539 lines
15 KiB
Text
539 lines
15 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 COMPACTOCTREE_H
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#define COMPACTOCTREE_H
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#include <stdio.h>
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#include <float.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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#include "slam6d/globals.icc"
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#include "slam6d/point_type.h"
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#include "slam6d/Boctree.h"
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#include "show/colormanager.h"
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#include "show/colordisplay.h"
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#include "show/viewcull.h"
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#include "show/scancolormanager.h"
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#include "slam6d/allocator.h"
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#define POINTERBITS 32
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//#define WITH_8BIT_POINTS
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#ifdef WITH_8BIT_POINTS
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typedef signed char tshort;
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#define TSHORT_MAXP1 (1 << 7);
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#define TSHORT_MAX ((1 << 7) - 1);
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typedef signed char shortpointrep;
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#else
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typedef short int tshort;
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#define TSHORT_MAXP1 (1 << 15);
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#define TSHORT_MAX ((1 << 15) - 1);
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typedef short int shortpointrep;
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#endif
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typedef unsigned int lint;
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class ScanColorManager;
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// forward declaration
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template <class T> union cbitunion;
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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 wether the corresponding buckets are filled.
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*
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* leaf is a bitmask describing wether 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 cbitoct{
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public:
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#ifdef _MSC_VER
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__int64 child_pointer : POINTERBITS;
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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 : POINTERBITS;
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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(cbitoct &parent, cbitunion<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(cbitoct &parent, cbitunion<T>* &children) {
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children = (cbitunion<T>*)((char*)&parent + parent.child_pointer);
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}
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};
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class cbitp{
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public:
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#ifdef _MSC_VER
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__int64 pointer : POINTERBITS;
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unsigned int length : 24;
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#else
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signed long pointer : POINTERBITS;
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unsigned int length : 24;
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#endif
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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 cbitunion {
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cbitp points;
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cbitoct node;
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cbitunion(cbitp p) : points(p) {};
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cbitunion(cbitoct b) : node(b) {};
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cbitunion() {
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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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inline shortpointrep* getPoints() {
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return (shortpointrep*)((char*)this + this->points.pointer);
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}
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inline unsigned int getLength() {
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return this->points.length;
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}
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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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inline void linkPoints(shortpointrep *child, unsigned int l) {
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this->points.length = l; // do this first in case of overflow
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this->points.pointer = (long)((char*)child - (char*)this);
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}
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};
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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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class ScanColorManager;
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class compactTree : public colordisplay {
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public:
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template <class P>
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compactTree(P * const* pts, int n, double voxelSize, PointType _pointtype = PointType(), ScanColorManager *scm=0 );
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template <class P>
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compactTree(vector<P *> &pts, double voxelSize, PointType _pointtype = PointType());
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compactTree(std::string filename, ScanColorManager *scm = 0) {
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alloc = new PackedChunkAllocator;
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deserialize(filename);
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if (scm) {
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scm->registerTree(this);
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scm->updateRanges(mins);
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scm->updateRanges(maxs);
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}
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setColorManager(0);
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maxtargetpoints = maxTargetPoints(*root);
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current_lod_mode = 0;
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}
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virtual ~compactTree();
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inline void GetOctTreeCenter(vector<double*>&c);
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inline void AllPoints(vector<double *> &vp);
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inline long countNodes();
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inline long countLeaves();
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void setColorManager(ColorManager *_cm);
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void drawLOD(float lod);
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void draw();
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void displayOctTree(double minsize = FLT_MAX);
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template <class T>
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void selectRay(vector<T *> &points);
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template <class T>
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void selectRay(T * &point);
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inline void getCenter(double center[3]) const;
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void serialize(std::string filename);
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protected:
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Allocator* alloc;
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void AllPoints( cbitoct &node, vector<double*> &vp, double center[3], double size);
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void GetOctTreeCenter(vector<double*>&c, cbitoct &node, double *center, double size);
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long countNodes(cbitoct &node);
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long countLeaves(cbitoct &node);
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void deletetNodes(cbitoct &node);
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template <class P>
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bool branch(union cbitunion<tshort> &node, vector<P*> &splitPoints, double _center[3], double _size);
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template <class P>
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inline void countPointsAndQueue(vector<P*> &i_points, double center[8][3], double size, cbitoct &parent, double *pcenter);
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template <class P>
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inline void countPointsAndQueue(P * const* pts, int n, double center[8][3], double size, cbitoct &parent, double *pcenter);
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void childcenter(double *pcenter, double *ccenter, double size, unsigned char i);
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template <class P>
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inline unsigned char childIndex(const double *center, const P *point);
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unsigned long maxTargetPoints( cbitoct &node );
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void displayOctTreeAll( cbitoct &node, double *center, double size);
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void displayOctTreeAllCulled( cbitoct &node, double *center, double size );
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void displayOctTreeCulledLOD(long targetpts, cbitoct &node, double *center, double size );
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void displayOctTreeLOD(long targetpts, cbitoct &node, double *center, double size );
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void displayOctTreeCulledLOD2(float lod, cbitoct &node, double *center, double size );
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void displayOctTreeLOD2(float lod, cbitoct &node, double *center, double size );
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void displayOctTreeCAllCulled( cbitoct &node, double *center, double size, double minsize );
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void displayOctTreeCAll( cbitoct &node, double *center, double size, double minsize );
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void showCube(double *center, double size);
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/**
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* the root of the octree
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*/
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cbitoct* root;
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/**
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* storing the center
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*/
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double center[3];
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/**
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* storing the dimension
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*/
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double size;
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/**
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* storing the voxel size
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*/
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double voxelSize;
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double precision;
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/**
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* storing minimal and maximal values for all dimensions
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**/
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double *mins;
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double *maxs;
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unsigned int POINTDIM;
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PointType pointtype;
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shortpointrep* createPoints(lint length);
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void deserialize(std::string filename );
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void deserialize(std::ifstream &f, cbitoct &node);
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void serialize(std::ofstream &of, cbitoct &node);
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unsigned long maxtargetpoints;
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unsigned int current_lod_mode;
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void cycleLOD() {
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current_lod_mode = (current_lod_mode+1)%3;
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}
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};
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template <class P>
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compactTree::compactTree(vector<P *> &pts, double voxelSize, PointType _pointtype) {
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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 = new double[POINTDIM];
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maxs = new double[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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// calculate new buckets
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double newcenter[8][3];
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double 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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root = alloc->allocate<cbitoct>();
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countPointsAndQueue(pts, newcenter, sizeNew, *root, center);
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maxtargetpoints = maxTargetPoints(*root);
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current_lod_mode = 0;
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}
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template <class P>
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bool compactTree::branch( union cbitunion<tshort> &node, vector<P*> &splitPoints, double _center[3], double _size) {
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// if bucket is too small stop building tree
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// -----------------------------------------
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if ((_size <= voxelSize)) {
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// copy points
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shortpointrep *points = createPoints(splitPoints.size());
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node.linkPoints(points, splitPoints.size());
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int i = 0;
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double distance;
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for (typename vector<P *>::iterator itr = splitPoints.begin();
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itr != splitPoints.end(); itr++) {
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for (unsigned int iterator = 0; iterator < 3; iterator++) {
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distance = (*itr)[iterator] - _center[iterator];
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if (distance >= _size) {
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// points[i++] = (1 << 15) -1;
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points[i++] = TSHORT_MAX;
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} else {
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// points[i++] = (distance/_size ) * (1 << 15);//* pow(2,15) ;
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points[i++] = (distance/_size ) * TSHORT_MAXP1;
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}
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}
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for (unsigned int iterator = 3; iterator < POINTDIM; iterator++) {
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points[i++] = (*itr)[iterator];
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}
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}
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return true;
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}
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// calculate new buckets
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double newcenter[8][3];
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double sizeNew;
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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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countPointsAndQueue(splitPoints, newcenter, sizeNew, node.node, _center);
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return false;
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}
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template <class P>
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void compactTree::countPointsAndQueue(vector<P*> &i_points, double center[8][3], double size, cbitoct &parent, double *pcenter) {
|
||
|
|
vector<P*> points[8];
|
||
|
|
int n_children = 0;
|
||
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|
|
||
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for (typename vector<P *>::iterator itr = i_points.begin(); itr != i_points.end(); itr++) {
|
||
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points[childIndex<P>(pcenter, *itr)].push_back( *itr );
|
||
|
|
}
|
||
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|
|
||
|
|
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;
|
||
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|
}
|
||
|
|
}
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||
|
|
// create children
|
||
|
|
cbitunion<tshort> *children = alloc->allocate<cbitunion<tshort> >(n_children);
|
||
|
|
cbitoct::link(parent, children);
|
||
|
|
|
||
|
|
int count = 0;
|
||
|
|
for (int j = 0; j < 8; j++) {
|
||
|
|
if (!points[j].empty()) {
|
||
|
|
if ( branch(children[count], points[j], center[j], size)) { // leaf node
|
||
|
|
parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf
|
||
|
|
}
|
||
|
|
points[j].clear();
|
||
|
|
vector<P*>().swap(points[j]);
|
||
|
|
++count;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <class P>
|
||
|
|
void compactTree::countPointsAndQueue(P * const* pts, int n, double center[8][3], double size, cbitoct &parent, double *pcenter) {
|
||
|
|
vector<const P*> points[8];
|
||
|
|
int n_children = 0;
|
||
|
|
|
||
|
|
for (int i = 0; i < n; i++) {
|
||
|
|
points[childIndex<P>(pcenter, pts[i])].push_back( pts[i] );
|
||
|
|
}
|
||
|
|
for (int j = 0; j < 8; j++) {
|
||
|
|
// if non-empty set valid flag for this child
|
||
|
|
if (!points[j].empty()) {
|
||
|
|
parent.valid = ( 1 << j ) | parent.valid;
|
||
|
|
++n_children;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// create children
|
||
|
|
cbitunion<tshort> *children = alloc->allocate<cbitunion<tshort> >(n_children);
|
||
|
|
cbitoct::link(parent, children);
|
||
|
|
int count = 0;
|
||
|
|
for (int j = 0; j < 8; j++) {
|
||
|
|
if (!points[j].empty()) {
|
||
|
|
if ( branch(children[count], points[j], center[j], size)) { // leaf node
|
||
|
|
parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf
|
||
|
|
}
|
||
|
|
points[j].clear();
|
||
|
|
vector<const P*>().swap(points[j]);
|
||
|
|
++count;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <class T>
|
||
|
|
void compactTree::selectRay(T * &point) {
|
||
|
|
//selectRay(point, *root, center, size, FLT_MAX);
|
||
|
|
}
|
||
|
|
template <class P>
|
||
|
|
compactTree::compactTree(P * const* pts, int n, double voxelSize, PointType _pointtype , ScanColorManager *scm ) : pointtype(_pointtype) {
|
||
|
|
alloc = new PackedChunkAllocator;
|
||
|
|
|
||
|
|
cm = 0;
|
||
|
|
if (scm) {
|
||
|
|
scm->registerTree(this);
|
||
|
|
for (int i = 1; i < n; i++) {
|
||
|
|
scm->updateRanges(pts[i]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
this->voxelSize = voxelSize;
|
||
|
|
|
||
|
|
this->POINTDIM = pointtype.getPointDim();
|
||
|
|
|
||
|
|
mins = new double[POINTDIM];
|
||
|
|
maxs = new double[POINTDIM];
|
||
|
|
|
||
|
|
// initialising
|
||
|
|
for (unsigned int i = 0; i < POINTDIM; i++) {
|
||
|
|
mins[i] = pts[0][i];
|
||
|
|
maxs[i] = pts[0][i];
|
||
|
|
}
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < POINTDIM; i++) {
|
||
|
|
for (int j = 1; j < n; j++) {
|
||
|
|
mins[i] = min(mins[i], (double)pts[j][i]);
|
||
|
|
maxs[i] = max(maxs[i], (double)pts[j][i]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
center[0] = 0.5 * (mins[0] + maxs[0]);
|
||
|
|
center[1] = 0.5 * (mins[1] + maxs[1]);
|
||
|
|
center[2] = 0.5 * (mins[2] + maxs[2]);
|
||
|
|
size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2]));
|
||
|
|
|
||
|
|
size += 1.0; // some buffer for numerical problems
|
||
|
|
|
||
|
|
double vs = size;
|
||
|
|
while (vs > voxelSize) {
|
||
|
|
vs = vs/2.0;
|
||
|
|
}
|
||
|
|
// vs = vs/2.0;
|
||
|
|
// double precision = vs/ pow(2, sizeof(tshort)*8-1);
|
||
|
|
//precision = vs/ (1 << 15); //pow(2, 15);
|
||
|
|
precision = vs / TSHORT_MAXP1;
|
||
|
|
// vs is the real voxelsize
|
||
|
|
cout << "real voxelsize is " << vs << endl;
|
||
|
|
cout << "precision is now " << precision << endl;
|
||
|
|
|
||
|
|
// calculate new buckets
|
||
|
|
double newcenter[8][3];
|
||
|
|
double sizeNew = size / 2.0;
|
||
|
|
|
||
|
|
for (unsigned char i = 0; i < 8; i++) {
|
||
|
|
childcenter(center, newcenter[i], size, i);
|
||
|
|
}
|
||
|
|
// set up values
|
||
|
|
root = alloc->allocate<cbitoct>();
|
||
|
|
|
||
|
|
countPointsAndQueue(pts, n, newcenter, sizeNew, *root, center);
|
||
|
|
maxtargetpoints = maxTargetPoints(*root);
|
||
|
|
current_lod_mode = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <class P>
|
||
|
|
inline unsigned char compactTree::childIndex(const double *center, const P *point) {
|
||
|
|
return (point[0] >= center[0] ) | ((point[1] >= center[1] ) << 1) | ((point[2] >= center[2] ) << 2) ;
|
||
|
|
}
|
||
|
|
|
||
|
|
void compactTree::getCenter(double _center[3]) const {
|
||
|
|
_center[0] = center[0];
|
||
|
|
_center[1] = center[1];
|
||
|
|
_center[2] = center[2];
|
||
|
|
}
|
||
|
|
#endif
|