void point_test(octree_disk& t) { boost::mt19937 rng(rngseed); boost::uniform_real<float> dist(0,1); double query_box_min[3]; double qboxmax[3]; for(int i = 0; i < 10; i++) { //std::cout << "query test round " << i << std::endl; for(int j = 0; j < 3; j++) { query_box_min[j] = dist(rng); qboxmax[j] = dist(rng); if(qboxmax[j] < query_box_min[j]) { std::swap(query_box_min[j], qboxmax[j]); } } //query the trees AlignedPointTVector p_ot; t.queryBBIncludes(query_box_min, qboxmax, t.getDepth(), p_ot); //query the list AlignedPointTVector pointsinregion; for(AlignedPointTVector::iterator pointit = points.begin (); pointit != points.end (); ++pointit) { if((query_box_min[0] <= pointit->x) && (pointit->x < qboxmax[0]) && (query_box_min[1] < pointit->y) && (pointit->y < qboxmax[1]) && (query_box_min[2] <= pointit->z) && (pointit->z < qboxmax[2])) { pointsinregion.push_back(*pointit); } } EXPECT_EQ (p_ot.size (), pointsinregion.size ()); //very slow exhaustive comparison while( !p_ot.empty () ) { AlignedPointTVector::iterator it; it = std::find_first_of(p_ot.begin(), p_ot.end(), pointsinregion.begin (), pointsinregion.end (), compPt); if(it != p_ot.end()) { p_ot.erase(it); } else { FAIL () << "Dropped Point from tree1!" << std::endl; break; } } EXPECT_TRUE(p_ot.empty()); } }
template<typename PointT> void OutofcoreOctreeRamContainer<PointT>::insertRange (const PointT* const * start, const boost::uint64_t count) { AlignedPointTVector temp; temp.resize (count); for (boost::uint64_t i = 0; i < count; i++) { temp[i] = *start[i]; } container_.insert (container_.end (), temp.begin (), temp.end ()); }
TEST (PCL, Outofcore_Ram_Tree) { Eigen::Vector3d min (0.0,0.0,0.0); Eigen::Vector3d max (1.0, 1.0, 1.0); const boost::filesystem::path filename_otreeA = "ram_tree/ram_tree.oct_idx"; octree_ram t (min, max, .1, filename_otreeA, "ECEF"); boost::mt19937 rng (rngseed); //boost::uniform_real<double> dist(0,1);//for testing sparse boost::normal_distribution<float> dist (0.5f, .1f);//for testing less sparse PointT p; points.resize (numPts); for (size_t i = 0; i < numPts; i++) { p.x = dist(rng); p.y = dist(rng); p.z = dist(rng); points[i] = p; } t.addDataToLeaf_and_genLOD (points); //t.addDataToLeaf(points); Eigen::Vector3d qboxmin; Eigen::Vector3d qboxmax; for (int i = 0; i < 10; i++) { //std::cout << "query test round " << i << std::endl; for (int j = 0; j < 3; j++) { qboxmin[j] = dist (rng); qboxmax[j] = dist (rng); if (qboxmax[j] < qboxmin[j]) { std::swap (qboxmin[j], qboxmax[j]); } } //query the trees AlignedPointTVector p_ot1; t.queryBBIncludes (qboxmin, qboxmax, t.getDepth (), p_ot1); //query the list AlignedPointTVector pointsinregion; BOOST_FOREACH(const PointT& p, points) { if ((qboxmin[0] <= p.x) && (p.x <= qboxmax[0]) && (qboxmin[1] <= p.y) && (p.y <= qboxmax[1]) && (qboxmin[2] <= p.z) && (p.z <= qboxmax[2])) { pointsinregion.push_back (p); } } EXPECT_EQ (p_ot1.size (), pointsinregion.size ()); //very slow exhaustive comparison while (!p_ot1.empty ()) { AlignedPointTVector::iterator it; it = std::find_first_of (p_ot1.begin (), p_ot1.end (), pointsinregion.begin (), pointsinregion.end (), compPt); if (it != p_ot1.end ()) { p_ot1.erase(it); } else { break; FAIL () << "Dropped Point from tree1!" << std::endl; } } EXPECT_TRUE (p_ot1.empty ()); } }