template<typename PointT> void
OutofcoreOctreeRamContainer<PointT>::readRange (const boost::uint64_t start, const boost::uint64_t count,
AlignedPointTVector& v)
{
v.resize (count);
memcpy (v.data (), container_.data () + start, count * sizeof(PointT));
}
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_Octree_Build)
{
boost::filesystem::remove_all (filename_otreeA.parent_path ());
boost::filesystem::remove_all (filename_otreeB.parent_path ());
Eigen::Vector3d min (-32.0, -32.0, -32.0);
Eigen::Vector3d max (32.0, 32.0, 32.0);
// Build two trees using each constructor
// depth of treeA will be same as B because 1/2^3 > .1 and 1/2^4 < .1
// depth really affects performance
octree_disk treeA (min, max, .1, filename_otreeA, "ECEF");
octree_disk treeB (4, min, max, filename_otreeB, "ECEF");
// Equidistributed uniform pseudo-random number generator
boost::mt19937 rng(rngseed);
// For testing sparse
//boost::uniform_real<double> dist(0,1);
// For testing less sparse
boost::normal_distribution<float> dist (0.5f, .1f);
// Create a point
PointT p;
points.resize (numPts);
//ignore these fields from the UR point for now
// p.r = p.g = p.b = 0;
// p.nx = p.ny = p.nz = 1;
// p.cameraCount = 0;
// p.error = 0;
// p.triadID = 0;
// Radomize it's position in space
for (size_t i = 0; i < numPts; i++)
{
p.x = dist (rng);
p.y = dist (rng);
p.z = dist (rng);
points[i] = p;
}
// Add to tree
treeA.addDataToLeaf (points);
// Add to tree
treeB.addDataToLeaf (points);
}
TEST (PCL, Outofcore_Octree_Build_LOD)
{
boost::filesystem::remove_all (filename_otreeA_LOD.parent_path ());
boost::filesystem::remove_all (filename_otreeB_LOD.parent_path ());
Eigen::Vector3d min (0.0, 0.0, 0.0);
Eigen::Vector3d max (1.0, 1.0, 1.0);
// Build two trees using each constructor
octree_disk treeA (min, max, .1, filename_otreeA_LOD, "ECEF");
octree_disk treeB (4, min, max, filename_otreeB_LOD, "ECEF");
// Equidistributed uniform pseudo-random number generator
boost::mt19937 rng (rngseed);
// For testing sparse
//boost::uniform_real<double> dist(0,1);
// For testing less sparse
boost::normal_distribution<float> dist (0.5f, .1f);
// Create a point
PointT p;
/*
p.r = p.g = p.b = 0;
p.nx = p.ny = p.nz = 1;
p.cameraCount = 0;
p.error = 0;
p.triadID = 0;
*/
points.resize (numPts);
// Radomize it's position in space
for (size_t i = 0; i < numPts; i++)
{
p.x = dist (rng);
p.y = dist (rng);
p.z = dist (rng);
points[i] = p;
}
// Add to tree
treeA.addDataToLeaf_and_genLOD (points);
// Add to tree
treeB.addDataToLeaf_and_genLOD (points);
}
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 ());
}
}
