BigGridKdTree.hpp

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/*
 * BigGridKdTree.hpp
 *
 *  Created on: Aug 30, 2017
 *      Author: Isaak Mitschke
 */
 
#ifndef LAS_VEGAS_BIGGRIDKDTREE_H
#define LAS_VEGAS_BIGGRIDKDTREE_H
#include "BigGrid.hpp"
#include "lvr2/geometry/BoundingBox.hpp"
 
#include <memory>
#include <vector>
 
namespace lvr2
{
 
template <typename BaseVecT>
class BigGridKdTree
{
  public:
    BigGridKdTree(BoundingBox<BaseVecT>& bb,
                  size_t maxNodePoints,
                  BigGrid<BaseVecT>* grid,
                  float voxelsize,
                  size_t numPoints = 0);
    virtual ~BigGridKdTree();
 
    void insert(size_t numPoints, BaseVecT pos);
    static std::vector<BigGridKdTree*> getLeafs();
    static std::vector<BigGridKdTree*> getNodes() { return s_nodes; }
    inline size_t getNumPoints() { return m_numPoints; }
    inline BoundingBox<BaseVecT>& getBB() { return m_bb; }
 
  private:
    BoundingBox<BaseVecT> m_bb;
 
    size_t m_numPoints;
 
    std::vector<BigGridKdTree*> m_children;
 
    BigGridKdTree(BoundingBox<BaseVecT>& bb, size_t numPoints = 0);
 
    static std::vector<BigGridKdTree*> s_nodes;
 
    static float s_voxelsize;
 
    static size_t s_maxNodePoints;
 
    static BigGrid<BaseVecT>* m_grid;
 
    inline bool fitsInBox(BaseVecT& pos)
    {
        return pos.x > m_bb.getMin().x && pos.y > m_bb.getMin().y && pos.z > m_bb.getMin().z &&
               pos.x < m_bb.getMax().x && pos.y < m_bb.getMax().y && pos.z < m_bb.getMax().z;
    }
};
 
} // namespace lvr2
 
#include "lvr2/reconstruction/BigGridKdTree.tcc"
 
#endif // LAS_VEGAS_BIGGRIDKDTREE_H