C++ ReferenceCloud::getAssociatedCloud方法代码示例

//.........这里部分代码省略.........
							catch (const std::bad_alloc&)
							{
								//not enough memory!
								ccLog::Warning("[ccKdTreeForFacetExtraction] Not enough memory!");
								return false;
							}
						}
					}
				}

				//is there remaining candidates?
				if (!candidates.empty())
				{
					//update the set of candidates
					if (closestFirst && candidates.size() > 1)
					{
						for (std::list<Candidate>::iterator it = candidates.begin(); it !=candidates.end(); ++it)
							it->dist = (it->centroid-currentCentroid).norm2();

						//sort candidates by their distance
						candidates.sort(CandidateDistAscendingComparison);
					}
					
					//we will keep track of the best fused 'couple' at each pass
					std::list<Candidate>::iterator bestIt = candidates.end();
					CCLib::ReferenceCloud* bestFused = 0;
					CCVector3 bestNormal(0,0,0);
					double bestError = -1.0;

					unsigned skipCount = 0;
					for (std::list<Candidate>::iterator it = candidates.begin(); it != candidates.end(); /*++it*/)
					{
						assert(it->leaf && it->leaf->points);
						assert(currentPointSet->getAssociatedCloud() == it->leaf->points->getAssociatedCloud());

						//if the leaf orientation is too different
						if (fabs(CCVector3(it->leaf->planeEq).dot(currentNormal)) < c_minCosNormAngle)
						{
							it = candidates.erase(it);
							//++it;
							//++skipCount;
							continue;
						}

						//compute the minimum distance between the candidate centroid and the 'currentPointSet'
						PointCoordinateType minDistToMainSet = 0.0;
						{
							for (unsigned j=0; j<currentPointSet->size(); ++j)
							{
								const CCVector3* P = currentPointSet->getPoint(j);
								PointCoordinateType d2 = (*P-it->centroid).norm2();
								if (d2 < minDistToMainSet || j == 0)
									minDistToMainSet = d2;
							}
							minDistToMainSet = sqrt(minDistToMainSet);
						}
						
						//if the leaf is too far
						if (it->radius < minDistToMainSet / overlapCoef)
						{
							++it;
							++skipCount;
							continue;
						}

						//fuse the main set with the current candidate