bool FacetOperator::open(QueryEvaluatorInternal * queryEvaluatorInternal, PhysicalPlanExecutionParameters & params){
ASSERT(this->getPhysicalPlanOptimizationNode()->getChildrenCount() == 1);
// first prepare internal structures based on the input
preFilter(this->queryEvaluatorInternal);
this->getPhysicalPlanOptimizationNode()->getChildAt(0)->getExecutableNode()->open(this->queryEvaluatorInternal,params);
return true;
}
PCPtr getCloudWithoutMutex(const ofVec3f& min, const ofVec3f& max, int stride)
{
if (min.x < 0 || min.y < 0
|| max.x > KINECT_DEFAULT_WIDTH || max.y > KINECT_DEFAULT_HEIGHT
|| min.x > max.x || min.y > max.y)
{
PCL_ERROR ("Wrong arguments to obtain the cloud\n");
return PCPtr(new PC());
}
float voxelSize = mapinect::Constants::CLOUD_VOXEL_SIZE;
if(mapinect::IsFeatureUniformDensityActive())
{
voxelSize = mapinect::Constants::CLOUD_VOXEL_SIZE_FOR_STRIDE(stride);
stride = 1;
}
const int minStride = ::min(mapinect::Constants::CLOUD_STRIDE_H, mapinect::Constants::CLOUD_STRIDE_V);
const int hStride = stride + mapinect::Constants::CLOUD_STRIDE_H - 1;
const int vStride = stride + mapinect::Constants::CLOUD_STRIDE_V - 1;
// Allocate space for max points available
PCPtr partialCloud(new PC());
partialCloud->width = ceil((max.x - min.x) / hStride);
partialCloud->height = ceil((max.y - min.y) / vStride);
partialCloud->is_dense = false;
partialCloud->points.resize(partialCloud->width * partialCloud->height);
register float* depthMap = gKinect->getDistancePixels();
// Iterate over the image's rectangle with step = stride
register int depthIndex = 0;
int cloudIndex = 0;
for(int v = min.y; v < max.y; v += vStride) {
for(register int u = min.x; u < max.x; u += hStride) {
depthIndex = v * KINECT_DEFAULT_WIDTH + u;
PCXYZ& pt = partialCloud->points[cloudIndex];
cloudIndex++;
// Check for invalid measures
if(depthMap[depthIndex] == 0)
{
pt.x = pt.y = pt.z = 0;
}
else
{
ofVec3f pto = gKinect->getWorldCoordinateFor(u,v);
if(pto.z > mapinect::Constants::CLOUD_Z_MAX)
{
pt.x = pt.y = pt.z = 0;
}
else
{
pt.x = pto.x;
pt.y = pto.y;
pt.z = pto.z;
}
}
}
}
if(mapinect::IsFeatureUniformDensityActive())
{
PCPtr preFilter(new PC(*partialCloud));
pcl::VoxelGrid<pcl::PointXYZ> sor;
sor.setInputCloud (preFilter);
sor.setLeafSize (voxelSize, voxelSize, voxelSize);
sor.filter(*partialCloud);
}
return transformCloud(partialCloud, gTransformation->getWorldTransformation());
}
