// returns tree depth
int cisstCovTreeNode::ConstructSubtree(int CountThresh, double DiagThresh) {
if (NumData() < CountThresh || Bounds.DiagonalLength() < DiagThresh)
{ // leaf node
#ifdef DebugCovTree
fprintf(MyTree->debugFile, "Leaf Node: Ndata=%d\tDiagLen=%f\n", NumData(), Bounds.DiagonalLength());
#endif
myDepth = 0;
return myDepth;
}
int topLEq = SortNodeForSplit();
if (topLEq == NumData() || topLEq == 0)
{ // need this in case count threshold = 1
// TODO: could avoid this case by NumData()<=CountThresh above
#ifdef DebugCovTree
// NOTE: it sometimes occurs that all data sorts to one node even when multiple
// datums are present in the node; this happens because a vertex is chosen
// as the datum sort point. Therefore, muliple datums sharing the same
// vertex value may all be sorted wrt the same point. A way to prevent this
// (if desired) would be to sort each datum by it's centroid position.
fprintf(MyTree->debugFile, "WARNING! all data sorts to one node; topLEq=%d\tNdata=%d\tDiagLen=%f\n",
topLEq, NumData(), Bounds.DiagonalLength());
#endif
myDepth = 0; // stop here and do not split any further
return 0;
}
#ifdef DebugCovTree
fprintf(MyTree->debugFile2, "NNodeL=%d\tNNodeR=%d\n", topLEq, NumData() - topLEq);
#endif
assert(topLEq > 0 && topLEq < NumData());
int depthL, depthR;
pLEq = new cisstCovTreeNode(pDataIndices, topLEq, pMyTree, this);
pMyTree->NNodes++;
depthL = pLEq->ConstructSubtree(CountThresh, DiagThresh);
pMore = new cisstCovTreeNode(&pDataIndices[topLEq], NumData() - topLEq, pMyTree, this);
pMyTree->NNodes++;
depthR = pMore->ConstructSubtree(CountThresh, DiagThresh);
this->myDepth = (depthL > depthR ? depthL : depthR) + 1;
return myDepth;
}
// Build tree from point cloud input
// this constructor does not define the noise model for the point cloud;
// the user must do this manually by calling the noise model methods of this class
PDTree_PointCloud::PDTree_PointCloud(
cisstPointCloud &pointCloud,
int nThresh,
double diagThresh ) :
pointCloud(pointCloud)
{
NData = pointCloud.points.size();
DataIndices = new int[NData];
for (int i = 0; i < NData; i++)
{
DataIndices[i] = i;
}
Top = new PDTreeNode(DataIndices, NData, this, NULL);
NNodes = 0; NNodes++;
treeDepth = Top->ConstructSubtree(nThresh, diagThresh);
#ifdef DEBUG_PD_TREE
fprintf(debugFile, "Point Cloud Cov Tree built: NNodes=%d NData=%d TreeDepth=%d\n", NumNodes(), NumData(), TreeDepth());
#endif
}
cisstCovTree_Mesh::cisstCovTree_Mesh(cisstMesh &mesh, int countThresh, double diagThresh)
: MeshP(&mesh)
{
NData = MeshP->NumTriangles();
DataIndices = new int[NData];
for (int i = 0; i < NData; i++)
{
DataIndices[i] = i;
}
Top = new cisstCovTreeNode(DataIndices, NData, this, NULL);
NNodes = 0; NNodes++;
treeDepth = Top->ConstructSubtree(countThresh, diagThresh);
#ifdef DebugCovTree
fprintf(debugFile, "Mesh Cov Tree built: NNodes=%d NData=%d TreeDepth=%d\n", NumNodes(), NumData(), TreeDepth());
#endif
}
//=========================================================================
void EpetraExt_BlockDiagMatrix::PutScalar(double value){
int MaxData=NumData();
for (int i=0;i<MaxData;i++) Values_[i]=value;
}
