octree.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*
 
Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>
 
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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*/
#pragma once
 
#include <cstdlib> 
#include <vector>
#include "PointMatcher.h"
 
#include "utils.h"
 
template < typename T, std::size_t dim >
class Octree_ 
{
public:         
        using PM = PointMatcher<T>;
        using DP = typename PM::DataPoints; 
        using Id = typename DP::Index; 
        
        using Data = typename DP::Index; 
        using DataContainer = std::vector<Data>;
        
        using Point = Eigen::Matrix<T,dim,1>;
        
//private:
        static constexpr std::size_t nbCells = PointMatcherSupport::pow(2, dim);
        
private:
        struct BoundingBox 
        {
                        Point center;
                        T       radius;
        };
        
        Octree_* parent;
        Octree_* cells[nbCells];
        
        /******************************************************
         *      Cells id are assigned as their position 
         *   from the center (+ greater than center, - lower than center)
         *
         *              for 3D case                                                                     for 2D case
         *
         *              0       1       2       3       4       5       6       7                       0       1       2       3
         *      x:      -       +       -       +       -       +       -       +               x:      -       +       -       +
         *      y:      -       -       +       +       -       -       +       +               y:      -       -       +       +       
         *      z:      -       -       -       -       +       +       +       +
         *
         *****************************************************/
        
        BoundingBox bb;
        
        DataContainer data;     
        
        std::size_t depth;
                
public:
        Octree_();
        Octree_(const Octree_<T,dim>& o); //Deep-copy
        Octree_(Octree_<T,dim>&& o);
        
        virtual ~Octree_();
        
        Octree_<T,dim>& operator=(const Octree_<T,dim>& o);//Deep-copy
        Octree_<T,dim>& operator=(Octree_<T,dim>&& o);
        
        bool isLeaf() const;
        bool isRoot() const;
        bool isEmpty()const;
        
        inline std::size_t idx(const Point& pt) const;
        inline std::size_t idx(const DP& pts, const Data d) const;
        
        std::size_t getDepth() const;
        
        T getRadius() const;
        Point getCenter() const;
        
        DataContainer * getData();
        Octree_<T, dim>* operator[](std::size_t idx);
        
        // Build tree from DataPoints with a specified stop parameter
        bool build(const DP& pts, size_t maxDataByNode=1, T maxSizeByNode=T(0.), bool parallelBuild=false);
 
protected:
        //real build function
        bool build(const DP& pts, DataContainer&& datas, BoundingBox&& bb, size_t maxDataByNode=1, T maxSizeByNode=T(0.), bool parallelBuild=false);
        
        inline DataContainer toData(const DP& pts, const std::vector<Id>& ids);
        
public: 
        template < typename Callback >
        bool visit(Callback& cb);
};
        
#include "octree.hpp"
 
template<typename T> using Quadtree = Octree_<T,2>;
template<typename T> using Octree = Octree_<T,3>;