP-trees are not necessarily balanced
– no problem for the painter’s algorithm
– unbalanced is not good for querying
• BSP-trees split objects; such fragmentation is
undesirable because it costs memory space and
lowers efficiency
93
BSP-trees, painter’s algorithm
94
BSP-trees, painter’s algorithm
B
A
E
B
D
D
A
C
E
F
G
H
H
F
C
G
Given a viewpoint, draw
the objects back to front,
“overpainting” what was
drawn before
95
BSP-trees, painter’s algorithm
B
E
Given a viewpoint, draw
the objects back to front,
“overpainting” what was
drawn before
D
A
H
For each split line, all
object parts “behind” it
are drawn first, and then
all objects in front of it
(w.r.t. viewpoint)
F
C
G
96
BSP-trees, painter’s algorithm
B
E seventh
Given a viewpoint, draw
second fifth
the objects back to front,
“overpainting” what was
sixth
eighth
drawn before
first
D
third
A
fourth
tenth
ninth
H
For each split line, all
object parts “behind” it
are drawn first, and then
all objects in front of it
(w.r.t. viewpoint)
F
eleventh C
G
97
BSP-trees, painter’s algorithm
• In 3D it works similarly: choose splitting planes that
contain triangles (and may cut other triangles)
• First draw stuff behind the plane, then the triangle
in the plane, then the stuff in front of the plane
• Cutting may be necessary: cyclic overlap
98
BSP-trees, painter’s algorithm
99
BSP-trees, painter’s algorithm
100
Summary data structures
• There are two types of data structures: those for
representation and those for efficient searching
• Data structures can partition the underlying space, or
partition the objects it stores
• Choosing a data structure:
–
–
–
–
small data set: not worthwhile
medium size data set: choose a simple structure, it will help
large data set: orders of magnitude in efficiency are gained
huge data sets: use a structure suitable for disk storage
101
Questions
1. How would you implement ray tracing in an R-tree?
2. How many levels does the octree of slide 19 have, at most?
3. How many cyclic
overlaps do you
see? ;-)
102

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