Exemplos de cTree em C++ (Cpp)

Exemplo n.º 1

Arquivo: Polygon.cpp Projeto: takaping/3D_Reprojection

/**
 * Set the vertices of the point cloud
 * @param vertices
 */
void Polygon::setVertices(const vector<Vertex>& vtcs) {
    if (vtcs.size() == 0) {
        throw string("Point cloud is empty");
    }
    // set the vertices
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    min[0] = min[1] = min[2] =  FLT_MAX;
    max[0] = max[1] = max[2] = -FLT_MAX;
    for_each(vtcs.begin(), vtcs.end(), [&](const Vertex& vtx) {
        const double* pos = vtx.position3d();
        for (int i = 0; i < 3; i++) {
            if (min[i] > pos[i]) {
                min[i] = pos[i];
            }
            if (max[i] < pos[i]) {
                max[i] = pos[i];
            }
        }
        pcl::PointXYZRGB pt;
        pt.x = pos[0];
        pt.y = pos[1];
        pt.z = pos[2];
        const uchar* col = vtx.color3b();
        pt.rgba = static_cast<uint32_t>(col[0]) << 16 |
                  static_cast<uint32_t>(col[1]) <<  8 |
                  static_cast<uint32_t>(col[2]);
        cloud->push_back(pt);
    });
    float sub[] = { max[0]-min[0], max[1]-min[1], max[2]-min[2] };
    scl = (sub[0] > sub[1] ? sub[0] : (sub[1] > sub[2] ? sub[1] : sub[2]));
    // estimate normal vectors
    pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
    pcl::search::KdTree<pcl::PointXYZRGB>::Ptr cTree(new pcl::search::KdTree<pcl::PointXYZRGB>);
    cTree->setInputCloud(cloud);
    ne.setInputCloud(cloud);
    ne.setSearchMethod(cTree);
    ne.setKSearch(20);
    ne.compute(*normals);
    // concatenate the vertices and normal vectors
    cloudWithNormals.reset(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
    pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
    // triangulate
    triangulate();
    if (triangles->polygons.size() == 0) {
        throw string("Surface is empty");
    }
}

Exemplo n.º 2

INT32 _qgmOptiNLJoin::_validate()
{
    PD_TRACE_ENTRY( SDB__QGMOPTINLJOIN__VALIDATE ) ;
    SDB_ASSERT( 2 == _children.size(), "impossible" ) ;
    INT32 rc = SDB_OK ;
    _qgmOptiTreeNode *left = _children.at( 0 ) ;
    _qgmOptiTreeNode *right = _children.at( 1 ) ;

    if ( left->_alias == right->_alias )
    {
        PD_LOG_MSG( PDERROR, "same alias:%s",
                    left->_alias.toString().c_str() ) ;
        rc = SDB_INVALIDARG ;
        goto error ;
    }

    if ( NULL != _condition )
    {
        qgmOpStream lstream, rstream ;
        vector<qgmDbAttr*> conditionFields ;
        vector<qgmDbAttr*>::iterator citr ;
        _qgmConditionNodeHelper cTree( _condition ) ;

        rc = cTree.getAllAttr( conditionFields ) ;
        if ( SDB_OK != rc )
        {
            goto error ;
        }
        rc = left->outputStream( lstream ) ;
        if ( SDB_OK != rc )
        {
            goto error ;
        }
        rc = right->outputStream( rstream ) ;
        if ( SDB_OK != rc )
        {
            goto error ;
        }

        for ( citr = conditionFields.begin()
                     ; citr != conditionFields.end()
                ; citr++ )
        {
            if ( lstream.find( *(*citr) ) )
            {
                continue ;
            }
            else if ( !rstream.find( *(*citr) ) )
            {
                rc = SDB_INVALIDARG ;
                PD_LOG_MSG( PDERROR,
                            "condition field[%s] not found in sub output.",
                            (*citr)->toString().c_str() ) ;
                goto error ;
            }
            else
            {
                continue ;
            }
        }
    }
done:
    PD_TRACE_EXITRC( SDB__QGMOPTINLJOIN__VALIDATE, rc ) ;
    return rc ;
error:
    goto done ;
}