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Fix problems in octree search functions when using dynamic depth #4657

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merged 3 commits into from
Mar 29, 2021
Merged

Fix problems in octree search functions when using dynamic depth #4657

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8bd1213
Improve test_octree: test search functions also on trees with dynamic…
mvieth Mar 21, 2021
582da42
Octree search: check node type before casting
mvieth Mar 21, 2021
7abcd66
Octree search: use more float instead of double
mvieth Mar 21, 2021
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14 changes: 7 additions & 7 deletions octree/include/pcl/octree/impl/octree_search.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -277,7 +277,7 @@ OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::
child_node = search_heap.back().node;
new_key = search_heap.back().key;

if (tree_depth < this->octree_depth_) {
if (child_node->getNodeType() == BRANCH_NODE) {
// we have not reached maximum tree depth
smallest_squared_dist =
getKNearestNeighborRecursive(point,
Expand Down Expand Up @@ -373,7 +373,7 @@ OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::
voxel_squared_diameter / 4.0 + radiusSquared +
sqrt(voxel_squared_diameter * radiusSquared)) {

if (tree_depth < this->octree_depth_) {
if (child_node->getNodeType() == BRANCH_NODE) {
// we have not reached maximum tree depth
getNeighborsWithinRadiusRecursive(point,
radiusSquared,
Expand Down Expand Up @@ -468,7 +468,7 @@ OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::

child_node = this->getBranchChildPtr(*node, min_child_idx);

if (tree_depth < this->octree_depth_) {
if (child_node->getNodeType() == BRANCH_NODE) {
// we have not reached maximum tree depth
approxNearestSearchRecursive(point,
static_cast<const BranchNode*>(child_node),
Expand All @@ -483,7 +483,7 @@ OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::

const LeafNode* child_leaf = static_cast<const LeafNode*>(child_node);

double smallest_squared_dist = std::numeric_limits<double>::max();
float smallest_squared_dist = std::numeric_limits<float>::max();

// decode leaf node into decoded_point_vector
(**child_leaf).getPointIndices(decoded_point_vector);
Expand All @@ -493,15 +493,15 @@ OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::
const PointT& candidate_point = this->getPointByIndex(index);

// calculate point distance to search point
double squared_dist = pointSquaredDist(candidate_point, point);
float squared_dist = pointSquaredDist(candidate_point, point);

// check if a closer match is found
if (squared_dist >= smallest_squared_dist)
continue;

result_index = index;
smallest_squared_dist = squared_dist;
sqr_distance = static_cast<float>(squared_dist);
sqr_distance = squared_dist;
}
}
}
Expand Down Expand Up @@ -552,7 +552,7 @@ OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::boxSearchRecur
(lower_voxel_corner(1) > max_pt(1)) || (min_pt(1) > upper_voxel_corner(1)) ||
(lower_voxel_corner(2) > max_pt(2)) || (min_pt(2) > upper_voxel_corner(2)))) {

if (tree_depth < this->octree_depth_) {
if (child_node->getNodeType() == BRANCH_NODE) {
// we have not reached maximum tree depth
boxSearchRecursive(min_pt,
max_pt,
Expand Down
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