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Fix octree adjacency bounding box calculation #332

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merged 3 commits into from
Oct 26, 2013
Merged

Fix octree adjacency bounding box calculation #332

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4e6bfa2
Fixed a problem where keys would change and no longer match for certa…
jpapon Oct 18, 2013
83999d4
Fixed to make octree static
jpapon Oct 18, 2013
2932097
Just changed spacing
jpapon Oct 18, 2013
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34 changes: 22 additions & 12 deletions octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,28 @@ template<typename PointT, typename LeafContainerT, typename BranchContainerT> vo
pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>::addPointsFromInputCloud ()
{
//double t1,t2;
float minX = std::numeric_limits<float>::max (), minY = std::numeric_limits<float>::max (), minZ = std::numeric_limits<float>::max ();
float maxX = std::numeric_limits<float>::min (), maxY = std::numeric_limits<float>::min (), maxZ = std::numeric_limits<float>::min ();

for (int i = 0; i < input_->size (); ++i)
{
PointT temp (input_->points[i]);
if (transform_func_) //Search for point with
transform_func_ (temp);
if (temp.x < minX)
minX = temp.x;
if (temp.y < minY)
minY = temp.y;
if (temp.z < minZ)
minZ = temp.z;
if (temp.x > maxX)
maxX = temp.x;
if (temp.y > maxY)
maxY = temp.y;
if (temp.z > maxZ)
maxZ = temp.z;
}
this->defineBoundingBox (minX, minY, minZ, maxX, maxY, maxZ);
//t1 = timer_.getTime ();
OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::addPointsFromInputCloud ();

Expand Down Expand Up @@ -125,7 +146,6 @@ pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>
key_arg.x = static_cast<unsigned int> ((temp.x - this->min_x_) / this->resolution_);
key_arg.y = static_cast<unsigned int> ((temp.y - this->min_y_) / this->resolution_);
key_arg.z = static_cast<unsigned int> ((temp.z - this->min_z_) / this->resolution_);

}
else
{
Expand All @@ -147,24 +167,14 @@ pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>
const PointT& point = this->input_->points[pointIdx_arg];
if (!pcl::isFinite (point))
return;

if (transform_func_)
{
PointT temp (point);
transform_func_ (temp);
this->adoptBoundingBoxToPoint (temp);
}
else
this->adoptBoundingBoxToPoint (point);


// generate key
this->genOctreeKeyforPoint (point, key);
// add point to octree at key
LeafContainerT* container = this->createLeaf(key);
container->addPoint (point);
}


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT> void
pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>::computeNeighbors (OctreeKey &key_arg, LeafContainerT* leaf_container)
Expand Down
27 changes: 23 additions & 4 deletions octree/include/pcl/octree/octree_pointcloud_adjacency.h
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Original file line number Diff line number Diff line change
Expand Up @@ -96,11 +96,23 @@ namespace pcl
typedef typename OctreePointCloudT::BranchNode BranchNode;

typedef pcl::PointCloud<PointT> CloudT;

typedef pcl::PointCloud<PointT> PointCloud;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

// public typedefs
typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;
//So we can access input
using OctreePointCloudT::input_;
using OctreePointCloudT::resolution_;

using OctreePointCloudT::min_x_;
using OctreePointCloudT::min_y_;
using OctreePointCloudT::min_z_;
using OctreePointCloudT::max_x_;
using OctreePointCloudT::max_y_;
using OctreePointCloudT::max_z_;

// iterators are friends
friend class OctreeIteratorBase<OctreeAdjacencyT> ;
friend class OctreeDepthFirstIterator<OctreeAdjacencyT> ;
Expand Down Expand Up @@ -150,7 +162,7 @@ namespace pcl
*/
void
addPointsFromInputCloud ();

/** \brief Gets the leaf container for a given point
* \param[in] point_arg Point to search for
* \returns Pointer to the leaf container - null if no leaf container found
Expand Down Expand Up @@ -207,7 +219,14 @@ namespace pcl
void
genOctreeKeyforPoint (const PointT& point_arg,OctreeKey & key_arg) const;

private:
private:
/** \brief Add point at given index from input point cloud to octree. Index will be also added to indices vector. -- This functionality is not enabled for adjacency octree
*/
OctreePointCloudT::addPointFromCloud;

/** \brief Add point simultaneously to octree and input point cloud. -- This functionality is not enabled for adjacency octree
*/
OctreePointCloudT::addPointToCloud;

StopWatch timer_;

Expand Down