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, typename LeafT, typename BranchT, typename OctreeT> int pcl::octree::OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::getApproxIntersectedVoxelCentersBySegment ( const Eigen::Vector3f& origin, const Eigen::Vector3f& end, AlignedPointTVector &voxel_center_list, float precision) { Eigen::Vector3f direction = end - origin; float norm = direction.norm (); direction.normalize (); const float step_size = static_cast<const float> (resolution_) * precision; // Ensure we get at least one step for the first voxel. const int nsteps = std::max (1, static_cast<int> (norm / step_size)); OctreeKey prev_key; bool bkeyDefined = false; // Walk along the line segment with small steps. for (int i = 0; i < nsteps; ++i) { Eigen::Vector3f p = origin + (direction * step_size * static_cast<const float> (i)); PointT octree_p; octree_p.x = p.x (); octree_p.y = p.y (); octree_p.z = p.z (); OctreeKey key; this->genOctreeKeyforPoint (octree_p, key); // Not a new key, still the same voxel. if ((key == prev_key) && (bkeyDefined) ) continue; prev_key = key; bkeyDefined = true; PointT center; genLeafNodeCenterFromOctreeKey (key, center); voxel_center_list.push_back (center); } OctreeKey end_key; PointT end_p; end_p.x = end.x (); end_p.y = end.y (); end_p.z = end.z (); this->genOctreeKeyforPoint (end_p, end_key); if (!(end_key == prev_key)) { PointT center; genLeafNodeCenterFromOctreeKey (end_key, center); voxel_center_list.push_back (center); } return (static_cast<int> (voxel_center_list.size ())); }
template<typename Container, typename PointT> boost::uint64_t octree_base<Container, PointT>::addDataToLeaf (const AlignedPointTVector& p) { boost::unique_lock < boost::shared_mutex > lock (read_write_mutex_); const bool _FORCE_BB_CHECK = true; uint64_t pt_added = root_->addDataToLeaf (p, _FORCE_BB_CHECK); assert (p.size () == pt_added); return (pt_added); }
//loads chunks of up to 2e9 pts at a time; this is a completely arbitrary number template<typename Container, typename PointT> void octree_base<Container, PointT>::buildLOD (octree_base_node<Container, PointT>** current_branch, const int current_dims) { //stop if this brach DNE if (!current_branch[current_dims - 1]) { return; } if ((current_branch[current_dims - 1]->numchildren () == 0) && (!current_branch[current_dims - 1]->hasUnloadedChildren ()))//at leaf: subsample, remove, and copy to higher nodes { //this node's idx is (current_dims-1) octree_base_node<Container, PointT>* leaf = current_branch[current_dims - 1]; boost::uint64_t leaf_start_size = leaf->payload->size (); if (leaf_start_size > 0)//skip empty { for (boost::uint64_t startp = 0; startp < leaf_start_size; startp += LOAD_COUNT_) { //there are (current_dims-1) nodes above this one, indexed 0 thru (current_dims-2) for (size_t level = (current_dims - 1); level >= 1; level--) { //the target octree_base_node<Container, PointT>* target_parent = current_branch[level - 1]; //the percent to copy //each level up the chain gets sample_precent^l of the leaf's data double percent = pow (double (octree_base_node<Container, PointT>::sample_precent), double (current_dims - level)); //read in percent of node AlignedPointTVector v; if ((startp + LOAD_COUNT_) < leaf_start_size) { leaf->payload->readRangeSubSample (startp, LOAD_COUNT_, percent, v); } else { leaf->payload->readRangeSubSample (startp, leaf_start_size - startp, percent, v); } //write to the target if (!v.empty ()) { target_parent->payload->insertRange ( v ); // target_parent->payload->insertRange (&(v.front ()), v.size ()); this->incrementPointsInLOD (target_parent->depth, v.size ()); } } } } } else//not at leaf, keep going down { //clear this node, in case we are updating the LOD current_branch[current_dims - 1]->payload->clear (); const int next_dims = current_dims + 1; octree_base_node<Container, PointT>** next_branch = new octree_base_node<Container, PointT>*[next_dims]; memcpy (next_branch, current_branch, current_dims * sizeof(octree_base_node<Container, PointT>**)); size_t numchild = current_branch[current_dims - 1]->numchildren (); if ((numchild != 8) && (current_branch[current_dims - 1]->hasUnloadedChildren ())) { current_branch[current_dims - 1]->loadChildren (false); numchild = current_branch[current_dims - 1]->numchildren (); } for (size_t i = 0; i < numchild; i++) { next_branch[next_dims - 1] = next_branch[current_dims - 1]->children[i]; buildLOD (next_branch, next_dims); } delete[] next_branch; } }
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 ()); } }