vertexenumeration3d's Introduction

Vertex Enumeration 3D

VertexEnumeration3D is an efficient tool to enumerate all vertices of a 3D polytope.

Feature

Only 3 header files are all you needed.
This tool is more efficient and robust than cddlib for 3D polytopes.
Any nonzero-volume polytope is acceptable even with degenrate vertices(one shared by more than 3 facets).
An order of magnitude faster than cddlib by leveraging polar duality and mature convex hull algorithms.

Interface

Only one function is needed.

 bool geo_utils::enumerateVs(const Eigen::MatrixX4d &hPoly, 
                            Eigen::MatrixXd &vPoly);

Inputs:

hPoly: 
    An Eigen matrix with size N*4. N is the number of halfspaces. The i-th row 
    is (h0, h1, h2, h3) defining a halfspace as h0*x + h1*y + h2*z + h3 <= 0.

    A 3D polytope is defined by the halfspace intersection, thus an arbitrary 
    number of redundant halfspaces is acceptable.

Outputs:

vPoly:
    An Eigen matrix with size 3*M. M is the number of vertices.

Example: src/polyve.cpp.

If an interior point of the polytope is already known, the following function can be used instead.

void enumerateVs(const Eigen::MatrixX4d &hPoly, 
                 const Eigen::Vector3d &inner, 
                 Eigen::MatrixXd &vPoly)

Results

The ground-truth polytope is visualized by blue facets with green edges. The white sphere is an interior point automatically found by the tool. The red spheres are enumerated vertices, which are consistent with the ground truth.

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