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 ());
}
}
