Geometric Search Example Problems

Overview

Types of data. Points, lines, circles, rectangles, planes, polygons, ... This lecture. Intersection among N objects. Geometric Search Example problems. • 1d range searching. • 2d range searching. • Finding intersections among h-v line segments. ‣ range search • Find intersections among axis-aligned rectangles. ‣ space partitioning trees ‣ intersection search

References: Algorithms in C (2nd edition), Chapters 26-27 http://www.cs.princeton.edu/algs4/73range http://www.cs.princeton.edu/algs4/74intersection

1D range search

Extension of ordered symbol table. • Insert key-value pair. • Search for key k. • Rank: how many keys less than k? • Range count: how many keys between k1 and k2? • Range search: find over all keys between k1 and k2.

‣ range search Application. Database queries. ‣ space partitioning trees insert B B ‣ intersection search Geometric interpretation. insert D B D Keys are point on a line. insert A A B D • insert I A B D I • How many points in a given interval? insert H A B D H I insert F A B D F H I insert P A B D F H I P count G to K 2 search G to K H I

3 4 1D range search: implementations BST: range search

Ordered array. Slow insert, binary search for lo and hi to find range. Range search. Find all keys between lo and hi? Hash table. No reasonable algorithm (key order lost in hash). • Recursively find all keys in left subtree (if any could fall in range). • Check key in current node. • Recursively find all keys in right subtree (if any could fall in range).

data structure insert rank range count range search

searching in range [F..T] ordered array N log N log N R + log N red keys are used in compares hash table 1 N N N but are not in the range S BST log N log N log N R + log N E X A R

N = # keys C H R = # keys that match M L P black keys are in the range

Range search in a BST

Goal. Modify standard BST to support efficient range queries. Worst-case running time. R + log N (assuming BST is balanced).

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inserting L BST: maintaining node counts S BST: maintaining node counts E X A R BST. In each node x, maintain number of nodes in tree rooted at x. BST. In each node x, maintain number of nodes in tree rooted at x. C H M node count N 8 search for L ends S at this null6 link 1 inserting L E X 2 3 S S A R Updating node counts after rotation. 1 2 E X E X C H A 1 R A R M C H h C H u h M v M a+b+c+2 a+b+c+2 1 h = rotL(u) Updating node counts after insertion. create new node L search for L ends v 8 u at this null link a 9 b+c+1 c S 2 E 5 S a+b+1 A C C 7 R E X 1 2 E 2 4 X A b c a b A R A H 1 1 X R 3 B C A B C H C M H S2 M M reset links and 1 L create new node L increment counts on the way up 9 S Two BSTsInsertion that represent into a BST 7 the same key sequence 7 8 E 4 X A R 3 C H 2 M reset links and increment counts L on the way up Insertion into a BST BST: range count 2D orthogonal range search

Rank. How many keys < k ? Extension of ordered symbol-table to 2D keys. • Insert a 2D key. public int rank(Key key) node count N 8 S Search for a 2D key. { return rank(key, root); } 6 1 • 2 E 3 X • Range count: how many keys lie in a 2D range? private int rank(Key key, Node x) A 1 2 R Range search: find all keys that lie in a 2D range? { C H 1 • if (x == null) return 0; M int cmp = key.compareTo(x.key); if (cmp < 0) return rank(key, x.left); Applications. Networking, circuit design, databases. else if (cmp > 0) return 1 + size(x.left) + rank(key, x.right); 8 else return size(x.left); 2 E 5 } C R 1 2 2 A H 1 1 X Geometric interpretation. M S • Keys are point in the plane. Range count. How many keys between lo and hi? • How many points in a given h-v rectangle. Two BSTs that represent the same key sequence public int rangeCount(Key lo, Key hi) { if (contains(hi)) return rank(hi) - rank(lo) - 1; else return rank(hi) - rank(lo); }

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2D orthogonal range search: grid implementation 2D orthogonal range search: grid implementation costs

Grid implementation. [Sedgewick 3.18] Space-time tradeoff. • Divide space into M-by-M grid of squares. • Space: M2 + N. • Create list of points contained in each square. • Time: 1 + N / M2 per square examined, on average. • Use 2D array to directly index relevant square. • Insert: insert (x, y) into corresponding square. Choose grid square size to tune performance. • Range search: examine only those squares that intersect 2D range query. • Too small: wastes space. • Too large: too many points per square. • Rule of thumb: √N-by-√N grid.

Running time. [if points are evenly distributed] RT RT Initialize: O(N). • M ≈ √N • Insert: O(1). • Range: O(1) per point in range.

LB LB

11 12 Clustering Clustering

Grid implementation. Fast, simple solution for well-distributed points. Grid implementation. Fast, simple solution for well-distributed points. Problem. Clustering a well-known phenomenon in geometric data. Problem. Clustering a well-known phenomenon in geometric data.

Ex. USA map data.

13,000 points, 1000 grid squares

Lists are too long, even though average length is short. Need data structure that gracefully adapts to data. half the squares are empty half the points are in 10% of the squares 13 14

Space-partitioning trees

Use a tree to represent a recursive subdivision of k-dimensional space.

Quadtree. Recursively divide plane into four quadrants. kD tree. Recursively divide k-dimensional space into two half-spaces. BSP tree. Recursively divide space into two regions.

‣ range search ‣ space partitioning trees ‣ intersection search

Grid Quadtree kD tree BSP tree

15 16 Space-partitioning trees: applications Quadtree

Applications. Idea. Recursively divide plane into 4 quadrants. • Ray tracing. Implementation. 4-way tree (actually a trie). • Flight simulators. (0..., 1...) • N-body simulation. b c a h • Collision detection. a d Astronomical databases. • d e f g • Adaptive mesh generation. • Accelerate rendering in Doom. e b c • Hidden surface removal and shadow casting. f g h public class QuadTree (01.., 00..) { private Quad quad; private Value val; private QuadTree NW, NE, SW, SE; }

Grid Quadtree kD tree BSP tree Benefit. Good performance in the presence of clustering. Drawback. Arbitrary depth!

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Quadtree: 2D range search N-body simulation

Range search. Find all keys in a given 2D range. Goal. Simulate the motion of N particles, mutually affected by gravity. • Recursively find all keys in NE quad (if any could fall in range). • Recursively find all keys in NW quad (if any could fall in range). • Recursively find all keys in SE quad (if any could fall in range). • Recursively find all keys in SW quad (if any could fall in range).

c a h a d

d e f g

e b c

f g h

Gm m Typical running time. R + log N. Brute force. For each pair of particles, compute force. F = 1 2 r2 19 20 Subquadratic N-body simulation Barnes-Hut algorithm

Key idea. Suppose particle is far, far away from cluster of particles. Algorithm. • Treat cluster of particles as a single aggregate particle. • Build quadtree with N particles as external nodes. • Compute force between particle and center of mass of aggregate particle. • Store center-of-mass of subtree in each internal node. • To compute total force acting on a particle, traverse tree, but stop as soon as distance from particle to quad is sufficiently large.

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Curse of dimensionality 2D trees

Range search / nearest neighbor in k dimensions? Recursively partition plane into two halfplanes. Main application. Multi-dimensional databases. Implementation. BST, but alternate using x- and y-coordinates as key. 3D space. Octrees: recursively divide 3D space into 8 octants. • Search gives rectangle containing point. 100D space. Centrees: recursively divide into 2100 centrants??? • Insert further subdivides the plane.

p points points left of p right of p

even levels

points points Raytracing with octrees below q above q http://graphics.cs.ucdavis.edu/~gregorsk/graphics/275.html odd levels 23 24 2D tree: 2D range search kD Trees

Range search. Find all keys in a given 2D range. kD tree. Recursively partition k-dimensional space into 2 halfspaces. • Check if point in node lies in given range. • Recursively find all keys in left/top subdivision (if any could fall in range). Implementation. BST, but cycle through dimensions ala 2D trees. • Recursively find all keys in left/top subdivision (if any could fall in range).

level ≡ i (mod k)

points points th whose ith whose i coordinate coordinate is less than p’s is greater than p’s

Efficient, simple data structure for processing k-dimensional data. • Widely used. Worst case (assuming tree is balanced). R + √N. • Discovered by an undergrad in an algorithms class! Typical case. R + log N • Adapts well to high-dimensional and clustered data.

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Summary

Basis of many geometric algorithms. Search in a planar subdivision.

intersecting grid 2D tree Voronoi diagram lines

basis √N h-v lines N points N points √N lines

2D array representation N-node BST N-node multilist ~N-node BST of N lists

cells ~N squares N rectangles N polygons ~N triangles ‣ range search ‣ space partitioning trees search cost 1 log N log N log N ‣ intersection search cells too use (k-1)D extend to kD? too many cells easy complicated hyperplane

27 28 Search for intersections Orthogonal segment intersection search: sweep-line algorithm

Problem. Find all intersecting pairs among set of N geometric objects. Sweep vertical line from left to right. Applications. CAD, games, movies, virtual reality. • x-coordinates define events. • Left endpoint of h-segment: insert y coordinate into ST. Simple version. 2D, all objects are horizontal or vertical line segments. • Right endpoint of h-segment: remove y coordinate from ST. • v-segment: range search for interval of y endpoints.

Brute force. Test all Θ(N2) pairs of line segments for intersection.

insert y Sweep line. Efficient solution extends to 3D and general objects. range search delete y 29 30

Orthogonal segment intersection search: sweep-line algorithm Immutable H-V segment ADT

Reduces 2D orthogonal segment intersection search to 1D range search! public final class SegmentHV implements Comparable { Running time of sweep line algorithm. public final int x1, y1; public final int x2, y2; • Put x-coordinates on a PQ (or sort). O(N log N) N = # line segments R = # intersections public SegmentHV(int x1, int y1, int x2, int y2) • Insert y-coordinate into ST. O(N log N) constructor { ... } • Delete y-coordinate from ST. O(N log N) Range search. O(R + N log N) public boolean isHorizontal() • { ... } is segment horizontal? public boolean isVertical() is segment vertical? { ... }

Efficiency relies on judicious use of data structures. public int compareTo(SegmentHV b) compare by x-coordinate; { ... } break ties by y-coordinate }

(x, y2)

(x, y1) (x1, y) (x2, y)

horizontal segment vertical segment

31 32 Sweep-line event subclass Sweep-line algorithm: initialize events

MinPQ pq = new MinPQ(); initialize PQ private class Event implements Comparable { for (int i = 0; i < N; i++) private int time; { private SegmentHV segment; if (segments[i].isVertical()) { vertical public Event(int time, SegmentHV segment) Event e = new Event(segments[i].x1, segments[i]); segment { pq.insert(e); this.time = time; } this.segment = segment; } else if (segments[i].isHorizontal()) { public int compareTo(Event that) Event e1 = new Event(segments[i].x1, segments[i]); horizontal { return this.time - that.time; } Event e2 = new Event(segments[i].x2, segments[i]); segment } pq.insert(e1); pq.insert(e2); } }

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Sweep-line algorithm: simulate the sweep line

int INF = Integer.MAX_VALUE;

SET set = new SET();

while (!pq.isEmpty()) { Event event = pq.delMin(); int sweep = event.time; SegmentHV segment = event.segment;

if (segment.isVertical()) ‣ range search { ‣ space partitioning trees SegmentHV seg1, seg2; seg1 = new SegmentHV(-INF, segment.y1, -INF, segment.y1); ‣ intersection search seg2 = new SegmentHV(+INF, segment.y2, +INF, segment.y2); ‣ VLSI rules check for (SegmentHV seg : set.range(seg1, seg2)) StdOut.println(segment + " intersects " + seg); }

else if (sweep == segment.x1) set.add(segment); else if (sweep == segment.x2) set.remove(segment); }

35 36 Rectangle intersection search Microprocessors and geometry

Goal. Find all intersections among h-v rectangles. Early 1970s. microprocessor design became a geometric problem. • Very Large Scale Integration (VLSI). • Computer-Aided Design (CAD).

Design-rule checking. • Certain wires cannot intersect. • Certain spacing needed between different types of wires. • Debugging = rectangle intersection search.

Application. Design-rule checking in VLSI circuits.

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Algorithms and Moore's law Rectangle intersection search

"Moore’s law." Processing power doubles every 18 months. Move a vertical "sweep line" from left to right. • 197x: need to check N rectangles. • Sweep line: sort rectangles by x-coordinate and process in this order, • 197(x+1.5): need to check 2N rectangles on a 2x-faster computer. stopping on left and right endpoints. • Maintain set of intervals intersecting sweep line. Bootstrapping. We get to use the faster computer for bigger circuits. • Key operation: given a new interval, does it intersect one in the set?

But bootstrapping is not enough if using a quadratic algorithm: • 197x: takes M days. • 197(x+1.5): takes (4M)/2 = 2M days. (!)

quadratic 2x-faster algorithm computer

Bottom line. Linearithmic CAD algorithm is necessary to sustain Moore’s Law.

39 40 Interval search trees Interval search trees

Create BST, where each node stores an interval. lo (17, 19) 22 public class IntervalST • Use endpoint as BST key. Store max endpoint in subtree rooted at node. IntervalST() create interval search tree •

void put(int lo, int hi, Value val) put interval-value pair into ST (5, 11) 18 (20, 22) 22 return value paired with Suffices to implement all ops efficiently!!! Value get(int lo, int hi) given interval boolean remove(int lo, int hi) remove the given interval 8 18 return all intervals that intersect (4, 8) (15, 18) Iterable searchAll(int lo, int hi) the given interval

(7, 10) 10

(7, 10) (20, 22) (7, 10) (20, 22)

(5, 11) (17, 19) (5, 11) (17, 19)

(4, 8) (15, 18) (4, 8) (15, 18)

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Rectangle intersection sweep-line algorithm: Review VLSI rules checking: sweep-line algorithm (summary)

Move a vertical "sweep line" from left to right. Reduces 2D orthogonal rectangle intersection search to 1D interval search! • Sweep line: sort rectangles by x-coordinates and process in this order, stopping on left and right endpoints. Running time of sweep line algorithm.

• Maintain set of rectangles that intersect the sweep line in an interval • Put x-coordinates on a PQ (or sort). O(N log N) N = # rectangles search tree (using y-interval of rectangle). • Insert y-interval into ST. O(N log N) R = # intersections • Left side: interval search for y-interval of rectangle, insert y-interval. • Delete y-interval from ST. O(N log N) • Right side: delete y-interval. • Interval search. O(R + N log N)

Efficiency relies on judicious use of data structures.

43 44 Geometric search summary: algorithms of the day

1D range search BST

kD range search kD tree

1D interval interval tree intersection search

2D orthogonal line sweep line reduces to intersection search 1D range search

2D orthogonal rectangle sweep line reduces to intersection search 1D interval intersection search