101 lines
3.3 KiB
Text
101 lines
3.3 KiB
Text
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#ifndef NRRANSAC_OCTREE_H
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#define NRRANSAC_OCTREE_H
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#include "shapes/geom_math.h"
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#include "shapes/ransac_Boctree.h"
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#include "slam6d/Boctree.h"
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template <class T=double>
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class NumberRecOctTree : public RansacOctTree<T> {
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public:
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// NumberRecOctTree(vector<T *> &pts, T voxelSize, PointType<T> _pointtype = PointType<T>() ) : RansacOctTree<T>(pts, voxelSize, _pointtype) {}
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NumberRecOctTree(vector<const T *> &pts, T voxelSize, PointType _pointtype = PointType() ) : RansacOctTree<T>(pts, voxelSize, _pointtype) {}
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long PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius) {
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setNumber(plane, _center, radius, maxdist);
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return PointsOnNumber(*BOctTree<T>::root, BOctTree<T>::center, BOctTree<T>::size);
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}
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void PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius, vector<T *> &n) {
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setNumber(plane, _center, radius, maxdist);
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PointsOnNumber(*BOctTree<T>::root, BOctTree<T>::center, BOctTree<T>::size, n);
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}
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protected:
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long PointsOnNumber(bitoct &node, T *center, T size) {
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if (!SphereInAABB(center[0], center[1], center[2], size)) {
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return 0;
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}
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T ccenter[3];
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bitunion<T> *children;
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bitoct::getChildren(node, children);
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long result = 0;
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for (short i = 0; i < 8; i++) {
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if ( ( 1 << i ) & node.valid ) { // if ith node exists
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childcenter(center, ccenter, size, i); // childrens center
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if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center
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// check if leaf contains plane
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if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) {
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pointrep *points = children->points;
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unsigned int length = points[0].length;
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T *point = &(points[1].v); // first point
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for(unsigned int iterator = 0; iterator < length; iterator++ ) {
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if( closeToPlane(point) )
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result++;
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point += BOctTree<T>::POINTDIM;
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}
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}
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} else { // recurse
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result += PointsOnNumber( children->node, ccenter, size/2.0);
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}
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++children; // next child
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}
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}
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return result;
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}
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void PointsOnNumber(bitoct &node, T *center, T size, vector<T*> &n) {
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if (!SphereInAABB(center[0], center[1], center[2], size)) {
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return ;
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}
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T ccenter[3];
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bitunion<T> *children;
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bitoct::getChildren(node, children);
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for (short i = 0; i < 8; i++) {
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if ( ( 1 << i ) & node.valid ) { // if ith node exists
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childcenter(center, ccenter, size, i); // childrens center
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if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center
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// check if leaf contains plane
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if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) {
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pointrep *points = children->points;
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unsigned int length = points[0].length;
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T *point = &(points[1].v); // first point
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for(unsigned int iterator = 0; iterator < length; iterator++ ) {
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if( closeToPlane(point) )
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n.push_back(point);
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point+=BOctTree<T>::POINTDIM;
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}
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}
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} else { // recurse
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PointsOnNumber( children->node, ccenter, size/2.0, n);
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}
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++children; // next child
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}
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}
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}
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};
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#endif
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