C++ ReferenceCloud::reserve方法代码示例

//.........这里部分代码省略.........
			std::vector<ScalarType> distances;
			try
			{
				distances.resize(count);
			}
			catch (const std::bad_alloc&)
			{
				ccLog::Error("Not enough memory!");
				return false;
			}
			for (unsigned i=0; i<count; ++i)
			{
				distances[i] = dataCloud->getPointScalarValue(i);
			}
			
			ParallelSort(distances.begin(), distances.end());
			
			//now look for the max value at 'finalOverlapRatio+margin' percent
			maxSearchDist = distances[static_cast<unsigned>(std::max(1.0,count*(finalOverlapRatio+s_overlapMarginRatio)))-1];
		}

		//evntually select the points with distance below 'maxSearchDist'
		//(should roughly correspond to 'finalOverlapRatio + margin' percent)
		{
			CCLib::ReferenceCloud* refCloud = new CCLib::ReferenceCloud(dataCloud);
			cloudGarbage.add(refCloud);
			unsigned countBefore = dataCloud->size();
			unsigned baseIncrement = static_cast<unsigned>(std::max(100.0,countBefore*finalOverlapRatio*0.05));
			for (unsigned i=0; i<countBefore; ++i)
			{
				if (dataCloud->getPointScalarValue(i) <= maxSearchDist)
				{
					if (	refCloud->size() == refCloud->capacity()
						&&	!refCloud->reserve(refCloud->size() + baseIncrement) )
					{
						ccLog::Error("Not enough memory!");
						return false;
					}
					refCloud->addPointIndex(i);
				}
			}
			refCloud->resize(refCloud->size());
			dataCloud = refCloud;

			unsigned countAfter = dataCloud->size();
			double keptRatio = static_cast<double>(countAfter)/countBefore;
			ccLog::Print(QString("[ICP][Partial overlap] Selecting %1 points out of %2 (%3%) for registration").arg(countAfter).arg(countBefore).arg(static_cast<int>(100*keptRatio)));

			//update the relative 'final overlap' ratio
			finalOverlapRatio /= keptRatio;
		}
	}

	//weights
	CCLib::ScalarField* modelWeights = nullptr;
	CCLib::ScalarField* dataWeights = nullptr;
	{
		if (!modelMesh && useModelSFAsWeights)
		{
			if (modelCloud == dynamic_cast<CCLib::GenericIndexedCloudPersist*>(model) && model->isA(CC_TYPES::POINT_CLOUD))
			{
				ccPointCloud* pc = static_cast<ccPointCloud*>(model);
				modelWeights = pc->getCurrentDisplayedScalarField();
				if (!modelWeights)
					ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but model has no displayed scalar field!");
			}

//.........这里部分代码省略.........
			PointCoordinateType r2 = P.norm2();
			if (maxRadius < r2)
				maxRadius = r2;
		}
		
		//we add the view point (Cf. HPR)
		*_pt_array++ = 0;
		*_pt_array++ = 0;
		*_pt_array++ = 0;

		maxRadius = sqrt(maxRadius);
	}

	//apply spherical flipping
	{
		maxRadius *= 2.0f*pow(10.0f,fParam);
	
		coordT* _pt_array = pt_array;
		for (unsigned i=0; i<nbPoints; ++i)
		{
			CCVector3 P = *theCloud->getPoint(i) - viewPoint;

			double r = (double)(maxRadius/P.norm()) - 1.0;
			*_pt_array++ *= r;
			*_pt_array++ *= r;
			*_pt_array++ *= r;
		}
	}

	//array to flag points on the convex hull
	std::vector<bool> pointBelongsToCvxHull;

	if (!qh_new_qhull(3,nbPoints+1,pt_array,False,(char*)"qhull QJ Qci",0,stderr))
	{
		try
		{
			pointBelongsToCvxHull.resize(nbPoints+1,false);
		}
		catch(std::bad_alloc)
		{
			//not enough memory!
			delete[] pt_array;
			return 0;
		}

		vertexT *vertex = 0,**vertexp = 0;
		facetT *facet = 0;

		FORALLfacets
		{
			//if (!facet->simplicial)
			//	error("convhulln: non-simplicial facet"); // should never happen with QJ

			setT* vertices = qh_facet3vertex(facet);
			FOREACHvertex_(vertices)
			{
				pointBelongsToCvxHull[qh_pointid(vertex->point)] = true;
			}
			qh_settempfree(&vertices);
		}
	}

	delete[] pt_array;
	pt_array=0;

	qh_freeqhull(!qh_ALL);
	//free long memory
	int curlong, totlong;
	qh_memfreeshort (&curlong, &totlong);
	//free short memory and memory allocator

	if (!pointBelongsToCvxHull.empty())
	{
		//compute the number of points belonging to the convex hull
		unsigned cvxHullSize = 0;
		{
			for (unsigned i=0; i<nbPoints; ++i)
				if (pointBelongsToCvxHull[i])
					++cvxHullSize;
		}

		CCLib::ReferenceCloud* visiblePoints = new CCLib::ReferenceCloud(theCloud);
		if (cvxHullSize!=0 && visiblePoints->reserve(cvxHullSize))
		{
			for (unsigned i=0; i<nbPoints; ++i)
				if (pointBelongsToCvxHull[i])
					visiblePoints->addPointIndex(i); //can't fail, see above

			return visiblePoints;

		}
		else //not enough memory
		{
			delete visiblePoints;
			visiblePoints=0;
		}
	}

	return 0;
}

CCLib::ReferenceCloud* qHPR::removeHiddenPoints(CCLib::GenericIndexedCloudPersist* theCloud, float viewPoint[], float fParam)
{
	assert(theCloud);

	unsigned i,nbPoints = theCloud->size();

	if (nbPoints==0)
		return 0;

	CCLib::ReferenceCloud* newCloud = new CCLib::ReferenceCloud(theCloud);

	//less than 4 points ? no need for calculation, we return the whole cloud
	if (nbPoints<4)
	{
		if (!newCloud->reserve(nbPoints)) //well, we never know ;)
		{
			//not enough memory!
			delete newCloud;
			return 0;
		}
		newCloud->addPointIndex(0,nbPoints);
		return newCloud;
	}

	//view point
	coordT Cx = viewPoint[0];
	coordT Cy = viewPoint[1];
	coordT Cz = viewPoint[2];

	float* radius = new float[nbPoints];
	if (!radius)
	{
		//not enough memory!
		delete newCloud;
		return 0;
	}
	float r,maxRadius = 0.0;

	//table of points
	coordT* pt_array = new coordT[(nbPoints+1)*3];
	coordT* _pt_array = pt_array;
	theCloud->placeIteratorAtBegining();

//#define BACKUP_PROJECTED_CLOUDS
#ifdef BACKUP_PROJECTED_CLOUDS
	FILE* fp = fopen("output_centered.asc","wt");
#endif
	double x,y,z;
	for (i=0;i<nbPoints;++i)
	{
		const CCVector3* P = theCloud->getNextPoint();
		*(_pt_array++)=x=coordT(P->x)-Cx;
		*(_pt_array++)=y=coordT(P->y)-Cy;
		*(_pt_array++)=z=coordT(P->z)-Cz;
		//we pre-compute the radius ...
		r = (float)sqrt(x*x+y*y+z*z);
		//in order to determine the max radius
		if (maxRadius<r)
			maxRadius = r;
		radius[i] = r;
#ifdef BACKUP_PROJECTED_CLOUDS
		fprintf(fp,"%f %f %f %f\n",x,y,z,r);
#endif
	}
	//we add the view point (Cf. HPR)
	*(_pt_array++)=0.0;
	*(_pt_array++)=0.0;
	*(_pt_array++)=0.0;
#ifdef BACKUP_PROJECTED_CLOUDS
	fprintf(fp,"%f %f %f %f\n",0,0,0,0);
	fclose(fp);
#endif

	maxRadius *= 2.0f*pow(10.0f,fParam);

	_pt_array = pt_array;
#ifdef BACKUP_PROJECTED_CLOUDS
	fp = fopen("output_transformed.asc","wt");
#endif
	for (i=0;i<nbPoints;++i)
	{
		//Spherical flipping
		r = maxRadius/radius[i]-1.0f;
#ifndef BACKUP_PROJECTED_CLOUDS
		*(_pt_array++) *= double(r);
		*(_pt_array++) *= double(r);
		*(_pt_array++) *= double(r);
#else
		x = *_pt_array * double(r);
		*(_pt_array++) = x;
		y = *_pt_array * double(r);
		*(_pt_array++) = y;
		z = *_pt_array * double(r);
		*(_pt_array++) = z;
		fprintf(fp,"%f %f %f %f\n",x,y,z,r);
#endif
	}
#ifdef BACKUP_PROJECTED_CLOUDS
	fclose(fp);
#endif
//.........这里部分代码省略.........