我正在使用CGAL并陷入一些奇怪的错误,我无法在一个小的测试程序中重现。这是测试代码,按照给定的方式工作,但是当我在更大的程序(ROS节点)中使用完全相同的代码时,它会发出错误:
#include <vector>
#include <boost/shared_ptr.hpp>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Polygon_with_holes_2.h>
#include <CGAL/Boolean_set_operations_2.h>
#include "print.h"
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
typedef Kernel::FT Ft;
typedef Kernel::Point_2 Point;
typedef Kernel::Segment_2 Segment;
typedef Kernel::Direction_2 Direction;
typedef Kernel::Line_2 Line;
typedef Kernel::Vector_2 Vector;
typedef CGAL::Polygon_2<Kernel> Polygon;
typedef CGAL::Polygon_with_holes_2<Kernel> PolygonWithHoles;
main() {
Polygon poly;
float scale = 4.0/100;
float max_y = 500*scale;
poly.push_back(Point(76*scale, max_y-496*scale));
poly.push_back(Point(660*scale, max_y-496*scale));
poly.push_back(Point(660*scale, max_y-48*scale));
poly.push_back(Point(71*scale, max_y-54*scale));
// Holes must be clock wise!!
Polygon holes[10];
holes[0].push_back(Point(131*scale, max_y-86*scale));
holes[0].push_back(Point(179*scale, max_y-85*scale));
holes[0].push_back(Point(180*scale, max_y-238*scale));
holes[0].push_back(Point(133*scale, max_y-239*scale));
holes[1].push_back(Point(237*scale, max_y-84*scale));
holes[1].push_back(Point(286*scale, max_y-84*scale));
holes[1].push_back(Point(288*scale, max_y-237*scale));
holes[1].push_back(Point(240*scale, max_y-238*scale));
// Why does this hole make intersection() error?
holes[2].push_back(Point(345*scale, max_y-84*scale));
holes[2].push_back(Point(393*scale, max_y-83*scale));
holes[2].push_back(Point(396*scale, max_y-236*scale));
holes[2].push_back(Point(348*scale, max_y-236*scale));
PolygonWithHoles polyHoles(poly);
polyHoles.outer_boundary() = poly;
for (int i=0; i<3; ++i)
polyHoles.add_hole(holes[i]);
std::cout << "\nPolygon:" << std::endl;
print_polygon_with_holes(polyHoles);
Polygon selection;
float minx = -5.7669;
float miny = -2.13124;
float maxx = 0.396996;
float maxy = 4.88933;
selection.push_back(Point(minx, miny));
selection.push_back(Point(maxx, miny));
selection.push_back(Point(maxx, maxy));
selection.push_back(Point(minx, maxy));
std::cout << "\nSelection:" << std::endl;
print_polygon(selection);
std::vector<PolygonWithHoles> result;
CGAL::intersection(polyHoles, selection, std::back_inserter(result));
std::cout << "Intersection:" << std::endl;
if (!result.empty())
print_polygon_with_holes(result.front());
}
错误:
terminate called after throwing an instance of 'CGAL::Precondition_exception'
what(): CGAL ERROR: precondition violation!
Expr: comp_f(object, parentP->object) != SMALLER
File: /usr/include/CGAL/Multiset.h
Line: 2128
我找到了两种方法来解决这个问题:
我的问题是:什么可能导致问题仅存在于较大的程序中?
我想继续使用unexact_constructions,我不明白为什么在这种情况下我必须使用exact_constructions(点不是彼此或任何东西),但是因为我不知道我认为交集()算法可能是错的。
答案 0 :(得分:1)
intersect
函数构造新点 - 交叉点的新点。如果您没有使用精确的结构,那么这些新点不会被认为是正确的。如果你然后使用这些不精确的点进行进一步的计算,你会遇到问题。除非你对运行时间有很大的限制,否则我相信你对精确的构造更好。
示例:考虑单位圆x^2+y^2=1
和行y=x
,让p
成为构造的交点。只有当您使用确切的结构时,circle.has_on_boundary (p)
才会返回TRUE
。