octree_search.h

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#ifndef PCL_OCTREE_SEARCH_H_
#define PCL_OCTREE_SEARCH_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include "octree_pointcloud.h"

namespace pcl
{
  namespace octree
  {
    template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices ,  typename BranchContainerT = OctreeContainerEmpty >
    class OctreePointCloudSearch : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
    {
      public:
        // public typedefs
        typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
        typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;

        typedef pcl::PointCloud<PointT> PointCloud;
        typedef boost::shared_ptr<PointCloud> PointCloudPtr;
        typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

        // Boost shared pointers
        typedef boost::shared_ptr<OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> > Ptr;
        typedef boost::shared_ptr<const OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> > ConstPtr;

        // Eigen aligned allocator
        typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > AlignedPointTVector;

        typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT> OctreeT;
        typedef typename OctreeT::LeafNode LeafNode;
        typedef typename OctreeT::BranchNode BranchNode;

        OctreePointCloudSearch (const double resolution) :
          OctreePointCloud<PointT, LeafContainerT, BranchContainerT> (resolution)
        {
        }

        virtual
        ~OctreePointCloudSearch ()
        {
        }

        bool
        voxelSearch (const PointT& point, std::vector<int>& point_idx_data);

        bool
        voxelSearch (const int index, std::vector<int>& point_idx_data);

        inline int
        nearestKSearch (const PointCloud &cloud, int index, int k, std::vector<int> &k_indices,
                        std::vector<float> &k_sqr_distances)
        {
          return (nearestKSearch (cloud[index], k, k_indices, k_sqr_distances));
        }

        int
        nearestKSearch (const PointT &p_q, int k, std::vector<int> &k_indices,
                        std::vector<float> &k_sqr_distances);

        int
        nearestKSearch (int index, int k, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances);

        inline void
        approxNearestSearch (const PointCloud &cloud, int query_index, int &result_index, float &sqr_distance)
        {
          return (approxNearestSearch (cloud.points[query_index], result_index, sqr_distance));
        }

        void
        approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance);

        void
        approxNearestSearch (int query_index, int &result_index, float &sqr_distance);

        int
        radiusSearch (const PointCloud &cloud, int index, double radius, std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances, unsigned int max_nn = 0)
        {
          return (radiusSearch (cloud.points[index], radius, k_indices, k_sqr_distances, max_nn));
        }

        int
        radiusSearch (const PointT &p_q, const double radius, std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const;

        int
        radiusSearch (int index, const double radius, std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const;

        int
        getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction,
                                    AlignedPointTVector &voxel_center_list, int max_voxel_count = 0) const;

        int
        getIntersectedVoxelIndices (Eigen::Vector3f origin, Eigen::Vector3f direction,
                                    std::vector<int> &k_indices,
                                    int max_voxel_count = 0) const;


        int
        boxSearch (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, std::vector<int> &k_indices) const;

      protected:
        // Octree-based search routines & helpers

        class prioBranchQueueEntry
        {
        public:
          prioBranchQueueEntry () :
              node (), point_distance (0), key ()
          {
          }

          prioBranchQueueEntry (OctreeNode* _node, OctreeKey& _key, float _point_distance) :
              node (_node), point_distance (_point_distance), key (_key)
          {
          }

          bool
          operator < (const prioBranchQueueEntry rhs) const
          {
            return (this->point_distance > rhs.point_distance);
          }

          const OctreeNode* node;

          float point_distance;

          OctreeKey key;
        };


        class prioPointQueueEntry
        {
        public:

          prioPointQueueEntry () :
              point_idx_ (0), point_distance_ (0)
          {
          }

          prioPointQueueEntry (unsigned int& point_idx, float point_distance) :
              point_idx_ (point_idx), point_distance_ (point_distance)
          {
          }

          bool
          operator< (const prioPointQueueEntry& rhs) const
          {
            return (this->point_distance_ < rhs.point_distance_);
          }

          int point_idx_;

          float point_distance_;
        };

        float
        pointSquaredDist (const PointT& point_a, const PointT& point_b) const;

        // Recursive search routine methods

        void
        getNeighborsWithinRadiusRecursive (const PointT& point, const double radiusSquared,
                                           const BranchNode* node, const OctreeKey& key,
                                           unsigned int tree_depth, std::vector<int>& k_indices,
                                           std::vector<float>& k_sqr_distances, unsigned int max_nn) const;

        double
        getKNearestNeighborRecursive (const PointT& point, unsigned int K, const BranchNode* node,
                                      const OctreeKey& key, unsigned int tree_depth,
                                      const double squared_search_radius,
                                      std::vector<prioPointQueueEntry>& point_candidates) const;

        void
        approxNearestSearchRecursive (const PointT& point, const BranchNode* node, const OctreeKey& key,
                                      unsigned int tree_depth, int& result_index, float& sqr_distance);

        int
        getIntersectedVoxelCentersRecursive (double min_x, double min_y, double min_z, double max_x, double max_y,
                                             double max_z, unsigned char a, const OctreeNode* node,
                                             const OctreeKey& key, AlignedPointTVector &voxel_center_list,
                                             int max_voxel_count) const;


        void
        boxSearchRecursive (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, const BranchNode* node,
                            const OctreeKey& key, unsigned int tree_depth, std::vector<int>& k_indices) const;

        int
        getIntersectedVoxelIndicesRecursive (double min_x, double min_y, double min_z,
                                             double max_x, double max_y, double max_z,
                                             unsigned char a, const OctreeNode* node, const OctreeKey& key,
                                             std::vector<int> &k_indices,
                                             int max_voxel_count) const;

        inline void
        initIntersectedVoxel (Eigen::Vector3f &origin, Eigen::Vector3f &direction,
                              double &min_x, double &min_y, double &min_z,
                              double &max_x, double &max_y, double &max_z,
                              unsigned char &a) const
        {
          // Account for division by zero when direction vector is 0.0
          const float epsilon = 1e-10f;
          if (direction.x () == 0.0)
            direction.x () = epsilon;
          if (direction.y () == 0.0)
            direction.y () = epsilon;
          if (direction.z () == 0.0)
            direction.z () = epsilon;

          // Voxel childIdx remapping
          a = 0;

          // Handle negative axis direction vector
          if (direction.x () < 0.0)
          {
            origin.x () = static_cast<float> (this->min_x_) + static_cast<float> (this->max_x_) - origin.x ();
            direction.x () = -direction.x ();
            a |= 4;
          }
          if (direction.y () < 0.0)
          {
            origin.y () = static_cast<float> (this->min_y_) + static_cast<float> (this->max_y_) - origin.y ();
            direction.y () = -direction.y ();
            a |= 2;
          }
          if (direction.z () < 0.0)
          {
            origin.z () = static_cast<float> (this->min_z_) + static_cast<float> (this->max_z_) - origin.z ();
            direction.z () = -direction.z ();
            a |= 1;
          }
          min_x = (this->min_x_ - origin.x ()) / direction.x ();
          max_x = (this->max_x_ - origin.x ()) / direction.x ();
          min_y = (this->min_y_ - origin.y ()) / direction.y ();
          max_y = (this->max_y_ - origin.y ()) / direction.y ();
          min_z = (this->min_z_ - origin.z ()) / direction.z ();
          max_z = (this->max_z_ - origin.z ()) / direction.z ();
        }

        inline int
        getFirstIntersectedNode (double min_x, double min_y, double min_z, double mid_x, double mid_y, double mid_z) const
        {
          int currNode = 0;

          if (min_x > min_y)
          {
            if (min_x > min_z)
            {
              // max(min_x, min_y, min_z) is min_x. Entry plane is YZ.
              if (mid_y < min_x)
                currNode |= 2;
              if (mid_z < min_x)
                currNode |= 1;
            }
            else
            {
              // max(min_x, min_y, min_z) is min_z. Entry plane is XY.
              if (mid_x < min_z)
                currNode |= 4;
              if (mid_y < min_z)
                currNode |= 2;
            }
          }
          else
          {
            if (min_y > min_z)
            {
              // max(min_x, min_y, min_z) is min_y. Entry plane is XZ.
              if (mid_x < min_y)
                currNode |= 4;
              if (mid_z < min_y)
                currNode |= 1;
            }
            else
            {
              // max(min_x, min_y, min_z) is min_z. Entry plane is XY.
              if (mid_x < min_z)
                currNode |= 4;
              if (mid_y < min_z)
                currNode |= 2;
            }
          }

          return currNode;
        }

        inline int
        getNextIntersectedNode (double x, double y, double z, int a, int b, int c) const
        {
          if (x < y)
          {
            if (x < z)
              return a;
            else
              return c;
          }
          else
          {
            if (y < z)
              return b;
            else
              return c;
          }

          return 0;
        }

      };
  }
}

#define PCL_INSTANTIATE_OctreePointCloudSearch(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSearch<T>;

#endif    // PCL_OCTREE_SEARCH_H_