C++ AlignedPointTVector::size方法代码示例

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 ());
  }
}