Point Cloud Library (PCL)  1.11.1
octree_base.hpp
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39 
40 #ifndef PCL_OUTOFCORE_OCTREE_BASE_IMPL_H_
41 #define PCL_OUTOFCORE_OCTREE_BASE_IMPL_H_
42 
43 
44 #include <pcl/outofcore/octree_base.h>
45 
46 // JSON
47 #include <pcl/outofcore/cJSON.h>
48 
49 #include <pcl/filters/random_sample.h>
50 #include <pcl/filters/extract_indices.h>
51 
52 // C++
53 #include <iostream>
54 #include <fstream>
55 #include <sstream>
56 #include <string>
57 #include <exception>
58 
59 namespace pcl
60 {
61  namespace outofcore
62  {
63 
64  ////////////////////////////////////////////////////////////////////////////////
65  //Static constants
66  ////////////////////////////////////////////////////////////////////////////////
67 
68  template<typename ContainerT, typename PointT>
70 
71  template<typename ContainerT, typename PointT>
73 
74  ////////////////////////////////////////////////////////////////////////////////
75 
76  template<typename ContainerT, typename PointT>
77  OutofcoreOctreeBase<ContainerT, PointT>::OutofcoreOctreeBase (const boost::filesystem::path& root_name, const bool load_all)
78  : root_node_ ()
79  , read_write_mutex_ ()
80  , metadata_ (new OutofcoreOctreeBaseMetadata ())
81  , sample_percent_ (0.125)
82  , lod_filter_ptr_ (new pcl::RandomSample<pcl::PCLPointCloud2> ())
83  {
84  //validate the root filename
85  if (!this->checkExtension (root_name))
86  {
87  PCL_THROW_EXCEPTION (PCLException, "[pcl::outofcore::OutofcoreOctreeBase] Bad extension. Outofcore Octrees must have a root node ending in .oct_idx\n");
88  }
89 
90  // Create root_node_node
91  root_node_ = new OutofcoreOctreeBaseNode<ContainerT, PointT> (root_name, nullptr, load_all);
92  // Set root_node_nodes tree to the newly created tree
93  root_node_->m_tree_ = this;
94 
95  // Set the path to the outofcore octree metadata (unique to the root folder) ending in .octree
96  boost::filesystem::path treepath = root_name.parent_path () / (boost::filesystem::basename (root_name) + TREE_EXTENSION_);
97 
98  //Load the JSON metadata
99  metadata_->loadMetadataFromDisk (treepath);
100  }
101 
102  ////////////////////////////////////////////////////////////////////////////////
103 
104  template<typename ContainerT, typename PointT>
105  OutofcoreOctreeBase<ContainerT, PointT>::OutofcoreOctreeBase (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const double resolution_arg, const boost::filesystem::path& root_node_name, const std::string& coord_sys)
106  : root_node_()
107  , read_write_mutex_ ()
108  , metadata_ (new OutofcoreOctreeBaseMetadata ())
109  , sample_percent_ (0.125)
110  , lod_filter_ptr_ (new pcl::RandomSample<pcl::PCLPointCloud2> ())
111  {
112  //Enlarge the bounding box to a cube so our voxels will be cubes
113  Eigen::Vector3d tmp_min = min;
114  Eigen::Vector3d tmp_max = max;
115  this->enlargeToCube (tmp_min, tmp_max);
116 
117  //Compute the depth of the tree given the resolution
118  std::uint64_t depth = this->calculateDepth (tmp_min, tmp_max, resolution_arg);
119 
120  //Create a new outofcore tree
121  this->init (depth, tmp_min, tmp_max, root_node_name, coord_sys);
122  }
123 
124  ////////////////////////////////////////////////////////////////////////////////
125 
126  template<typename ContainerT, typename PointT>
127  OutofcoreOctreeBase<ContainerT, PointT>::OutofcoreOctreeBase (const std::uint64_t max_depth, const Eigen::Vector3d& min, const Eigen::Vector3d& max, const boost::filesystem::path& root_node_name, const std::string& coord_sys)
128  : root_node_()
129  , read_write_mutex_ ()
130  , metadata_ (new OutofcoreOctreeBaseMetadata ())
131  , sample_percent_ (0.125)
132  , lod_filter_ptr_ (new pcl::RandomSample<pcl::PCLPointCloud2> ())
133  {
134  //Create a new outofcore tree
135  this->init (max_depth, min, max, root_node_name, coord_sys);
136  }
137 
138  ////////////////////////////////////////////////////////////////////////////////
139  template<typename ContainerT, typename PointT> void
140  OutofcoreOctreeBase<ContainerT, PointT>::init (const std::uint64_t& depth, const Eigen::Vector3d& min, const Eigen::Vector3d& max, const boost::filesystem::path& root_name, const std::string& coord_sys)
141  {
142  //Validate the extension of the pathname
143  if (!this->checkExtension (root_name))
144  {
145  PCL_THROW_EXCEPTION (PCLException, "[pcl::outofcore::OutofcoreOctreeBase] Bad extension. Outofcore Octrees must have a root node ending in .oct_idx\n");
146  }
147 
148  //Check to make sure that we are not overwriting existing data
149  if (boost::filesystem::exists (root_name.parent_path ()))
150  {
151  PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeBase] A dir named %s already exists. Overwriting an existing tree is not supported.\n", root_name.parent_path ().c_str () );
152  PCL_THROW_EXCEPTION ( PCLException, "[pcl::outofcore::OutofcoreOctreeBase] Directory exists; Overwriting an existing tree is not supported\n");
153  }
154 
155  // Get fullpath and recreate directories
156  boost::filesystem::path dir = root_name.parent_path ();
157 
158  if (!boost::filesystem::exists (dir))
159  {
160  boost::filesystem::create_directory (dir);
161  }
162 
163  Eigen::Vector3d tmp_min = min;
164  Eigen::Vector3d tmp_max = max;
165  this->enlargeToCube (tmp_min, tmp_max);
166 
167  // Create root node
168  root_node_= new OutofcoreOctreeBaseNode<ContainerT, PointT> (tmp_min, tmp_max, this, root_name);
169  root_node_->m_tree_ = this;
170 
171  // Set root nodes file path
172  boost::filesystem::path treepath = dir / (boost::filesystem::basename (root_name) + TREE_EXTENSION_);
173 
174  //fill the fields of the metadata
175  metadata_->setCoordinateSystem (coord_sys);
176  metadata_->setDepth (depth);
177  metadata_->setLODPoints (depth+1);
178  metadata_->setMetadataFilename (treepath);
179  metadata_->setOutofcoreVersion (OUTOFCORE_VERSION_);
180  //metadata_->setPointType ( <point type string here> );
181 
182  //save to disk
183  metadata_->serializeMetadataToDisk ();
184  }
185 
186 
187  ////////////////////////////////////////////////////////////////////////////////
188  template<typename ContainerT, typename PointT>
190  {
191  root_node_->flushToDiskRecursive ();
192 
193  saveToFile ();
194  delete (root_node_);
195  }
196 
197  ////////////////////////////////////////////////////////////////////////////////
198 
199  template<typename ContainerT, typename PointT> void
201  {
202  this->metadata_->serializeMetadataToDisk ();
203  }
204 
205  ////////////////////////////////////////////////////////////////////////////////
206 
207  template<typename ContainerT, typename PointT> std::uint64_t
209  {
210  std::unique_lock < std::shared_timed_mutex > lock (read_write_mutex_);
211 
212  const bool _FORCE_BB_CHECK = true;
213 
214  std::uint64_t pt_added = root_node_->addDataToLeaf (p, _FORCE_BB_CHECK);
215 
216  assert (p.size () == pt_added);
217 
218  return (pt_added);
219  }
220 
221  ////////////////////////////////////////////////////////////////////////////////
222 
223  template<typename ContainerT, typename PointT> std::uint64_t
225  {
226  return (addDataToLeaf (point_cloud->points));
227  }
228 
229  ////////////////////////////////////////////////////////////////////////////////
230 
231  template<typename ContainerT, typename PointT> std::uint64_t
233  {
234  std::uint64_t pt_added = this->root_node_->addPointCloud (input_cloud, skip_bb_check) ;
235 // assert (input_cloud->width*input_cloud->height == pt_added);
236  return (pt_added);
237  }
238 
239 
240  ////////////////////////////////////////////////////////////////////////////////
241 
242  template<typename ContainerT, typename PointT> std::uint64_t
244  {
245  // Lock the tree while writing
246  std::unique_lock < std::shared_timed_mutex > lock (read_write_mutex_);
247  std::uint64_t pt_added = root_node_->addDataToLeaf_and_genLOD (point_cloud->points, false);
248  return (pt_added);
249  }
250 
251  ////////////////////////////////////////////////////////////////////////////////
252 
253  template<typename ContainerT, typename PointT> std::uint64_t
255  {
256  // Lock the tree while writing
257  std::unique_lock < std::shared_timed_mutex > lock (read_write_mutex_);
258  std::uint64_t pt_added = root_node_->addPointCloud_and_genLOD (input_cloud);
259 
260  PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBase::%s] Points added %lu, points in input cloud, %lu\n",__FUNCTION__, pt_added, input_cloud->width*input_cloud->height );
261 
262  assert ( input_cloud->width*input_cloud->height == pt_added );
263 
264  return (pt_added);
265  }
266 
267  ////////////////////////////////////////////////////////////////////////////////
268 
269  template<typename ContainerT, typename PointT> std::uint64_t
271  {
272  // Lock the tree while writing
273  std::unique_lock < std::shared_timed_mutex > lock (read_write_mutex_);
274  std::uint64_t pt_added = root_node_->addDataToLeaf_and_genLOD (src, false);
275  return (pt_added);
276  }
277 
278  ////////////////////////////////////////////////////////////////////////////////
279 
280  template<typename Container, typename PointT> void
281  OutofcoreOctreeBase<Container, PointT>::queryFrustum (const double planes[24], std::list<std::string>& file_names) const
282  {
283  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
284  root_node_->queryFrustum (planes, file_names, this->getTreeDepth());
285  }
286 
287  ////////////////////////////////////////////////////////////////////////////////
288 
289  template<typename Container, typename PointT> void
290  OutofcoreOctreeBase<Container, PointT>::queryFrustum(const double *planes, std::list<std::string>& file_names, const std::uint32_t query_depth) const
291  {
292  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
293  root_node_->queryFrustum (planes, file_names, query_depth);
294  }
295 
296  ////////////////////////////////////////////////////////////////////////////////
297 
298  template<typename Container, typename PointT> void
300  const double *planes,
301  const Eigen::Vector3d &eye,
302  const Eigen::Matrix4d &view_projection_matrix,
303  std::list<std::string>& file_names,
304  const std::uint32_t query_depth) const
305  {
306  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
307  root_node_->queryFrustum (planes, eye, view_projection_matrix, file_names, query_depth);
308  }
309 
310  ////////////////////////////////////////////////////////////////////////////////
311 
312  template<typename ContainerT, typename PointT> void
313  OutofcoreOctreeBase<ContainerT, PointT>::queryBBIncludes (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const std::uint64_t query_depth, AlignedPointTVector& dst) const
314  {
315  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
316  dst.clear ();
317  PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBaseNode] Querying Bounding Box %.2lf %.2lf %.2lf, %.2lf %.2lf %.2lf", min[0], min[1], min[2], max[0], max[1], max[2]);
318  root_node_->queryBBIncludes (min, max, query_depth, dst);
319  }
320 
321  ////////////////////////////////////////////////////////////////////////////////
322 
323  template<typename ContainerT, typename PointT> void
324  OutofcoreOctreeBase<ContainerT, PointT>::queryBBIncludes (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const std::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr& dst_blob) const
325  {
326  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
327 
328  dst_blob->data.clear ();
329  dst_blob->width = 0;
330  dst_blob->height =1;
331 
332  root_node_->queryBBIncludes ( min, max, query_depth, dst_blob );
333  }
334 
335  ////////////////////////////////////////////////////////////////////////////////
336 
337  template<typename ContainerT, typename PointT> void
338  OutofcoreOctreeBase<ContainerT, PointT>::queryBBIncludes_subsample (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const std::uint64_t query_depth, const double percent, AlignedPointTVector& dst) const
339  {
340  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
341  dst.clear ();
342  root_node_->queryBBIncludes_subsample (min, max, query_depth, percent, dst);
343  }
344 
345  ////////////////////////////////////////////////////////////////////////////////
346  template<typename ContainerT, typename PointT> void
347  OutofcoreOctreeBase<ContainerT, PointT>::queryBoundingBox (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob, double percent)
348  {
349  if (percent==1.0)
350  {
351  root_node_->queryBBIncludes (min, max, query_depth, dst_blob);
352  }
353  else
354  {
355  root_node_->queryBBIncludes_subsample (min, max, query_depth, dst_blob, percent);
356  }
357  }
358 
359  ////////////////////////////////////////////////////////////////////////////////
360 
361  template<typename ContainerT, typename PointT> bool
362  OutofcoreOctreeBase<ContainerT, PointT>::getBoundingBox (Eigen::Vector3d &min, Eigen::Vector3d &max) const
363  {
364  if (root_node_!= nullptr)
365  {
366  root_node_->getBoundingBox (min, max);
367  return true;
368  }
369  return false;
370  }
371 
372  ////////////////////////////////////////////////////////////////////////////////
373 
374  template<typename ContainerT, typename PointT> void
376  {
377  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
378  root_node_->printBoundingBox (query_depth);
379  }
380 
381  ////////////////////////////////////////////////////////////////////////////////
382 
383  template<typename ContainerT, typename PointT> void
385  {
386  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
387  if (query_depth > metadata_->getDepth ())
388  {
389  root_node_->getOccupiedVoxelCentersRecursive (voxel_centers, metadata_->getDepth ());
390  }
391  else
392  {
393  root_node_->getOccupiedVoxelCentersRecursive (voxel_centers, query_depth);
394  }
395  }
396 
397  ////////////////////////////////////////////////////////////////////////////////
398 
399  template<typename ContainerT, typename PointT> void
400  OutofcoreOctreeBase<ContainerT, PointT>::getOccupiedVoxelCenters(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > &voxel_centers, const std::size_t query_depth) const
401  {
402  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
403  if (query_depth > metadata_->getDepth ())
404  {
405  root_node_->getOccupiedVoxelCentersRecursive (voxel_centers, metadata_->getDepth ());
406  }
407  else
408  {
409  root_node_->getOccupiedVoxelCentersRecursive (voxel_centers, query_depth);
410  }
411  }
412 
413  ////////////////////////////////////////////////////////////////////////////////
414 
415  template<typename ContainerT, typename PointT> void
416  OutofcoreOctreeBase<ContainerT, PointT>::queryBBIntersects (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const std::uint32_t query_depth, std::list<std::string>& bin_name) const
417  {
418  std::shared_lock < std::shared_timed_mutex > lock (read_write_mutex_);
419  bin_name.clear ();
420 #if defined _MSC_VER
421  #pragma warning(push)
422  #pragma warning(disable : 4267)
423 #endif
424  root_node_->queryBBIntersects (min, max, query_depth, bin_name);
425 #if defined _MSC_VER
426  #pragma warning(pop)
427 #endif
428  }
429 
430  ////////////////////////////////////////////////////////////////////////////////
431 
432  template<typename ContainerT, typename PointT> void
433  OutofcoreOctreeBase<ContainerT, PointT>::writeVPythonVisual (const boost::filesystem::path filename)
434  {
435  std::ofstream f (filename.c_str ());
436 
437  f << "from visual import *\n\n";
438 
439  root_node_->writeVPythonVisual (f);
440  }
441 
442  ////////////////////////////////////////////////////////////////////////////////
443 
444  template<typename ContainerT, typename PointT> void
446  {
447  root_node_->flushToDisk ();
448  }
449 
450  ////////////////////////////////////////////////////////////////////////////////
451 
452  template<typename ContainerT, typename PointT> void
454  {
455  root_node_->flushToDiskLazy ();
456  }
457 
458  ////////////////////////////////////////////////////////////////////////////////
459 
460  template<typename ContainerT, typename PointT> void
462  {
463  saveToFile ();
464  root_node_->convertToXYZ ();
465  }
466 
467  ////////////////////////////////////////////////////////////////////////////////
468 
469  template<typename ContainerT, typename PointT> void
471  {
472  DeAllocEmptyNodeCache (root_node_);
473  }
474 
475  ////////////////////////////////////////////////////////////////////////////////
476 
477  template<typename ContainerT, typename PointT> void
479  {
480  if (current == nullptr)
481  current = root_node_;
482 
483  if (current->size () == 0)
484  {
485  current->flush_DeAlloc_this_only ();
486  }
487 
488  for (int i = 0; i < current->numchildren (); i++)
489  {
490  DeAllocEmptyNodeCache (current->children[i]);
491  }
492  }
493 
494  ////////////////////////////////////////////////////////////////////////////////
495  template<typename ContainerT, typename PointT> OutofcoreOctreeBaseNode<ContainerT, PointT>*
496  OutofcoreOctreeBase<ContainerT, PointT>::getBranchChildPtr (const BranchNode& branch_arg, unsigned char childIdx_arg) const
497  {
498  return (branch_arg.getChildPtr (childIdx_arg));
499  }
500 
501  ////////////////////////////////////////////////////////////////////////////////
502  template<typename ContainerT, typename PointT> pcl::Filter<pcl::PCLPointCloud2>::Ptr
504  {
505  return (lod_filter_ptr_);
506  }
507 
508  ////////////////////////////////////////////////////////////////////////////////
509 
510  template<typename ContainerT, typename PointT> const pcl::Filter<pcl::PCLPointCloud2>::ConstPtr
512  {
513  return (lod_filter_ptr_);
514  }
515 
516  ////////////////////////////////////////////////////////////////////////////////
517 
518  template<typename ContainerT, typename PointT> void
520  {
521  lod_filter_ptr_ = std::static_pointer_cast<decltype(lod_filter_ptr_)>(filter_arg);
522  }
523 
524  ////////////////////////////////////////////////////////////////////////////////
525 
526  template<typename ContainerT, typename PointT> bool
528  {
529  if (root_node_== nullptr)
530  {
531  x = 0;
532  y = 0;
533  return (false);
534  }
535 
536  Eigen::Vector3d min, max;
537  this->getBoundingBox (min, max);
538 
539  double depth = static_cast<double> (metadata_->getDepth ());
540  Eigen::Vector3d diff = max-min;
541 
542  y = diff[1] * pow (.5, depth);
543  x = diff[0] * pow (.5, depth);
544 
545  return (true);
546  }
547 
548  ////////////////////////////////////////////////////////////////////////////////
549 
550  template<typename ContainerT, typename PointT> double
552  {
553  Eigen::Vector3d min, max;
554  this->getBoundingBox (min, max);
555  double result = (max[0] - min[0]) * pow (.5, static_cast<double> (metadata_->getDepth ())) * static_cast<double> (1 << (metadata_->getDepth () - depth));
556  return (result);
557  }
558 
559  ////////////////////////////////////////////////////////////////////////////////
560 
561  template<typename ContainerT, typename PointT> void
563  {
564  if (root_node_== nullptr)
565  {
566  PCL_ERROR ("Root node is null; aborting buildLOD.\n");
567  return;
568  }
569 
570  std::unique_lock < std::shared_timed_mutex > lock (read_write_mutex_);
571 
572  const int number_of_nodes = 1;
573 
574  std::vector<BranchNode*> current_branch (number_of_nodes, static_cast<BranchNode*>(nullptr));
575  current_branch[0] = root_node_;
576  assert (current_branch.back () != 0);
577  this->buildLODRecursive (current_branch);
578  }
579 
580  ////////////////////////////////////////////////////////////////////////////////
581 
582  template<typename ContainerT, typename PointT> void
584  {
585  Eigen::Vector3d min, max;
586  node.getBoundingBox (min,max);
587  PCL_INFO ("[pcl::outofcore::OutofcoreOctreeBase::%s] min(%lf,%lf,%lf), max(%lf,%lf,%lf)\n", __FUNCTION__, min[0], min[1], min[2], max[0], max[1], max[2]);
588  }
589 
590 
591  ////////////////////////////////////////////////////////////////////////////////
592 
593  template<typename ContainerT, typename PointT> void
594  OutofcoreOctreeBase<ContainerT, PointT>::buildLODRecursive (const std::vector<BranchNode*>& current_branch)
595  {
596  PCL_DEBUG ("%s Building LOD at depth %d",__PRETTY_FUNCTION__, current_branch.size ());
597 
598  if (!current_branch.back ())
599  {
600  return;
601  }
602 
603  if (current_branch.back ()->getNodeType () == pcl::octree::LEAF_NODE)
604  {
605  assert (current_branch.back ()->getDepth () == this->getDepth ());
606 
607  BranchNode* leaf = current_branch.back ();
608 
609  pcl::PCLPointCloud2::Ptr leaf_input_cloud (new pcl::PCLPointCloud2 ());
610  //read the data from the PCD file associated with the leaf; it is full resolution
611  leaf->read (leaf_input_cloud);
612  assert (leaf_input_cloud->width*leaf_input_cloud->height > 0);
613 
614  //go up the tree, re-downsampling the full resolution leaf cloud at lower and lower resolution
615  for (std::int64_t level = static_cast<std::int64_t>(current_branch.size ()-1); level >= 1; level--)
616  {
617  BranchNode* target_parent = current_branch[level-1];
618  assert (target_parent != 0);
619  double exponent = static_cast<double>(current_branch.size () - target_parent->getDepth ());
620  double current_depth_sample_percent = pow (sample_percent_, exponent);
621 
622  assert (current_depth_sample_percent > 0.0);
623  //------------------------------------------------------------
624  //subsample data:
625  // 1. Get indices from a random sample
626  // 2. Extract those indices with the extract indices class (in order to also get the complement)
627  //------------------------------------------------------------
628 
629  lod_filter_ptr_->setInputCloud (leaf_input_cloud);
630 
631  //set sample size to 1/8 of total points (12.5%)
632  std::uint64_t sample_size = static_cast<std::uint64_t> (static_cast<double> (leaf_input_cloud->width*leaf_input_cloud->height) * current_depth_sample_percent);
633 
634  if (sample_size == 0)
635  sample_size = 1;
636 
637  lod_filter_ptr_->setSample (static_cast<unsigned int>(sample_size));
638 
639  //create our destination
640  pcl::PCLPointCloud2::Ptr downsampled_cloud (new pcl::PCLPointCloud2 ());
641 
642  //create destination for indices
643  pcl::IndicesPtr downsampled_cloud_indices (new std::vector< int > ());
644  lod_filter_ptr_->filter (*downsampled_cloud_indices);
645 
646  //extract the "random subset", size by setSampleSize
648  extractor.setInputCloud (leaf_input_cloud);
649  extractor.setIndices (downsampled_cloud_indices);
650  extractor.filter (*downsampled_cloud);
651 
652  //write to the target
653  if (downsampled_cloud->width*downsampled_cloud->height > 0)
654  {
655  target_parent->payload_->insertRange (downsampled_cloud);
656  this->incrementPointsInLOD (target_parent->getDepth (), downsampled_cloud->width*downsampled_cloud->height);
657  }
658  }
659  }
660  else//not at leaf, keep going down
661  {
662  //clear this node while walking down the tree in case we are updating the LOD
663  current_branch.back ()->clearData ();
664 
665  std::vector<BranchNode*> next_branch (current_branch);
666 
667  if (current_branch.back ()->hasUnloadedChildren ())
668  {
669  current_branch.back ()->loadChildren (false);
670  }
671 
672  for (std::size_t i = 0; i < 8; i++)
673  {
674  next_branch.push_back (current_branch.back ()->getChildPtr (i));
675  //skip that child if it doesn't exist
676  if (next_branch.back () != nullptr)
677  buildLODRecursive (next_branch);
678 
679  next_branch.pop_back ();
680  }
681  }
682  }
683  ////////////////////////////////////////////////////////////////////////////////
684 
685  template<typename ContainerT, typename PointT> void
687  {
688  if (std::numeric_limits<std::uint64_t>::max () - metadata_->getLODPoints (depth) < new_point_count)
689  {
690  PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeBase::incrementPointsInLOD] Overflow error. Too many points in depth %d of outofcore octree with root at %s\n", depth, metadata_->getMetadataFilename().c_str());
691  PCL_THROW_EXCEPTION (PCLException, "Overflow error");
692  }
693 
694  metadata_->setLODPoints (depth, new_point_count, true /*true->increment*/);
695  }
696 
697  ////////////////////////////////////////////////////////////////////////////////
698 
699  template<typename ContainerT, typename PointT> bool
700  OutofcoreOctreeBase<ContainerT, PointT>::checkExtension (const boost::filesystem::path& path_name)
701  {
702  if (boost::filesystem::extension (path_name) != OutofcoreOctreeBaseNode<ContainerT, PointT>::node_index_extension)
703  {
704  PCL_ERROR ( "[pcl::outofcore::OutofcoreOctreeBase] Wrong root node file extension: %s. The tree must have a root node ending in %s\n", boost::filesystem::extension (path_name).c_str (), OutofcoreOctreeBaseNode<ContainerT, PointT>::node_index_extension.c_str () );
705  return (false);
706  }
707 
708  return (true);
709  }
710 
711  ////////////////////////////////////////////////////////////////////////////////
712 
713  template<typename ContainerT, typename PointT> void
714  OutofcoreOctreeBase<ContainerT, PointT>::enlargeToCube (Eigen::Vector3d& bb_min, Eigen::Vector3d& bb_max)
715  {
716  Eigen::Vector3d diff = bb_max - bb_min;
717  assert (diff[0] > 0);
718  assert (diff[1] > 0);
719  assert (diff[2] > 0);
720  Eigen::Vector3d center = (bb_max + bb_min)/2.0;
721 
722  double max_sidelength = std::max (std::max (std::abs (diff[0]), std::abs (diff[1])), std::abs (diff[2]));
723  assert (max_sidelength > 0);
724  bb_min = center - Eigen::Vector3d (1.0, 1.0, 1.0)*(max_sidelength/2.0);
725  bb_max = center + Eigen::Vector3d (1.0, 1.0, 1.0)*(max_sidelength/2.0);
726  }
727 
728  ////////////////////////////////////////////////////////////////////////////////
729 
730  template<typename ContainerT, typename PointT> std::uint64_t
731  OutofcoreOctreeBase<ContainerT, PointT>::calculateDepth (const Eigen::Vector3d& min_bb, const Eigen::Vector3d& max_bb, const double leaf_resolution)
732  {
733  //Assume cube
734  double side_length = max_bb[0] - min_bb[0];
735 
736  if (side_length < leaf_resolution)
737  return (0);
738 
739  std::uint64_t res = static_cast<std::uint64_t> (std::ceil (std::log2 (side_length / leaf_resolution)));
740 
741  PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBase::calculateDepth] Setting depth to %d\n",res);
742  return (res);
743  }
744  }//namespace outofcore
745 }//namespace pcl
746 
747 #endif //PCL_OUTOFCORE_OCTREE_BASE_IMPL_H_
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
std::uint64_t size() const
Number of points in the payload.
void setIndices(const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data.
void flushToDisk()
Flush all nodes&#39; cache.
virtual OutofcoreOctreeBaseNode * getChildPtr(std::size_t index_arg) const
Returns a pointer to the child in octant index_arg.
A base class for all pcl exceptions which inherits from std::runtime_error.
Definition: exceptions.h:64
OutofcoreOctreeBase< ContainerT, PointT > * m_tree_
The tree we belong to.
std::uint64_t uint64_t
Definition: types.h:60
shared_ptr< Indices > IndicesPtr
Definition: pcl_base.h:61
std::uint32_t uint32_t
Definition: types.h:58
OutofcoreOctreeBase(const boost::filesystem::path &root_node_name, const bool load_all)
Load an existing tree.
Definition: octree_base.hpp:77
void writeVPythonVisual(const boost::filesystem::path filename)
Write a python script using the vpython module containing all the bounding boxes. ...
void flushToDiskLazy()
Flush all non leaf nodes&#39; cache.
Filter represents the base filter class.
Definition: filter.h:83
std::int64_t int64_t
Definition: types.h:61
std::shared_ptr< ContainerT > payload_
what holds the points.
bool getBoundingBox(Eigen::Vector3d &min, Eigen::Vector3d &max) const
Get the overall bounding box of the outofcore octree; this is the same as the bounding box of the roo...
std::vector< pcl::PointXYZRGB, Eigen::aligned_allocator< pcl::PointXYZRGB > > AlignedPointTVector
Definition: octree_base.h:189
virtual std::size_t getDepth() const
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.
ExtractIndices extracts a set of indices from a point cloud.
void filter(std::vector< int > &indices)
Calls the filtering method and returns the filtered point cloud indices.
void setInputCloud(const PCLPointCloud2ConstPtr &cloud)
Provide a pointer to the input dataset.
This code defines the octree used for point storage at Urban Robotics.
Definition: octree_base.h:150
RandomSample applies a random sampling with uniform probability.
Definition: random_sample.h:55
virtual void getBoundingBox(Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
gets the minimum and maximum corner of the bounding box represented by this node
Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the...
void queryBBIncludes(const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint64_t query_depth, AlignedPointTVector &dst) const
Get Points in BB, only points inside BB.