예제 #1
0
ORROctree::Node*
pcl::recognition::ORROctree::getRandomFullLeafOnSphere (const float* p, float radius) const
{
  vector<int> tmp_ids;
  tmp_ids.reserve (8);

  pcl::common::UniformGenerator<int> randgen (0, 1, static_cast<uint32_t> (time (NULL)));

  list<ORROctree::Node*> nodes;
  nodes.push_back (root_);

  while ( !nodes.empty () )
  {
    // Get the last element in the list
    ORROctree::Node *node = nodes.back ();
    // Remove the last element from the list
    nodes.pop_back ();

    // Check if the sphere intersects the current node
    if ( fabs (radius - aux::distance3<float> (p, node->getCenter ())) <= node->getRadius () )
    {
      // We have an intersection -> push back the children of the current node
      if ( node->hasChildren () )
      {
        // Prepare the tmp id vector
        for ( int i = 0 ; i < 8 ; ++i )
          tmp_ids.push_back (i);

        // Push back the children in random order
        for ( int i = 0 ; i < 8 ; ++i )
        {
          randgen.setParameters (0, static_cast<int> (tmp_ids.size ()) - 1);
          int rand_pos = randgen.run ();
          nodes.push_back (node->getChild (tmp_ids[rand_pos]));
          // Remove the randomly selected id
          tmp_ids.erase (tmp_ids.begin () + rand_pos);
        }
      }
      else if ( node->hasData () )
        return node;
    }
  }

  return NULL;
}
예제 #2
0
void show_octree (ORROctree* octree, PCLVisualizer& viz, bool show_full_leaves_only)
{
    vtkSmartPointer<vtkPolyData> vtk_octree = vtkSmartPointer<vtkPolyData>::New ();
    vtkSmartPointer<vtkAppendPolyData> append = vtkSmartPointer<vtkAppendPolyData>::New ();

    cout << "There are " << octree->getFullLeaves ().size () << " full leaves.\n";

    if ( show_full_leaves_only )
    {
        std::vector<ORROctree::Node*>& full_leaves = octree->getFullLeaves ();
        for ( std::vector<ORROctree::Node*>::iterator it = full_leaves.begin () ; it != full_leaves.end () ; ++it )
            // Add it to the other cubes
            node_to_cube (*it, append);
    }
    else
    {
        ORROctree::Node* node;

        std::list<ORROctree::Node*> nodes;
        nodes.push_back (octree->getRoot ());

        while ( !nodes.empty () )
        {
            node = nodes.front ();
            nodes.pop_front ();

            // Visualize the node if it has children
            if ( node->getChildren () )
            {
                // Add it to the other cubes
                node_to_cube (node, append);
                // Add all the children to the working list
                for ( int i = 0 ; i < 8 ; ++i )
                    nodes.push_back (node->getChild (i));
            }
            // If we arrived at a leaf -> check if it's full and visualize it
            else if ( node->getData () )
                node_to_cube (node, append);
        }
    }

    // Just print the leaf size
    std::vector<ORROctree::Node*>::iterator first_leaf = octree->getFullLeaves ().begin ();
    if ( first_leaf != octree->getFullLeaves ().end () )
        printf("leaf size = %f\n", (*first_leaf)->getBounds ()[1] - (*first_leaf)->getBounds ()[0]);

    // Save the result
    append->Update();
    vtk_octree->DeepCopy (append->GetOutput ());

    // Add to the visualizer
    vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
    vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
    mapper->SetInput(vtk_octree);
    octree_actor->SetMapper(mapper);

    // Set the appearance & add to the renderer
    octree_actor->GetProperty ()->SetColor (1.0, 1.0, 1.0);
    octree_actor->GetProperty ()->SetLineWidth (1);
    octree_actor->GetProperty ()->SetRepresentationToWireframe ();
    renderer->AddActor(octree_actor);
}