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;
}
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);
}
void
pcl::recognition::ORROctree::build (const PointCloudIn& points, float voxel_size, const PointCloudN* normals, float enlarge_bounds)
{
if ( voxel_size <= 0.0f )
return;
// Get the bounds of the input point set
PointXYZ min, max;
getMinMax3D(points, min, max);
// Enlarge the bounds a bit to avoid points lying exact on the octree boundaries
float eps = enlarge_bounds*std::max (std::max (max.x-min.x, max.y-min.y), max.z-min.z);
float b[6] = {min.x-eps, max.x+eps, min.y-eps, max.y+eps, min.z-eps, max.z+eps};
// Build an empty octree with the right boundaries and the right number of levels
this->build (b, voxel_size);
#ifdef PCL_REC_ORR_OCTREE_VERBOSE
printf("ORROctree::%s(): start\n", __func__);
printf("point set bounds =\n"
"[%f, %f]\n"
"[%f, %f]\n"
"[%f, %f]\n", min.x, max.x, min.y, max.y, min.z, max.z);
#endif
size_t num_points = points.size ();
// Fill the leaves with the points
for (size_t i = 0 ; i < num_points ; ++i )
{
// Create a leaf which contains the i-th point.
ORROctree::Node* node = this->createLeaf (points[i].x, points[i].y, points[i].z);
// Make sure that the point is within some leaf
if ( !node )
{
fprintf (stderr, "WARNING in 'ORROctree::%s()': the point (%f, %f, %f) should be within the octree bounds!\n",
__func__, points[i].x, points[i].y, points[i].z);
continue;
}
// Now, that we have the right leaf -> fill it
node->getData ()->addToPoint (points[i].x, points[i].y, points[i].z);
if ( normals )
node->getData ()->addToNormal (normals->at(i).normal_x, normals->at(i).normal_y, normals->at(i).normal_z);
}
// Compute the normals and average points for each full octree node
if ( normals )
{
for ( auto it = full_leaves_.begin() ; it != full_leaves_.end() ; )
{
// Compute the average point in the current octree leaf
(*it)->getData ()->computeAveragePoint ();
// Compute the length of the average normal
float normal_length = aux::length3 ((*it)->getData ()->getNormal ());
// We are suppose to use normals. However, it could be that all normals in this leaf are "illegal", because,
// e.g., they were not available in the data set. In this case, remove the leaf from the octree.
if ( normal_length <= numeric_limits<float>::epsilon () )
{
this->deleteBranch (*it);
it = full_leaves_.erase (it);
}
else
{
aux::mult3 ((*it)->getData ()->getNormal (), 1.0f/normal_length);
++it;
}
}
}
else
{
// Iterate over all full leaves and average points
for (const auto &full_leaf : full_leaves_)
full_leaf->getData ()->computeAveragePoint ();
}
#ifdef PCL_REC_ORR_OCTREE_VERBOSE
printf("ORROctree::%s(): end\n", __func__);
#endif
}