Point Cloud Library (PCL)  1.12.1-dev
orr_octree.h
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38 
39 /*
40  * orr_octree.h
41  *
42  * Created on: Oct 23, 2012
43  * Author: papazov
44  */
45 
46 #pragma once
47 
48 #include "auxiliary.h"
49 #include <pcl/point_types.h>
50 #include <pcl/point_cloud.h>
51 #include <pcl/pcl_exports.h>
52 #include <vector>
53 #include <list>
54 #include <set>
55 
56 //#define PCL_REC_ORR_OCTREE_VERBOSE
57 
58 namespace pcl
59 {
60  namespace recognition
61  {
62  /** \brief That's a very specialized and simple octree class. That's the way it is intended to
63  * be, that's why no templates and stuff like this.
64  *
65  * \author Chavdar Papazov
66  * \ingroup recognition
67  */
69  {
70  public:
74 
75  class Node
76  {
77  public:
78  class Data
79  {
80  public:
81  Data (int id_x, int id_y, int id_z, int lin_id, void* user_data = nullptr)
82  : id_x_ (id_x),
83  id_y_ (id_y),
84  id_z_ (id_z),
85  lin_id_ (lin_id),
86  num_points_ (0),
87  user_data_ (user_data)
88  {
89  n_[0] = n_[1] = n_[2] = p_[0] = p_[1] = p_[2] = 0.0f;
90  }
91 
92  virtual~ Data () = default;
93 
94  inline void
95  addToPoint (float x, float y, float z)
96  {
97  p_[0] += x; p_[1] += y; p_[2] += z;
98  ++num_points_;
99  }
100 
101  inline void
103  {
104  if ( num_points_ < 2 )
105  return;
106 
107  aux::mult3 (p_, 1.0f/static_cast<float> (num_points_));
108  num_points_ = 1;
109  }
110 
111  inline void
112  addToNormal (float x, float y, float z) { n_[0] += x; n_[1] += y; n_[2] += z;}
113 
114  inline const float*
115  getPoint () const { return p_;}
116 
117  inline float*
118  getPoint (){ return p_;}
119 
120  inline const float*
121  getNormal () const { return n_;}
122 
123  inline float*
124  getNormal (){ return n_;}
125 
126  inline void
127  get3dId (int id[3]) const
128  {
129  id[0] = id_x_;
130  id[1] = id_y_;
131  id[2] = id_z_;
132  }
133 
134  inline int
135  get3dIdX () const {return id_x_;}
136 
137  inline int
138  get3dIdY () const {return id_y_;}
139 
140  inline int
141  get3dIdZ () const {return id_z_;}
142 
143  inline int
144  getLinearId () const { return lin_id_;}
145 
146  inline void
147  setUserData (void* user_data){ user_data_ = user_data;}
148 
149  inline void*
150  getUserData () const { return user_data_;}
151 
152  inline void
153  insertNeighbor (Node* node){ neighbors_.insert (node);}
154 
155  inline const std::set<Node*>&
156  getNeighbors () const { return (neighbors_);}
157 
158  protected:
159  float n_[3], p_[3];
160  int id_x_, id_y_, id_z_, lin_id_, num_points_;
161  std::set<Node*> neighbors_;
162  void *user_data_;
163  };
164 
165  Node ()
166  : data_ (nullptr),
167  parent_ (nullptr),
168  children_(nullptr)
169  {}
170 
171  virtual~ Node ()
172  {
173  this->deleteChildren ();
174  this->deleteData ();
175  }
176 
177  inline void
178  setCenter(const float *c) { center_[0] = c[0]; center_[1] = c[1]; center_[2] = c[2];}
179 
180  inline void
181  setBounds(const float *b) { bounds_[0] = b[0]; bounds_[1] = b[1]; bounds_[2] = b[2]; bounds_[3] = b[3]; bounds_[4] = b[4]; bounds_[5] = b[5];}
182 
183  inline void
184  setParent(Node* parent) { parent_ = parent;}
185 
186  inline void
187  setData(Node::Data* data) { data_ = data;}
188 
189  /** \brief Computes the "radius" of the node which is half the diagonal length. */
190  inline void
192  {
193  float v[3] = {0.5f*(bounds_[1]-bounds_[0]), 0.5f*(bounds_[3]-bounds_[2]), 0.5f*(bounds_[5]-bounds_[4])};
194  radius_ = static_cast<float> (aux::length3 (v));
195  }
196 
197  inline const float*
198  getCenter() const { return center_;}
199 
200  inline const float*
201  getBounds() const { return bounds_;}
202 
203  inline void
204  getBounds(float b[6]) const
205  {
206  std::copy(bounds_, bounds_ + 6, b);
207  }
208 
209  inline Node*
210  getChild (int id) { return &children_[id];}
211 
212  inline Node*
213  getChildren () { return children_;}
214 
215  inline Node::Data*
216  getData (){ return data_;}
217 
218  inline const Node::Data*
219  getData () const { return data_;}
220 
221  inline void
222  setUserData (void* user_data){ data_->setUserData (user_data);}
223 
224  inline Node*
225  getParent (){ return parent_;}
226 
227  inline bool
228  hasData (){ return static_cast<bool> (data_);}
229 
230  inline bool
231  hasChildren (){ return static_cast<bool> (children_);}
232 
233  /** \brief Computes the "radius" of the node which is half the diagonal length. */
234  inline float
235  getRadius () const{ return radius_;}
236 
237  bool
239 
240  inline void
242  {
243  delete[] children_;
244  children_ = nullptr;
245  }
246 
247  inline void
249  {
250  delete data_;
251  data_ = nullptr;
252  }
253 
254  /** \brief Make this and 'node' neighbors by inserting each node in the others node neighbor set. Nothing happens
255  * of either of the nodes has no data. */
256  inline void
258  {
259  if ( !this->getData () || !node->getData () )
260  return;
261 
262  this->getData ()->insertNeighbor (node);
263  node->getData ()->insertNeighbor (this);
264  }
265 
266  protected:
268  float center_[3], bounds_[6], radius_;
269  Node *parent_, *children_;
270  };
271 
273  virtual ~ORROctree (){ this->clear ();}
274 
275  void
276  clear ();
277 
278  /** \brief Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'.
279  * 'enlarge_bounds' makes sure that no points from the input will lie on the octree boundary
280  * by enlarging the bounds by that factor. For example, enlarge_bounds = 1 means that the
281  * bounds will be enlarged by 100%. The default value is fine. */
282  void
283  build (const PointCloudIn& points, float voxel_size, const PointCloudN* normals = nullptr, float enlarge_bounds = 0.00001f);
284 
285  /** \brief Creates an empty octree with bounds at least as large as the ones provided as input and with leaf
286  * size equal to 'voxel_size'. */
287  void
288  build (const float* bounds, float voxel_size);
289 
290  /** \brief Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within
291  * the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. The method
292  * returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and
293  * method just returns a pointer to the leaf. */
294  inline ORROctree::Node*
295  createLeaf (float x, float y, float z)
296  {
297  // Make sure that the input point is within the octree bounds
298  if ( x < bounds_[0] || x > bounds_[1] ||
299  y < bounds_[2] || y > bounds_[3] ||
300  z < bounds_[4] || z > bounds_[5] )
301  {
302  return (nullptr);
303  }
304 
305  ORROctree::Node* node = root_;
306  const float *c;
307  int id;
308 
309  // Go down to the right leaf
310  for ( int l = 0 ; l < tree_levels_ ; ++l )
311  {
312  node->createChildren ();
313  c = node->getCenter ();
314  id = 0;
315 
316  if ( x >= c[0] ) id |= 4;
317  if ( y >= c[1] ) id |= 2;
318  if ( z >= c[2] ) id |= 1;
319 
320  node = node->getChild (id);
321  }
322 
323  if ( !node->getData () )
324  {
325  auto* data = new Node::Data (
326  static_cast<int> ((node->getCenter ()[0] - bounds_[0])/voxel_size_),
327  static_cast<int> ((node->getCenter ()[1] - bounds_[2])/voxel_size_),
328  static_cast<int> ((node->getCenter ()[2] - bounds_[4])/voxel_size_),
329  static_cast<int> (full_leaves_.size ()));
330 
331  node->setData (data);
332  this->insertNeighbors (node);
333  full_leaves_.push_back (node);
334  }
335 
336  return (node);
337  }
338 
339  /** \brief This method returns a super set of the full leavess which are intersected by the sphere
340  * with radius 'radius' and centered at 'p'. Pointers to the intersected full leaves are saved in
341  * 'out'. The method computes a super set in the sense that in general not all leaves saved in 'out'
342  * are really intersected by the sphere. The intersection test is based on the leaf radius (since
343  * its faster than checking all leaf corners and sides), so we report more leaves than we should,
344  * but still, this is a fair approximation. */
345  void
346  getFullLeavesIntersectedBySphere (const float* p, float radius, std::list<ORROctree::Node*>& out) const;
347 
348  /** \brief Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p'
349  * and 'radius'. Returns NULL if no leaf is intersected by that sphere. */
351  getRandomFullLeafOnSphere (const float* p, float radius) const;
352 
353  /** \brief Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. The method returns the leaf
354  * with id [i, j, k] or NULL is no such leaf exists. */
356  getLeaf (int i, int j, int k)
357  {
358  float offset = 0.5f*voxel_size_;
359  float p[3] = {bounds_[0] + offset + static_cast<float> (i)*voxel_size_,
360  bounds_[2] + offset + static_cast<float> (j)*voxel_size_,
361  bounds_[4] + offset + static_cast<float> (k)*voxel_size_};
362 
363  return (this->getLeaf (p[0], p[1], p[2]));
364  }
365 
366  /** \brief Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists. */
367  inline ORROctree::Node*
368  getLeaf (float x, float y, float z)
369  {
370  // Make sure that the input point is within the octree bounds
371  if ( x < bounds_[0] || x > bounds_[1] ||
372  y < bounds_[2] || y > bounds_[3] ||
373  z < bounds_[4] || z > bounds_[5] )
374  {
375  return (nullptr);
376  }
377 
378  ORROctree::Node* node = root_;
379  const float *c;
380  int id;
381 
382  // Go down to the right leaf
383  for ( int l = 0 ; l < tree_levels_ ; ++l )
384  {
385  if ( !node->hasChildren () )
386  return (nullptr);
387 
388  c = node->getCenter ();
389  id = 0;
390 
391  if ( x >= c[0] ) id |= 4;
392  if ( y >= c[1] ) id |= 2;
393  if ( z >= c[2] ) id |= 1;
394 
395  node = node->getChild (id);
396  }
397 
398  return (node);
399  }
400 
401  /** \brief Deletes the branch 'node' is part of. */
402  void
404 
405  /** \brief Returns a vector with all octree leaves which contain at least one point. */
406  inline std::vector<ORROctree::Node*>&
407  getFullLeaves () { return full_leaves_;}
408 
409  inline const std::vector<ORROctree::Node*>&
410  getFullLeaves () const { return full_leaves_;}
411 
412  void
414 
415  void
417 
418  inline ORROctree::Node*
419  getRoot (){ return root_;}
420 
421  inline const float*
422  getBounds () const
423  {
424  return (bounds_);
425  }
426 
427  inline void
428  getBounds (float b[6]) const
429  {
430  std::copy(bounds_, bounds_ + 6, b);
431  }
432 
433  inline float
434  getVoxelSize () const { return voxel_size_;}
435 
436  inline void
438  {
439  const float* c = node->getCenter ();
440  float s = 0.5f*voxel_size_;
441  Node *neigh;
442 
443  neigh = this->getLeaf (c[0]+s, c[1]+s, c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
444  neigh = this->getLeaf (c[0]+s, c[1]+s, c[2] ); if ( neigh ) node->makeNeighbors (neigh);
445  neigh = this->getLeaf (c[0]+s, c[1]+s, c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
446  neigh = this->getLeaf (c[0]+s, c[1] , c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
447  neigh = this->getLeaf (c[0]+s, c[1] , c[2] ); if ( neigh ) node->makeNeighbors (neigh);
448  neigh = this->getLeaf (c[0]+s, c[1] , c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
449  neigh = this->getLeaf (c[0]+s, c[1]-s, c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
450  neigh = this->getLeaf (c[0]+s, c[1]-s, c[2] ); if ( neigh ) node->makeNeighbors (neigh);
451  neigh = this->getLeaf (c[0]+s, c[1]-s, c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
452 
453  neigh = this->getLeaf (c[0] , c[1]+s, c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
454  neigh = this->getLeaf (c[0] , c[1]+s, c[2] ); if ( neigh ) node->makeNeighbors (neigh);
455  neigh = this->getLeaf (c[0] , c[1]+s, c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
456  neigh = this->getLeaf (c[0] , c[1] , c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
457  //neigh = this->getLeaf (c[0] , c[1] , c[2] ); if ( neigh ) node->makeNeighbors (neigh);
458  neigh = this->getLeaf (c[0] , c[1] , c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
459  neigh = this->getLeaf (c[0] , c[1]-s, c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
460  neigh = this->getLeaf (c[0] , c[1]-s, c[2] ); if ( neigh ) node->makeNeighbors (neigh);
461  neigh = this->getLeaf (c[0] , c[1]-s, c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
462 
463  neigh = this->getLeaf (c[0]-s, c[1]+s, c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
464  neigh = this->getLeaf (c[0]-s, c[1]+s, c[2] ); if ( neigh ) node->makeNeighbors (neigh);
465  neigh = this->getLeaf (c[0]-s, c[1]+s, c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
466  neigh = this->getLeaf (c[0]-s, c[1] , c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
467  neigh = this->getLeaf (c[0]-s, c[1] , c[2] ); if ( neigh ) node->makeNeighbors (neigh);
468  neigh = this->getLeaf (c[0]-s, c[1] , c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
469  neigh = this->getLeaf (c[0]-s, c[1]-s, c[2]+s); if ( neigh ) node->makeNeighbors (neigh);
470  neigh = this->getLeaf (c[0]-s, c[1]-s, c[2] ); if ( neigh ) node->makeNeighbors (neigh);
471  neigh = this->getLeaf (c[0]-s, c[1]-s, c[2]-s); if ( neigh ) node->makeNeighbors (neigh);
472  }
473 
474  protected:
475  float voxel_size_, bounds_[6];
478  std::vector<Node*> full_leaves_;
479  };
480  } // namespace recognition
481 } // namespace pcl
const std::set< Node * > & getNeighbors() const
Definition: orr_octree.h:156
void addToPoint(float x, float y, float z)
Definition: orr_octree.h:95
Data(int id_x, int id_y, int id_z, int lin_id, void *user_data=nullptr)
Definition: orr_octree.h:81
void addToNormal(float x, float y, float z)
Definition: orr_octree.h:112
void setBounds(const float *b)
Definition: orr_octree.h:181
const float * getBounds() const
Definition: orr_octree.h:201
void setCenter(const float *c)
Definition: orr_octree.h:178
float getRadius() const
Computes the "radius" of the node which is half the diagonal length.
Definition: orr_octree.h:235
void getBounds(float b[6]) const
Definition: orr_octree.h:204
void setUserData(void *user_data)
Definition: orr_octree.h:222
void setParent(Node *parent)
Definition: orr_octree.h:184
void computeRadius()
Computes the "radius" of the node which is half the diagonal length.
Definition: orr_octree.h:191
const float * getCenter() const
Definition: orr_octree.h:198
const Node::Data * getData() const
Definition: orr_octree.h:219
void setData(Node::Data *data)
Definition: orr_octree.h:187
void makeNeighbors(Node *node)
Make this and 'node' neighbors by inserting each node in the others node neighbor set.
Definition: orr_octree.h:257
That's a very specialized and simple octree class.
Definition: orr_octree.h:69
void build(const PointCloudIn &points, float voxel_size, const PointCloudN *normals=nullptr, float enlarge_bounds=0.00001f)
Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'.
ORROctree::Node * getRoot()
Definition: orr_octree.h:419
void deleteBranch(Node *node)
Deletes the branch 'node' is part of.
ORROctree::Node * getLeaf(float x, float y, float z)
Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists.
Definition: orr_octree.h:368
void getNormalsOfFullLeaves(PointCloudN &out) const
const float * getBounds() const
Definition: orr_octree.h:422
void build(const float *bounds, float voxel_size)
Creates an empty octree with bounds at least as large as the ones provided as input and with leaf siz...
ORROctree::Node * createLeaf(float x, float y, float z)
Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within...
Definition: orr_octree.h:295
const std::vector< ORROctree::Node * > & getFullLeaves() const
Definition: orr_octree.h:410
void getFullLeavesPoints(PointCloudOut &out) const
float getVoxelSize() const
Definition: orr_octree.h:434
void getFullLeavesIntersectedBySphere(const float *p, float radius, std::list< ORROctree::Node * > &out) const
This method returns a super set of the full leavess which are intersected by the sphere with radius '...
ORROctree::Node * getLeaf(int i, int j, int k)
Since the leaves are aligned in a rectilinear grid, each leaf has a unique id.
Definition: orr_octree.h:356
std::vector< ORROctree::Node * > & getFullLeaves()
Returns a vector with all octree leaves which contain at least one point.
Definition: orr_octree.h:407
void getBounds(float b[6]) const
Definition: orr_octree.h:428
void insertNeighbors(Node *node)
Definition: orr_octree.h:437
ORROctree::Node * getRandomFullLeafOnSphere(const float *p, float radius) const
Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radiu...
std::vector< Node * > full_leaves_
Definition: orr_octree.h:478
Defines all the PCL implemented PointT point type structures.
T length3(const T v[3])
Returns the length of v.
Definition: auxiliary.h:185
void mult3(T *v, T scalar)
v = scalar*v.
Definition: auxiliary.h:221
#define PCL_EXPORTS
Definition: pcl_macros.h:323