1571 lines
47 KiB
Text
1571 lines
47 KiB
Text
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/**
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* @file
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* @brief Efficient representation of an octree
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* @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany.
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef BOCTREE_H
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#define BOCTREE_H
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#include "searchTree.h"
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#include "point_type.h"
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#include "data_types.h"
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#include "allocator.h"
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#include "limits.h"
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#include "nnparams.h"
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#include "globals.icc"
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#include <stdio.h>
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#include <vector>
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using std::vector;
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#include <deque>
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using std::deque;
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#include <set>
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using std::set;
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#include <list>
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using std::list;
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#include <iostream>
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#include <fstream>
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#include <string>
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#if __GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)
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#define POPCOUNT(mask) __builtin_popcount(mask)
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#else
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#define POPCOUNT(mask) _my_popcount_3(mask)
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#endif
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#include <boost/interprocess/offset_ptr.hpp> // to avoid ifdeffing for offset_ptr.get(), use &(*ptr)
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namespace { namespace ip = boost::interprocess; }
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// forward declaration
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template <class T> union bitunion;
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/**
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* This is our preferred representation for the leaf nodes (as it is the most compact).
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* BOctTree makes an array of this, the first containing the number of points (not the
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* number of coordinates) stored.
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*/
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template <class T> union dunion {
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T v;
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unsigned int length;
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dunion() : length(0) {};
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};
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// typedefs in combination with templates are weird
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//typedef dunion<T> pointrep<T>;
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#define pointrep union dunion<T>
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/**
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* This struct represents the nodes of the octree
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*
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* child_pointer is a relative pointer to the first child of this node, as it is only
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* 48 bit this will cause issues on systems with more than 268 TB of memory. All children
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* of this node must be stored sequentially. If one of the children is a leaf, that
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* child will be a pointer to however a set of points is represented (pointrep *).
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*
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* valid is a bitmask describing whether the corresponding buckets are filled.
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*
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* leaf is a bitmask describing whether the correpsonding bucket is a leaf node.
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*
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* The representation of the bitmask is somewhat inefficient. We use 16 bits for only
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* 3^8 possible states, so in essence we could save 3 bits by compression.
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*
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*/
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class bitoct{
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public:
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#ifdef _MSC_VER
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__int64 child_pointer : 48;
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unsigned valid : 8;
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unsigned leaf : 8;
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#else
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signed long child_pointer : 48;
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unsigned valid : 8;
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unsigned leaf : 8;
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#endif
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/**
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* sets the child pointer of parent so it points to child
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*/
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template <class T>
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static inline void link(bitoct &parent, bitunion<T> *child) {
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parent.child_pointer = (long)((char*)child - (char*)&parent);
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}
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/**
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* Returns the children of this node (given as parent).
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*/
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template <class T>
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static inline void getChildren(const bitoct &parent, bitunion<T>* &children) {
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children = (bitunion<T>*)((char*)&parent + parent.child_pointer);
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}
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template <class T>
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inline bitunion<T>* getChild(unsigned char index) {
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bitunion<T> *children = (bitunion<T>*)((char*)this + this->child_pointer);
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for (unsigned char i = 0; i < index; i++) {
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if ( ( 1 << i ) & valid ) { // if ith node exists
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children++;
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}
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}
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return children;
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}
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};
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/**
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* This union combines an octree node with a pointer to a set of points. This allows
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* us to use both nodes and leaves interchangeably.
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*
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* points is a pointer to the point representation in use
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*
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* node is simply the octree node
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*
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*/
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template <class T> union bitunion {
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pointrep *points;
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//union dunion<T> *points;
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bitoct node;
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bitunion(pointrep *p) : points(p) {};
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bitunion(bitoct b) : node(b) {};
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bitunion() : points(0) {
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node.child_pointer = 0;
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node.valid = 0;
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node.leaf = 0;
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}; // needed for new []
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//! Leaf node: links a pointrep array [length+values] to this union, saved as an offset pointer
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static inline void link(bitunion<T>* leaf, pointrep* points) {
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// use node child_pointer as offset_ptr, not pointrep
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leaf->node.child_pointer = (long)((char*)points - (char*)leaf);
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}
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//! Leaf node: points in the array
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inline T* getPoints() const {
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// absolute pointer
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//return &(this->points[1].v);
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// offset pointer
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return reinterpret_cast<T*>(
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reinterpret_cast<pointrep*>((char*)this + node.child_pointer) + 1
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);
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}
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//! Leaf node: length in the array
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inline unsigned int getLength() const {
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// absolute pointer
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//return this->points[0].length;
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// offset pointer
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return (reinterpret_cast<pointrep*>((char*)this + node.child_pointer))[0].length;
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}
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//! Leaf node: all points
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inline pointrep* getPointreps() const {
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return reinterpret_cast<pointrep*>((char*)this + node.child_pointer);
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}
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inline bitunion<T>* getChild(unsigned char index) const {
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bitunion<T> *children = (bitunion<T>*)((char*)this + this->node.child_pointer);
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for (unsigned char i = 0; i < index; i++) {
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if ( ( 1 << i ) & node.valid ) { // if ith node exists
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children++;
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}
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}
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return children;
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}
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inline bool isValid(unsigned char index) {
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return ( ( 1 << index ) & node.valid );
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}
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/*
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inline pointrep* getChild(unsigned char index) {
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bitunion<T> *children = (bitunion<T>*)((char*)this + this->node.child_pointer);
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return children[index].points;
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}*/
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inline bool childIsLeaf(unsigned char index) {
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return ( ( 1 << index ) & node.leaf ); // if ith node is leaf get center
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}
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};
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// initialized in Boctree.cc, sequence intialized on startup
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extern char amap[8][8];
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extern char imap[8][8];
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extern char sequence2ci[8][256][8]; // maps preference to index in children array for every valid_mask and every case
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/**
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* @brief Octree
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*
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* A cubic bounding box is calculated
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* from the given 3D points. Then it
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* is recusivly subdivided into smaller
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* subboxes
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*/
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template <typename T>
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class BOctTree : public SearchTree {
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public:
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BOctTree() {
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}
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template <class P>
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BOctTree(P * const* pts, int n, T voxelSize, PointType _pointtype = PointType(), bool _earlystop = false ) : pointtype(_pointtype), earlystop(_earlystop)
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{
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alloc = new PackedChunkAllocator;
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this->voxelSize = voxelSize;
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this->POINTDIM = pointtype.getPointDim();
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//@@@
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cout << "POINTDIM" << this->POINTDIM << endl;
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mins = alloc->allocate<T>(POINTDIM);
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maxs = alloc->allocate<T>(POINTDIM);
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// initialising
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for (unsigned int i = 0; i < POINTDIM; i++) {
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mins[i] = pts[0][i];
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maxs[i] = pts[0][i];
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}
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for (unsigned int i = 0; i < POINTDIM; i++) {
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for (int j = 1; j < n; j++) {
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mins[i] = min(mins[i], (T)pts[j][i]);
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maxs[i] = max(maxs[i], (T)pts[j][i]);
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}
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}
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center[0] = 0.5 * (mins[0] + maxs[0]);
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center[1] = 0.5 * (mins[1] + maxs[1]);
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center[2] = 0.5 * (mins[2] + maxs[2]);
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size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2]));
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size += 1.0; // for numerical reasons we increase size
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// calculate new buckets
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T newcenter[8][3];
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T sizeNew = size / 2.0;
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for (unsigned char i = 0; i < 8; i++) {
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childcenter(center, newcenter[i], size, i);
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}
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// set up values
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uroot = alloc->allocate<bitunion<T> >();
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root = &uroot->node;
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countPointsAndQueueFast(pts, n, newcenter, sizeNew, *root, center);
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init();
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}
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BOctTree(std::string filename) {
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alloc = new PackedChunkAllocator;
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deserialize(filename);
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init();
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}
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template <class P>
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BOctTree(vector<P *> &pts, T voxelSize, PointType _pointtype = PointType(), bool _earlystop = false) : earlystop(_earlystop)
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{
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alloc = new PackedChunkAllocator;
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this->voxelSize = voxelSize;
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this->POINTDIM = pointtype.getPointDim();
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mins = alloc->allocate<T>(POINTDIM);
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maxs = alloc->allocate<T>(POINTDIM);
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// initialising
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for (unsigned int i = 0; i < POINTDIM; i++) {
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mins[i] = pts[0][i];
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maxs[i] = pts[0][i];
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}
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for (unsigned int i = 0; i < POINTDIM; i++) {
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for (unsigned int j = 1; j < pts.size(); j++) {
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mins[i] = min(mins[i], pts[j][i]);
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maxs[i] = max(maxs[i], pts[j][i]);
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}
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}
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center[0] = 0.5 * (mins[0] + maxs[0]);
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center[1] = 0.5 * (mins[1] + maxs[1]);
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center[2] = 0.5 * (mins[2] + maxs[2]);
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size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2]));
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size += 1.0; // for numerical reasons we increase size
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// calculate new buckets
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T newcenter[8][3];
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T sizeNew = size / 2.0;
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for (unsigned char i = 0; i < 8; i++) {
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childcenter(center, newcenter[i], size, i);
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}
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// set up values
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uroot = alloc->allocate<bitunion<T> >();
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root = &uroot->node;
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countPointsAndQueue(pts, newcenter, sizeNew, *root, center);
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}
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virtual ~BOctTree()
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{
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if(alloc) {
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delete alloc;
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}
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}
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void init() {
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// compute maximal depth as well as the size of the smalles leaf
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real_voxelSize = size;
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max_depth = 1;
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while (real_voxelSize > voxelSize) {
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real_voxelSize = real_voxelSize/2.0;
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max_depth++;
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}
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child_bit_depth = alloc->allocate<unsigned int>(max_depth);
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child_bit_depth_inv = alloc->allocate<unsigned int>(max_depth);
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for(int d=0; d < max_depth; d++) {
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child_bit_depth[d] = 1 << (max_depth - d - 1);
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child_bit_depth_inv[d] = ~child_bit_depth[d];
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}
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mult = 1.0/real_voxelSize;
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add[0] = -center[0] + size;
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add[1] = -center[1] + size;
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add[2] = -center[2] + size;
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largest_index = child_bit_depth[0] * 2 -1;
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}
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protected:
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/**
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* Serialization critical variables
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*/
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//! the root of the octree
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ip::offset_ptr<bitoct> root;
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ip::offset_ptr<bitunion<T> > uroot;
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//! storing the center
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T center[3];
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//! storing the dimension
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T size;
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//! storing the voxel size
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T voxelSize;
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//! The real voxelsize of the leaves
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T real_voxelSize;
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//! Offset and real voxelsize inverse factor for manipulation points
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T add[3];
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T mult;
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//! Dimension of each point: 3 (xyz) + N (attributes)
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unsigned int POINTDIM;
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//! storing minimal and maximal values for all dimensions
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ip::offset_ptr<T> mins;
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ip::offset_ptr<T> maxs;
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//! Details of point attributes
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PointType pointtype;
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//! ?
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unsigned char max_depth;
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ip::offset_ptr<unsigned int> child_bit_depth;
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ip::offset_ptr<unsigned int> child_bit_depth_inv;
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int largest_index;
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/**
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* Serialization uncritical, runtime relevant variables
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*/
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//! Threadlocal storage of parameters used in SearchTree operations
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static NNParams params[100];
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/**
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* Serialization uncritical, runtime irrelevant variables (constructor-stuff)
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*/
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//! Whether to stop subdividing at N<10 nodes or not
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bool earlystop;
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//! Allocator used for creating nodes in the constructor
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Allocator* alloc;
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public:
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inline const T* getMins() const { return &(*mins); }
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inline const T* getMaxs() const { return &(*maxs); }
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inline const T* getCenter() const { return center; }
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inline T getSize() const { return size; }
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inline unsigned int getPointdim() const { return POINTDIM; }
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inline const bitoct& getRoot() const { return *root; }
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inline unsigned int getMaxDepth() const { return max_depth; }
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inline void getCenter(double _center[3]) const {
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_center[0] = center[0];
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_center[1] = center[1];
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_center[2] = center[2];
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}
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void GetOctTreeCenter(vector<T*>&c) { GetOctTreeCenter(c, *root, center, size); }
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void GetOctTreeRandom(vector<T*>&c) { GetOctTreeRandom(c, *root); }
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void GetOctTreeRandom(vector<T*>&c, unsigned int ptspervoxel) { GetOctTreeRandom(c, ptspervoxel, *root); }
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void AllPoints(vector<T *> &vp) { AllPoints(*BOctTree<T>::root, vp); }
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long countNodes() { return 1 + countNodes(*root); } // computes number of inner nodes
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long countLeaves() { return countLeaves(*root); } // computes number of leaves + points
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long countOctLeaves() { return countOctLeaves(*root); } // computes number of leaves
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||
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void deserialize(std::string filename ) {
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||
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char buffer[sizeof(T) * 20];
|
||
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T *p = reinterpret_cast<T*>(buffer);
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std::ifstream file;
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file.open (filename.c_str(), std::ios::in | std::ios::binary);
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|
|
||
|
// read magic bits
|
||
|
file.read(buffer, 2);
|
||
|
if ( buffer[0] != 'X' || buffer[1] != 'T') {
|
||
|
std::cerr << "Not an octree file!!" << endl;
|
||
|
file.close();
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
// read header
|
||
|
pointtype = PointType::deserialize(file);
|
||
|
|
||
|
file.read(buffer, 5 * sizeof(T));
|
||
|
voxelSize = p[0];
|
||
|
center[0] = p[1];
|
||
|
center[1] = p[2];
|
||
|
center[2] = p[3];
|
||
|
size = p[4];
|
||
|
|
||
|
file.read(buffer, sizeof(int));
|
||
|
int *ip = reinterpret_cast<int*>(buffer);
|
||
|
POINTDIM = *ip;
|
||
|
|
||
|
mins = alloc->allocate<T>(POINTDIM);
|
||
|
maxs = alloc->allocate<T>(POINTDIM);
|
||
|
|
||
|
file.read(reinterpret_cast<char*>(&(*mins)), POINTDIM * sizeof(T));
|
||
|
file.read(reinterpret_cast<char*>(&(*maxs)), POINTDIM * sizeof(T));
|
||
|
|
||
|
// read root node
|
||
|
uroot = alloc->allocate<bitunion<T> >();
|
||
|
root = &uroot->node;
|
||
|
|
||
|
deserialize(file, *root);
|
||
|
file.close();
|
||
|
}
|
||
|
|
||
|
static void deserialize(std::string filename, vector<Point> &points ) {
|
||
|
char buffer[sizeof(T) * 20];
|
||
|
|
||
|
std::ifstream file;
|
||
|
file.open (filename.c_str(), std::ios::in | std::ios::binary);
|
||
|
|
||
|
// read magic bits
|
||
|
file.read(buffer, 2);
|
||
|
if ( buffer[0] != 'X' || buffer[1] != 'T') {
|
||
|
std::cerr << "Not an octree file!!" << endl;
|
||
|
file.close();
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
// read header
|
||
|
PointType pointtype = PointType::deserialize(file);
|
||
|
|
||
|
file.read(buffer, 5 * sizeof(T)); // read over voxelsize, center and size
|
||
|
file.read(buffer, sizeof(int));
|
||
|
|
||
|
int *ip = reinterpret_cast<int*>(buffer);
|
||
|
unsigned int POINTDIM = *ip;
|
||
|
|
||
|
file.read(buffer, POINTDIM * sizeof(T));
|
||
|
file.read(buffer, POINTDIM * sizeof(T));
|
||
|
|
||
|
// read root node
|
||
|
deserialize(file, points, pointtype);
|
||
|
file.close();
|
||
|
}
|
||
|
|
||
|
void serialize(std::string filename) {
|
||
|
char buffer[sizeof(T) * 20];
|
||
|
T *p = reinterpret_cast<T*>(buffer);
|
||
|
|
||
|
std::ofstream file;
|
||
|
file.open (filename.c_str(), std::ios::out | std::ios::binary);
|
||
|
|
||
|
// write magic bits
|
||
|
buffer[0] = 'X';
|
||
|
buffer[1] = 'T';
|
||
|
file.write(buffer, 2);
|
||
|
|
||
|
// write header
|
||
|
pointtype.serialize(file);
|
||
|
|
||
|
p[0] = voxelSize;
|
||
|
p[1] = center[0];
|
||
|
p[2] = center[1];
|
||
|
p[3] = center[2];
|
||
|
p[4] = size;
|
||
|
|
||
|
int *ip = reinterpret_cast<int*>(&(buffer[5 * sizeof(T)]));
|
||
|
*ip = POINTDIM;
|
||
|
|
||
|
file.write(buffer, 5 * sizeof(T) + sizeof(int));
|
||
|
|
||
|
|
||
|
for (unsigned int i = 0; i < POINTDIM; i++) {
|
||
|
p[i] = mins[i];
|
||
|
}
|
||
|
for (unsigned int i = 0; i < POINTDIM; i++) {
|
||
|
p[i+POINTDIM] = maxs[i];
|
||
|
}
|
||
|
|
||
|
file.write(buffer, 2*POINTDIM * sizeof(T));
|
||
|
|
||
|
// write root node
|
||
|
serialize(file, *root);
|
||
|
|
||
|
file.close();
|
||
|
}
|
||
|
|
||
|
static PointType readType(std::string filename ) {
|
||
|
char buffer[sizeof(T) * 20];
|
||
|
|
||
|
std::ifstream file;
|
||
|
file.open (filename.c_str(), std::ios::in | std::ios::binary);
|
||
|
|
||
|
// read magic bits
|
||
|
file.read(buffer, 2);
|
||
|
if ( buffer[0] != 'X' || buffer[1] != 'T') {
|
||
|
std::cerr << "Not an octree file!!" << endl;
|
||
|
file.close();
|
||
|
return PointType();
|
||
|
}
|
||
|
|
||
|
// read header
|
||
|
PointType pointtype = PointType::deserialize(file);
|
||
|
|
||
|
file.close();
|
||
|
|
||
|
return pointtype;
|
||
|
}
|
||
|
|
||
|
|
||
|
/**
|
||
|
* Picks the first point in depth first order starting from the given node
|
||
|
*
|
||
|
*/
|
||
|
T* pickPoint(bitoct &node) {
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
// absolute pointer
|
||
|
//return &(children->points[1].v);
|
||
|
// offset pointer
|
||
|
return children->getPoints();
|
||
|
} else { // recurse
|
||
|
return pickPoint(children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
static void childcenter(const T *pcenter, T *ccenter, T size, unsigned char i) {
|
||
|
switch (i) {
|
||
|
case 0: // 000
|
||
|
ccenter[0] = pcenter[0] - size / 2.0;
|
||
|
ccenter[1] = pcenter[1] - size / 2.0;
|
||
|
ccenter[2] = pcenter[2] - size / 2.0;
|
||
|
break;
|
||
|
case 1: // 001
|
||
|
ccenter[0] = pcenter[0] + size / 2.0;
|
||
|
ccenter[1] = pcenter[1] - size / 2.0;
|
||
|
ccenter[2] = pcenter[2] - size / 2.0;
|
||
|
break;
|
||
|
case 2: // 010
|
||
|
ccenter[0] = pcenter[0] - size / 2.0;
|
||
|
ccenter[1] = pcenter[1] + size / 2.0;
|
||
|
ccenter[2] = pcenter[2] - size / 2.0;
|
||
|
break;
|
||
|
case 3: // 011
|
||
|
ccenter[0] = pcenter[0] + size / 2.0;
|
||
|
ccenter[1] = pcenter[1] + size / 2.0;
|
||
|
ccenter[2] = pcenter[2] - size / 2.0;
|
||
|
break;
|
||
|
case 4: // 100
|
||
|
ccenter[0] = pcenter[0] - size / 2.0;
|
||
|
ccenter[1] = pcenter[1] - size / 2.0;
|
||
|
ccenter[2] = pcenter[2] + size / 2.0;
|
||
|
break;
|
||
|
case 5: // 101
|
||
|
ccenter[0] = pcenter[0] + size / 2.0;
|
||
|
ccenter[1] = pcenter[1] - size / 2.0;
|
||
|
ccenter[2] = pcenter[2] + size / 2.0;
|
||
|
break;
|
||
|
case 6: // 110
|
||
|
ccenter[0] = pcenter[0] - size / 2.0;
|
||
|
ccenter[1] = pcenter[1] + size / 2.0;
|
||
|
ccenter[2] = pcenter[2] + size / 2.0;
|
||
|
break;
|
||
|
case 7: // 111
|
||
|
ccenter[0] = pcenter[0] + size / 2.0;
|
||
|
ccenter[1] = pcenter[1] + size / 2.0;
|
||
|
ccenter[2] = pcenter[2] + size / 2.0;
|
||
|
break;
|
||
|
default:
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
static void childcenter(int x, int y, int z, int &cx, int &cy, int &cz, char i, int size) {
|
||
|
switch (i) {
|
||
|
case 0: // 000
|
||
|
cx = x - size ;
|
||
|
cy = y - size ;
|
||
|
cz = z - size ;
|
||
|
break;
|
||
|
case 1: // 001
|
||
|
cx = x + size ;
|
||
|
cy = y - size ;
|
||
|
cz = z - size ;
|
||
|
break;
|
||
|
case 2: // 010
|
||
|
cx = x - size ;
|
||
|
cy = y + size ;
|
||
|
cz = z - size ;
|
||
|
break;
|
||
|
case 3: // 011
|
||
|
cx = x + size ;
|
||
|
cy = y + size ;
|
||
|
cz = z - size ;
|
||
|
break;
|
||
|
case 4: // 100
|
||
|
cx = x - size ;
|
||
|
cy = y - size ;
|
||
|
cz = z + size ;
|
||
|
break;
|
||
|
case 5: // 101
|
||
|
cx = x + size ;
|
||
|
cy = y - size ;
|
||
|
cz = z + size ;
|
||
|
break;
|
||
|
case 6: // 110
|
||
|
cx = x - size ;
|
||
|
cy = y + size ;
|
||
|
cz = z + size ;
|
||
|
break;
|
||
|
case 7: // 111
|
||
|
cx = x + size ;
|
||
|
cy = y + size ;
|
||
|
cz = z + size ;
|
||
|
break;
|
||
|
default:
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
protected:
|
||
|
|
||
|
void AllPoints( bitoct &node, vector<T*> &vp) {
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center
|
||
|
// absolute pointer
|
||
|
//pointrep *points = children->points;
|
||
|
// offset pointer
|
||
|
pointrep* points = children->getPointreps();
|
||
|
unsigned int length = points[0].length;
|
||
|
T *point = &(points[1].v); // first point
|
||
|
for(unsigned int iterator = 0; iterator < length; iterator++ ) {
|
||
|
//T *p = new T[BOctTree<T>::POINTDIM];
|
||
|
// T *p = new T[3];
|
||
|
// p[0] = point[0]; p[1] = point[1]; p[2] = point[2];
|
||
|
T *p = new T[BOctTree<T>::POINTDIM];
|
||
|
for (unsigned int k = 0; k < BOctTree<T>::POINTDIM; k++)
|
||
|
p[k] = point[k];
|
||
|
|
||
|
vp.push_back(p);
|
||
|
|
||
|
//glVertex3f( point[0], point[1], point[2]);
|
||
|
point+=BOctTree<T>::POINTDIM;
|
||
|
}
|
||
|
} else { // recurse
|
||
|
AllPoints( children->node, vp);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
static void deserialize(std::ifstream &f, vector<Point> &vpoints, PointType &pointtype) {
|
||
|
char buffer[2];
|
||
|
pointrep *point = new pointrep[pointtype.getPointDim()];
|
||
|
f.read(buffer, 2);
|
||
|
bitoct node;
|
||
|
node.valid = buffer[0];
|
||
|
node.leaf = buffer[1];
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points
|
||
|
pointrep first;
|
||
|
f.read(reinterpret_cast<char*>(&first), sizeof(pointrep));
|
||
|
unsigned int length = first.length; // read first element, which is the length
|
||
|
for (unsigned int k = 0; k < length; k++) {
|
||
|
f.read(reinterpret_cast<char*>(point), sizeof(pointrep) * pointtype.getPointDim()); // read the points
|
||
|
vpoints.push_back( pointtype.createPoint( &(point->v ) ) );
|
||
|
}
|
||
|
} else { // write child
|
||
|
deserialize(f, vpoints, pointtype);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
delete [] point;
|
||
|
}
|
||
|
|
||
|
void deserialize(std::ifstream &f, bitoct &node) {
|
||
|
char buffer[2];
|
||
|
f.read(buffer, 2);
|
||
|
node.valid = buffer[0];
|
||
|
node.leaf = buffer[1];
|
||
|
|
||
|
unsigned short n_children = POPCOUNT(node.valid);
|
||
|
|
||
|
// create children
|
||
|
bitunion<T> *children = alloc->allocate<bitunion<T> >(n_children);
|
||
|
bitoct::link(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points
|
||
|
pointrep first;
|
||
|
f.read(reinterpret_cast<char*>(&first), sizeof(pointrep));
|
||
|
unsigned int length = first.length; // read first element, which is the length
|
||
|
pointrep *points = alloc->allocate<pointrep> (POINTDIM*length + 1);
|
||
|
// absolute pointer
|
||
|
//children->points = points;
|
||
|
// offset pointer
|
||
|
bitunion<T>::link(children, points);
|
||
|
points[0] = first;
|
||
|
points++;
|
||
|
f.read(reinterpret_cast<char*>(points), sizeof(pointrep) * length * POINTDIM); // read the points
|
||
|
} else { // write child
|
||
|
deserialize(f, children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void serialize(std::ofstream &of, bitoct &node) {
|
||
|
char buffer[2];
|
||
|
buffer[0] = node.valid;
|
||
|
buffer[1] = node.leaf;
|
||
|
of.write(buffer, 2);
|
||
|
|
||
|
|
||
|
// write children
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf write points
|
||
|
// absolute pointer
|
||
|
//pointrep *points = children->points;
|
||
|
// offset pointer
|
||
|
pointrep* points = children->getPointreps();
|
||
|
unsigned int length = points[0].length;
|
||
|
of.write(reinterpret_cast<char*>(points), sizeof(pointrep) * (length * POINTDIM +1));
|
||
|
} else { // write child
|
||
|
serialize(of, children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void GetOctTreeCenter(vector<T*>&c, bitoct &node, T *center, T size) {
|
||
|
T ccenter[3];
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (unsigned char i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
childcenter(center, ccenter, size, i); // childrens center
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center
|
||
|
T * cp = new T[3];
|
||
|
for (unsigned int iterator = 0; iterator < 3; iterator++) {
|
||
|
cp[iterator] = ccenter[iterator];
|
||
|
}
|
||
|
c.push_back(cp);
|
||
|
} else { // recurse
|
||
|
GetOctTreeCenter(c, children->node, ccenter, size/2.0);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void GetOctTreeRandom(vector<T*>&c, bitoct &node) {
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
// absolute pointer
|
||
|
//pointrep *points = children->points;
|
||
|
// offset pointer
|
||
|
pointrep* points = children->getPointreps();
|
||
|
// new version to ignore leaves with less than 3 points
|
||
|
/*
|
||
|
if(points[0].length > 2) {
|
||
|
for(int tmp = 0; tmp < points[0].length; tmp++) {
|
||
|
T *point = &(points[POINTDIM*tmp+1].v);
|
||
|
c.push_back(point);
|
||
|
}
|
||
|
}
|
||
|
*/
|
||
|
//old version
|
||
|
|
||
|
int tmp = rand(points[0].length);
|
||
|
T *point = &(points[POINTDIM*tmp+1].v);
|
||
|
c.push_back(point);
|
||
|
|
||
|
|
||
|
} else { // recurse
|
||
|
GetOctTreeRandom(c, children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void GetOctTreeRandom(vector<T*>&c, unsigned int ptspervoxel, bitoct &node) {
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
// absolute pointer
|
||
|
//pointrep *points = children->points;
|
||
|
// offset pointer
|
||
|
pointrep* points = children->getPointreps();
|
||
|
unsigned int length = points[0].length;
|
||
|
if (ptspervoxel >= length) {
|
||
|
for (unsigned int j = 0; j < length; j++)
|
||
|
c.push_back(&(points[POINTDIM*j+1].v));
|
||
|
|
||
|
++children; // next child
|
||
|
continue;
|
||
|
}
|
||
|
set<int> indices;
|
||
|
while(indices.size() < ptspervoxel) {
|
||
|
int tmp = rand(length-1);
|
||
|
indices.insert(tmp);
|
||
|
}
|
||
|
for(set<int>::iterator it = indices.begin(); it != indices.end(); it++)
|
||
|
c.push_back(&(points[POINTDIM*(*it)+1].v));
|
||
|
|
||
|
} else { // recurse
|
||
|
GetOctTreeRandom(c, ptspervoxel, children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
long countNodes(bitoct &node) {
|
||
|
long result = 0;
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
//++result;
|
||
|
} else { // recurse
|
||
|
result += countNodes(children->node) + 1;
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
return result;
|
||
|
}
|
||
|
|
||
|
long countLeaves(bitoct &node) {
|
||
|
long result = 0;
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
long nrpts = children->getLength();
|
||
|
result += POINTDIM*nrpts;
|
||
|
} else { // recurse
|
||
|
result += countLeaves(children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
return result;
|
||
|
}
|
||
|
|
||
|
long countOctLeaves(bitoct &node) {
|
||
|
long result = 0;
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
result ++;
|
||
|
} else { // recurse
|
||
|
result += countTrueLeaves(children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
}
|
||
|
}
|
||
|
return result;
|
||
|
}
|
||
|
|
||
|
// TODO: is this still needed? nodes and pointreps are all in the Allocator
|
||
|
void deletetNodes(bitoct &node) {
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
bool haschildren = false;
|
||
|
|
||
|
for (short i = 0; i < 8; i++) {
|
||
|
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||
|
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf
|
||
|
// absolute pointer
|
||
|
//delete [] children->points;
|
||
|
// offset pointer
|
||
|
delete [] children->getPointreps();
|
||
|
} else { // recurse
|
||
|
deletetNodes(children->node);
|
||
|
}
|
||
|
++children; // next child
|
||
|
haschildren = true;
|
||
|
}
|
||
|
}
|
||
|
// delete children
|
||
|
if (haschildren) {
|
||
|
bitoct::getChildren(node, children);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
template <class P>
|
||
|
void* branch( bitoct &node, P * const * splitPoints, int n, T _center[3], T _size) {
|
||
|
// if bucket is too small stop building tree
|
||
|
// -----------------------------------------
|
||
|
if ((_size <= voxelSize) || (earlystop && n <= 10) ) {
|
||
|
|
||
|
// copy points
|
||
|
pointrep *points = alloc->allocate<pointrep> (POINTDIM*n + 1);
|
||
|
|
||
|
points[0].length = n;
|
||
|
int i = 1;
|
||
|
for (int j = 0; j < n; j++) {
|
||
|
for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) {
|
||
|
points[i++].v = splitPoints[j][iterator];
|
||
|
}
|
||
|
}
|
||
|
return points;
|
||
|
}
|
||
|
|
||
|
// calculate new buckets
|
||
|
T newcenter[8][3];
|
||
|
T sizeNew;
|
||
|
|
||
|
sizeNew = _size / 2.0;
|
||
|
|
||
|
for (unsigned char i = 0; i < 8; i++) {
|
||
|
childcenter(_center, newcenter[i], _size, i);
|
||
|
}
|
||
|
|
||
|
countPointsAndQueueFast(splitPoints, n, newcenter, sizeNew, node, _center);
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
template <class P>
|
||
|
void* branch( bitoct &node, vector<P*> &splitPoints, T _center[3], T _size) {
|
||
|
// if bucket is too small stop building tree
|
||
|
// -----------------------------------------
|
||
|
if ((_size <= voxelSize) || (earlystop && splitPoints.size() <= 10) ) {
|
||
|
// copy points
|
||
|
pointrep *points = alloc->allocate<pointrep> (POINTDIM*splitPoints.size() + 1);
|
||
|
points[0].length = splitPoints.size();
|
||
|
int i = 1;
|
||
|
for (typename vector<P *>::iterator itr = splitPoints.begin();
|
||
|
itr != splitPoints.end(); itr++) {
|
||
|
for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) {
|
||
|
points[i++].v = (*itr)[iterator];
|
||
|
}
|
||
|
}
|
||
|
return points;
|
||
|
}
|
||
|
|
||
|
// calculate new buckets
|
||
|
T newcenter[8][3];
|
||
|
T sizeNew;
|
||
|
|
||
|
sizeNew = _size / 2.0;
|
||
|
|
||
|
for (unsigned char i = 0; i < 8; i++) {
|
||
|
childcenter(_center, newcenter[i], _size, i);
|
||
|
}
|
||
|
|
||
|
countPointsAndQueue(splitPoints, newcenter, sizeNew, node, _center);
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
template <class P>
|
||
|
void countPointsAndQueue(vector<P*> &i_points, T center[8][3], T size, bitoct &parent, T *pcenter) {
|
||
|
vector<P*> points[8];
|
||
|
int n_children = 0;
|
||
|
for (typename vector<P *>::iterator itr = i_points.begin(); itr != i_points.end(); itr++) {
|
||
|
points[childIndex<P>(pcenter, *itr)].push_back( *itr );
|
||
|
}
|
||
|
|
||
|
i_points.clear();
|
||
|
vector<P*>().swap(i_points);
|
||
|
for (int j = 0; j < 8; j++) {
|
||
|
if (!points[j].empty()) {
|
||
|
parent.valid = ( 1 << j ) | parent.valid;
|
||
|
++n_children;
|
||
|
}
|
||
|
}
|
||
|
// create children
|
||
|
bitunion<T> *children = alloc->allocate<bitunion<T> >(n_children);
|
||
|
bitoct::link(parent, children);
|
||
|
|
||
|
int count = 0;
|
||
|
for (int j = 0; j < 8; j++) {
|
||
|
if (!points[j].empty()) {
|
||
|
pointrep *c = (pointrep*)branch(children[count].node, points[j], center[j], size); // leaf node
|
||
|
if (c) {
|
||
|
// absolute pointer
|
||
|
//children[count].points = c; // set this child to deque of points
|
||
|
// offset pointer
|
||
|
bitunion<T>::link(&children[count], c);
|
||
|
parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf
|
||
|
}
|
||
|
points[j].clear();
|
||
|
vector<P*>().swap(points[j]);
|
||
|
++count;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
template <class P>
|
||
|
void countPointsAndQueueFast(P * const* points, int n, T center[8][3], T size, bitoct &parent, T pcenter[3]) {
|
||
|
P * const *blocks[9];
|
||
|
blocks[0] = points;
|
||
|
blocks[8] = points + n;
|
||
|
fullsort(points, n, pcenter, blocks+1);
|
||
|
|
||
|
int n_children = 0;
|
||
|
|
||
|
for (int j = 0; j < 8; j++) {
|
||
|
// if non-empty set valid flag for this child
|
||
|
if (blocks[j+1] - blocks[j] > 0) {
|
||
|
parent.valid = ( 1 << j ) | parent.valid;
|
||
|
++n_children;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
// create children
|
||
|
bitunion<T> *children = alloc->allocate<bitunion<T> >(n_children);
|
||
|
bitoct::link(parent, children);
|
||
|
int count = 0;
|
||
|
for (int j = 0; j < 8; j++) {
|
||
|
if (blocks[j+1] - blocks[j] > 0) {
|
||
|
pointrep *c = (pointrep*)branch(children[count].node, blocks[j], blocks[j+1] - blocks[j], center[j], size); // leaf node
|
||
|
if (c) {
|
||
|
// absolute pointer
|
||
|
//children[count].points = c; // set this child to vector of points
|
||
|
// offset pointer
|
||
|
bitunion<T>::link(&children[count], c); // set this child to vector of points
|
||
|
parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf
|
||
|
}
|
||
|
++count;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
void getByIndex(T *point, T *&points, unsigned int &length) {
|
||
|
unsigned int x,y,z;
|
||
|
x = (point[0] + add[0]) * mult;
|
||
|
y = (point[1] + add[1]) * mult;
|
||
|
z = (point[2] + add[2]) * mult;
|
||
|
|
||
|
bitunion<T> *node = uroot;
|
||
|
unsigned char child_index;
|
||
|
unsigned int child_bit;
|
||
|
unsigned int depth = 0;
|
||
|
|
||
|
while (true) {
|
||
|
child_bit = child_bit_depth[depth];
|
||
|
child_index = ((x & child_bit )!=0) | (((y & child_bit )!=0 )<< 1) | (((z & child_bit )!=0) << 2);
|
||
|
if (node->childIsLeaf(child_index) ) {
|
||
|
node = node->getChild(child_index);
|
||
|
points = node->getPoints();
|
||
|
length = node->getLength();
|
||
|
return;
|
||
|
} else {
|
||
|
node = node->getChild(child_index);
|
||
|
}
|
||
|
depth++;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
template <class P>
|
||
|
inline unsigned char childIndex(const T *center, const P *point) {
|
||
|
return (point[0] > center[0] ) | ((point[1] > center[1] ) << 1) | ((point[2] > center[2] ) << 2) ;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Given a leaf node, this function looks for the closest point to params[threadNum].closest
|
||
|
* in the list of points.
|
||
|
*/
|
||
|
inline void findClosestInLeaf(bitunion<T> *node, int threadNum) const {
|
||
|
if (params[threadNum].count >= params[threadNum].max_count) return;
|
||
|
params[threadNum].count++;
|
||
|
T* points = node->getPoints();
|
||
|
unsigned int length = node->getLength();
|
||
|
for(unsigned int iterator = 0; iterator < length; iterator++ ) {
|
||
|
double myd2 = Dist2(params[threadNum].p, points);
|
||
|
if (myd2 < params[threadNum].closest_d2) {
|
||
|
params[threadNum].closest_d2 = myd2;
|
||
|
params[threadNum].closest = points;
|
||
|
if (myd2 <= 0.0001) {
|
||
|
params[threadNum].closest_v = 0; // the search radius in units of voxelSize
|
||
|
} else {
|
||
|
params[threadNum].closest_v = sqrt(myd2) * mult + 1; // the search radius in units of voxelSize
|
||
|
}
|
||
|
}
|
||
|
points+=BOctTree<T>::POINTDIM;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
/**
|
||
|
* This function finds the closest point in the octree given a specified
|
||
|
* radius. This implementation is quit complex, although it is already
|
||
|
* simplified. The simplification incurs a significant loss in speed, as
|
||
|
* several calculations have to be performed repeatedly and a high number of
|
||
|
* unnecessary jumps are executed.
|
||
|
*/
|
||
|
double *FindClosest(double *point, double maxdist2, int threadNum) const
|
||
|
{
|
||
|
params[threadNum].closest = 0; // no point found currently
|
||
|
params[threadNum].closest_d2 = maxdist2;
|
||
|
params[threadNum].p = point;
|
||
|
params[threadNum].x = (point[0] + add[0]) * mult;
|
||
|
params[threadNum].y = (point[1] + add[1]) * mult;
|
||
|
params[threadNum].z = (point[2] + add[2]) * mult;
|
||
|
params[threadNum].closest_v = sqrt(maxdist2) * mult + 1; // the search radius in units of voxelSize
|
||
|
params[threadNum].count = 0;
|
||
|
params[threadNum].max_count = 10000; // stop looking after this many buckets
|
||
|
|
||
|
|
||
|
// box within bounds in voxel coordinates
|
||
|
int xmin, ymin, zmin, xmax, ymax, zmax;
|
||
|
xmin = max(params[threadNum].x-params[threadNum].closest_v, 0);
|
||
|
ymin = max(params[threadNum].y-params[threadNum].closest_v, 0);
|
||
|
zmin = max(params[threadNum].z-params[threadNum].closest_v, 0);
|
||
|
|
||
|
// int largest_index = child_bit_depth[0] * 2 -1;
|
||
|
|
||
|
xmax = min(params[threadNum].x+params[threadNum].closest_v, largest_index);
|
||
|
ymax = min(params[threadNum].y+params[threadNum].closest_v, largest_index);
|
||
|
zmax = min(params[threadNum].z+params[threadNum].closest_v, largest_index);
|
||
|
|
||
|
unsigned char depth = 0;
|
||
|
unsigned int child_bit;
|
||
|
unsigned int child_index_min;
|
||
|
unsigned int child_index_max;
|
||
|
|
||
|
bitunion<T> *node = &(*uroot);
|
||
|
|
||
|
int cx, cy, cz;
|
||
|
|
||
|
child_bit = child_bit_depth[depth];
|
||
|
cx = child_bit_depth[depth];
|
||
|
cy = child_bit_depth[depth];
|
||
|
cz = child_bit_depth[depth];
|
||
|
|
||
|
while (true) { // find the first node where branching is required
|
||
|
child_index_min = ((xmin & child_bit )!=0) | (((ymin & child_bit )!=0 )<< 1) | (((zmin & child_bit )!=0) << 2);
|
||
|
child_index_max = ((xmax & child_bit )!=0) | (((ymax & child_bit )!=0 )<< 1) | (((zmax & child_bit )!=0) << 2);
|
||
|
|
||
|
// if these are the same, go there
|
||
|
// TODO: optimization: also traverse if only single child...
|
||
|
if (child_index_min == child_index_max) {
|
||
|
if (node->childIsLeaf(child_index_min) ) { // luckily, no branching is required
|
||
|
findClosestInLeaf(node->getChild(child_index_min), threadNum);
|
||
|
return static_cast<double*>(params[threadNum].closest);
|
||
|
} else {
|
||
|
if (node->isValid(child_index_min) ) { // only descend when there is a child
|
||
|
childcenter(cx,cy,cz, cx,cy,cz, child_index_min, child_bit/2 );
|
||
|
node = node->getChild(child_index_min);
|
||
|
child_bit /= 2;
|
||
|
} else { // there is no child containing the bounding box => no point is close enough
|
||
|
return 0;
|
||
|
}
|
||
|
}
|
||
|
} else {
|
||
|
// if min and max are not in the same child we must branch
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
// node contains all box-within-bounds cells, now begin best bin first search
|
||
|
_FindClosest(threadNum, node->node, child_bit/2, cx, cy, cz);
|
||
|
return static_cast<double*>(params[threadNum].closest);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* This is the heavy duty search function doing most of the (theoretically unneccesary) work. The tree is recursively searched.
|
||
|
* Depending on which of the 8 child-voxels is closer to the query point, the children are examined in a special order.
|
||
|
* This order is defined in map, imap is its inverse and sequence2ci is a speedup structure for faster access to the child indices.
|
||
|
*/
|
||
|
void _FindClosest(int threadNum, bitoct &node, int size, int x, int y, int z) const
|
||
|
{
|
||
|
// Recursive case
|
||
|
|
||
|
// compute which child is closest to the query point
|
||
|
unsigned char child_index = ((params[threadNum].x - x) >= 0) |
|
||
|
(((params[threadNum].y - y) >= 0) << 1) |
|
||
|
(((params[threadNum].z - z) >= 0) << 2);
|
||
|
|
||
|
char *seq2ci = sequence2ci[child_index][node.valid]; // maps preference to index in children array
|
||
|
char *mmap = amap[child_index]; // maps preference to area index
|
||
|
|
||
|
bitunion<T> *children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
int cx, cy, cz;
|
||
|
cx = cy = cz = 0; // just to shut up the compiler warnings
|
||
|
for (unsigned char i = 0; i < 8; i++) { // in order of preference
|
||
|
child_index = mmap[i]; // the area index of the node
|
||
|
if ( ( 1 << child_index ) & node.valid ) { // if ith node exists
|
||
|
childcenter(x,y,z, cx,cy,cz, child_index, size);
|
||
|
if ( params[threadNum].closest_v == 0 || max(max(abs( cx - params[threadNum].x ),
|
||
|
abs( cy - params[threadNum].y )),
|
||
|
abs( cz - params[threadNum].z )) - size
|
||
|
> params[threadNum].closest_v ) {
|
||
|
continue;
|
||
|
}
|
||
|
// find the closest point in leaf seq2ci[i]
|
||
|
if ( ( 1 << child_index ) & node.leaf ) { // if ith node is leaf
|
||
|
findClosestInLeaf( &children[seq2ci[i]], threadNum);
|
||
|
} else { // recurse
|
||
|
_FindClosest(threadNum, children[seq2ci[i]].node, size/2, cx, cy, cz);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
/**
|
||
|
* This function shows the possible speedup that can be gained by using the
|
||
|
* octree for nearest neighbour search, if a more sophisticated
|
||
|
* implementation were given. Here, only the bucket in which the query point
|
||
|
* falls is looked up. If doing the same thing in the kd-tree search, this
|
||
|
* function is about 3-5 times as fast
|
||
|
*/
|
||
|
double *FindClosestInBucket(double *point, double maxdist2, int threadNum) {
|
||
|
params[threadNum].closest = 0;
|
||
|
params[threadNum].closest_d2 = maxdist2;
|
||
|
params[threadNum].p = point;
|
||
|
unsigned int x,y,z;
|
||
|
x = (point[0] + add[0]) * mult;
|
||
|
y = (point[1] + add[1]) * mult;
|
||
|
z = (point[2] + add[2]) * mult;
|
||
|
T * points;
|
||
|
unsigned int length;
|
||
|
|
||
|
bitunion<T> *node = uroot;
|
||
|
unsigned char child_index;
|
||
|
|
||
|
unsigned int child_bit = child_bit_depth[0];
|
||
|
|
||
|
while (true) {
|
||
|
child_index = ((x & child_bit )!=0) | (((y & child_bit )!=0 )<< 1) | (((z & child_bit )!=0) << 2);
|
||
|
if (node->childIsLeaf(child_index) ) {
|
||
|
node = node->getChild(child_index);
|
||
|
points = node->getPoints();
|
||
|
length = node->getLength();
|
||
|
|
||
|
for(unsigned int iterator = 0; iterator < length; iterator++ ) {
|
||
|
double myd2 = Dist2(params[threadNum].p, points);
|
||
|
if (myd2 < params[threadNum].closest_d2) {
|
||
|
params[threadNum].closest_d2 = myd2;
|
||
|
params[threadNum].closest = points;
|
||
|
}
|
||
|
points+=BOctTree<T>::POINTDIM;
|
||
|
}
|
||
|
return static_cast<double*>(params[threadNum].closest);
|
||
|
} else {
|
||
|
if (node->isValid(child_index) ) {
|
||
|
node = node->getChild(child_index);
|
||
|
} else {
|
||
|
return 0;
|
||
|
}
|
||
|
}
|
||
|
child_bit >>= 1;
|
||
|
}
|
||
|
return static_cast<double*>(params[threadNum].closest);
|
||
|
}
|
||
|
|
||
|
|
||
|
template <class P>
|
||
|
void fullsort(P * const * points, int n, T splitval[3], P * const * blocks[9]) {
|
||
|
P* const * L0;
|
||
|
P* const * L1;
|
||
|
P* const * L2;
|
||
|
unsigned int n0L, n0R, n1L, n1R ;
|
||
|
|
||
|
// sort along Z
|
||
|
L0 = sort(points, n, splitval[2], 2);
|
||
|
|
||
|
n0L = L0 - points;
|
||
|
// sort along Y (left of Z) points -- L0
|
||
|
L1 = sort(points, n0L, splitval[1], 1);
|
||
|
|
||
|
n1L = L1 - points;
|
||
|
// sort along X (left of Y) points -- L1
|
||
|
L2 = sort(points, n1L, splitval[0], 0);
|
||
|
|
||
|
blocks[0] = L2;
|
||
|
|
||
|
n1R = n0L - n1L;
|
||
|
// sort along X (right of Y) // L1 -- L0
|
||
|
L2 = sort(L1, n1R, splitval[0], 0);
|
||
|
|
||
|
blocks[1] = L1;
|
||
|
blocks[2] = L2;
|
||
|
|
||
|
n0R = n - n0L;
|
||
|
// sort along Y (right of Z) L0 -- end
|
||
|
L1 = sort(L0, n0R, splitval[1], 1);
|
||
|
|
||
|
n1L = L1 - L0;
|
||
|
// sort along X (left of Y) points -- L1
|
||
|
L2 = sort(L0, n1L, splitval[0], 0);
|
||
|
|
||
|
blocks[3] = L0;
|
||
|
blocks[4] = L2;
|
||
|
|
||
|
n1R = n0R - n1L;
|
||
|
// sort along X (right of Y) // L1 -- L0
|
||
|
L2 = sort(L1, n1R, splitval[0], 0);
|
||
|
|
||
|
blocks[5] = L1;
|
||
|
blocks[6] = L2;
|
||
|
}
|
||
|
|
||
|
|
||
|
template <class P>
|
||
|
P* const * sort(P* const * points, unsigned int n, T splitval, unsigned char index) {
|
||
|
if (n==0) return points;
|
||
|
|
||
|
if (n==1) {
|
||
|
if (points[0][index] < splitval)
|
||
|
return points+1;
|
||
|
else
|
||
|
return points;
|
||
|
}
|
||
|
|
||
|
P **left = const_cast<P**>(points);
|
||
|
P **right = const_cast<P**>(points + n - 1);
|
||
|
|
||
|
|
||
|
while (1) {
|
||
|
while ((*left)[index] < splitval)
|
||
|
{
|
||
|
left++;
|
||
|
if (right < left)
|
||
|
break;
|
||
|
}
|
||
|
while ((*right)[index] >= splitval)
|
||
|
{
|
||
|
right--;
|
||
|
if (right < left)
|
||
|
break;
|
||
|
}
|
||
|
if (right < left)
|
||
|
break;
|
||
|
|
||
|
std::swap(*left, *right);
|
||
|
}
|
||
|
return left;
|
||
|
}
|
||
|
|
||
|
public:
|
||
|
/**
|
||
|
* Copies another (via new constructed) octtree into cache allocated memory and makes it position independant
|
||
|
*/
|
||
|
BOctTree(const BOctTree& other, unsigned char* mem_ptr, unsigned int mem_max)
|
||
|
{
|
||
|
alloc = new SequentialAllocator(mem_ptr, mem_max);
|
||
|
|
||
|
// "allocate" space for *this
|
||
|
alloc->allocate<BOctTree<T> >();
|
||
|
|
||
|
// take members
|
||
|
unsigned int i;
|
||
|
for(i = 0; i < 3; ++i)
|
||
|
center[i] = other.center[i];
|
||
|
size = other.size;
|
||
|
voxelSize = other.voxelSize;
|
||
|
real_voxelSize = other.real_voxelSize;
|
||
|
for(i = 0; i < 3; ++i)
|
||
|
add[i] = other.add[i];
|
||
|
mult = other.mult;
|
||
|
POINTDIM = other.POINTDIM;
|
||
|
mins = alloc->allocate<T>(POINTDIM);
|
||
|
maxs = alloc->allocate<T>(POINTDIM);
|
||
|
for(i = 0; i < POINTDIM; ++i) {
|
||
|
mins[i] = other.mins[i];
|
||
|
maxs[i] = other.maxs[i];
|
||
|
}
|
||
|
pointtype = other.pointtype;
|
||
|
max_depth = other.max_depth;
|
||
|
child_bit_depth = alloc->allocate<unsigned int>(max_depth);
|
||
|
child_bit_depth_inv = alloc->allocate<unsigned int>(max_depth);
|
||
|
for(i = 0; i < max_depth; ++i) {
|
||
|
child_bit_depth[i] = other.child_bit_depth[i];
|
||
|
child_bit_depth_inv[i] = other.child_bit_depth_inv[i];
|
||
|
}
|
||
|
largest_index = other.largest_index;
|
||
|
|
||
|
// take node structure
|
||
|
uroot = alloc->allocate<bitunion<T> >();
|
||
|
root = &uroot->node;
|
||
|
copy_children(*other.root, *root);
|
||
|
|
||
|
// test if allocator has used up his space
|
||
|
//alloc->printSize();
|
||
|
|
||
|
// discard allocator, space is managed by the cache manager
|
||
|
delete alloc; alloc = 0;
|
||
|
}
|
||
|
|
||
|
private:
|
||
|
void copy_children(const bitoct& other, bitoct& my) {
|
||
|
// copy node attributes
|
||
|
my.valid = other.valid;
|
||
|
my.leaf = other.leaf;
|
||
|
|
||
|
// other children
|
||
|
bitunion<T>* other_children;
|
||
|
bitoct::getChildren(other, other_children);
|
||
|
|
||
|
// create own children
|
||
|
unsigned int n_children = POPCOUNT(other.valid);
|
||
|
bitunion<T>* my_children = alloc->allocate<bitunion<T> >(n_children);
|
||
|
bitoct::link(my, my_children);
|
||
|
|
||
|
// iterate over all (valid) children and copy them
|
||
|
for(unsigned int i = 0; i < 8; ++i) {
|
||
|
if((1<<i) & other.valid) {
|
||
|
if((1<<i) & other.leaf) {
|
||
|
// copy points
|
||
|
unsigned int length = other_children->getLength();
|
||
|
pointrep* other_pointreps = other_children->getPointreps();
|
||
|
pointrep* my_pointreps = alloc->allocate<pointrep>(POINTDIM * length + 1);
|
||
|
for(unsigned int j = 0; j < POINTDIM * length + 1; ++j)
|
||
|
my_pointreps[j] = other_pointreps[j];
|
||
|
// assign
|
||
|
bitunion<T>::link(my_children, my_pointreps);
|
||
|
} else {
|
||
|
// child is already created, copy and create children for it
|
||
|
copy_children(other_children->node, my_children->node);
|
||
|
}
|
||
|
++other_children;
|
||
|
++my_children;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
public:
|
||
|
//! Size of the whole tree structure, including the main class, its serialize critical allocated variables and nodes, not the allocator
|
||
|
unsigned int getMemorySize()
|
||
|
{
|
||
|
return sizeof(*this) // all member variables
|
||
|
+ 2*POINTDIM*sizeof(T) // mins, maxs
|
||
|
+ 2*max_depth*sizeof(unsigned int) // child_bit_depth(_inv)
|
||
|
+ sizeof(bitunion<T>) // uroot
|
||
|
+ sizeChildren(*root); // all nodes
|
||
|
}
|
||
|
|
||
|
private:
|
||
|
//! Recursive size of a node's children
|
||
|
unsigned int sizeChildren(const bitoct& node) {
|
||
|
unsigned int s = 0;
|
||
|
bitunion<T>* children;
|
||
|
bitoct::getChildren(node, children);
|
||
|
|
||
|
// size of children allocation
|
||
|
unsigned int n_children = POPCOUNT(node.valid);
|
||
|
s += sizeof(bitunion<T>)*n_children;
|
||
|
|
||
|
// iterate over all (valid) children and sum them up
|
||
|
for(unsigned int i = 0; i < 8; ++i) {
|
||
|
if((1<<i) & node.valid) {
|
||
|
if((1<<i) & node.leaf) {
|
||
|
// leaf only accounts for its points
|
||
|
s += sizeof(pointrep)*(children->getLength()*POINTDIM+1);
|
||
|
} else {
|
||
|
// childe node is already accounted for, add its children
|
||
|
s += sizeChildren(children->node);
|
||
|
}
|
||
|
++children; // next (valid) child
|
||
|
}
|
||
|
}
|
||
|
return s;
|
||
|
}
|
||
|
};
|
||
|
|
||
|
typedef SingleObject<BOctTree<float> > DataOcttree;
|
||
|
|
||
|
template <class T>
|
||
|
NNParams BOctTree<T>::params[100];
|
||
|
|
||
|
#endif
|