MATLAB Answers

Detect collinear points in a 3d points cloud

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Sleh Eddine Brika
Sleh Eddine Brika on 14 Jul 2020 at 18:04
Commented: Sleh Eddine Brika on 15 Jul 2020 at 15:31
Lets say we have a random matrix M with N rows and 3 columns (M = randn(N,3)).
I need to detect all the points that are collinear and save the different groups of collinear points
For now here's my idea:
1.I take two points i and i+1 and I browse in the matrix to find the points that are collinear with them
2. If I find collinear points I save their coordinates in a matrix
3. Then I move to the two next set of points i and i+2 and repeat the same idea
It's super slow espeacilly when I use matrix with over 100000 rows. Does anyone have a more optimized approach? Thanks

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Sleh Eddine Brika
Sleh Eddine Brika on 14 Jul 2020 at 20:48
Thanks for the comment, I never said that I check the collinearity of two points. I just take 2 points and try to find, in the rest of the matrix, what are the points that belong to that line. I will definitely add some more conditions to try simplifying the calculations. Thank you for the recommendations
Bjorn Gustavsson
Bjorn Gustavsson on 15 Jul 2020 at 7:54
@John: I was thinking in the line of if one have found a set of points that are co-linear with point i and point j then no pair of points from that set have to be used to search for co-linearity with the rest of the ~1e5 points, that's already done. Then if the point-set contains of some number of line-segments with a reasonable number of points on each one would reduce the number of possible lines to test for - possibly by very much.
@Sleh: Maybe you can find efficient methods for this type of analysis if you look for data-analysis-methods for CERN - as far as I understand they do a lot of particle trajectory calculations from point-detections. They also use a lot of computing power to do this.
Sleh Eddine Brika
Sleh Eddine Brika on 15 Jul 2020 at 15:14
Thanks Bjorn for the suggestion, good idea, I will take a look to their work

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Accepted Answer

John D'Errico
John D'Errico on 15 Jul 2020 at 9:31
I think your problem is in the breath of the search. If you make this a problem of finding sets of three points, then you have trillions of such sets to search over.
So reduce the problem size, not by throwing away points, but by looking for what factor do sets of three collinear points have in common. Not worded well, but you should see the idea once I get going. I want to reduce a doubly or triply nested problem into a single loop.
For example, consider the point cloud
N = 1e5;
xyz = round(rand(N,3)*1000);
xyz = unique(xyz,'rows');
N = size(xyz,1)
N =
99996
I've rounded them onto an integer lattice, because in my example, I am hoping to find at least a few triplets of points that are truly collinear. In this exmple, I ended up with a set of 99996 distinct points.
Consider the first point in that point cloud. Is it collinear with any other two points? If it is, then there exists one line that passses through point pairs (1,i) and (1,j). So compute the slope of the lines that pass through all such pairs, not as a slope, of course, but as an angle. This does away with the issue of a vertical line, which would have an infinite slope. And, of course, this must be done in 3-dimensions. Again, lets just try it...
A = [atan2(xyz(2:end,2) - xyz(1,2),xyz(2:end,1) - xyz(1,1)),atan2(xyz(2:end,3) - xyz(1,3),xyz(2:end,1) - xyz(1,1))];
So A represents the inclination of each line that passes through point 1, and every other point in the cloud. Essentially, I've computed the slopes dy/dx amd dz/dx for each such line, but I've represented that in an angular form using atan2.
Now, we need to find rows of A that are the same, to within a tolerance. uniquetol does some of the work for us.
[Au,Ia,Ic] = uniquetol(A,1e-12,'byrows','true');
numel(Ia)
ans =
99942
Now we are getting someplace. There wer 99942 distinct sets of slopes. But that means there were at least a few sets of points that are collinear, and include point #1. We can find them using the Indicator varisble Ic.
colind = find(accumarray(Ic,1) > 1)
colind =
464
45424
77725
98191
99941
99942
So there were 6 distinct lines passing through point #1, such that the line in question also passes through more than one other point. We can easily now go back and find those sets, saving them away.
Having done this for point #1, we need never look at point #1 again, as we have found every line that includes point # 1 and any other two or more points. This means the array A will get progressively smaller as we run along. But it also means the entire process cn be done using just a single loop over the point which may be in common.
In fact, the above scheme will be pretty efficient, since it is just a single loop. Inside the loop create the array of inclinations, then call uniquetol, and use accuarray to find the sets with common inclinations. This will be eminently doable, even for considerably larger point clouds.

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Sleh Eddine Brika
Sleh Eddine Brika on 15 Jul 2020 at 15:31
Thanks John, really clever approach, I will implement it as you proposed. Thank you

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More Answers (1)

Jeff Miller
Jeff Miller on 15 Jul 2020 at 0:06
This is going to be a pretty fuzzy suggestion: Maybe you can speed things up by temporarily throwing away precision. The idea is to reduce precision so that you can group points and have fewer to check.
To have a concrete example, imagine that all of your numbers are in the range 0-1. In a first pass, round all the numbers to the nearest 0.1. Now you will have at most 11^3 distinct rows--way less than 100000. Check these distinct rows and keep track of which triples are collinear at this level of precision. This will tell narrow down the triples of the 100000 rows that are possibly collinear, so you only have to check those in a subsequent step. Maybe add another intermediate step where you round to the nearest 0.01.
Well, I'm not sure whether this would work. It would fail if a collinear triple could be rounded into a non-collinear triple. John?

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