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Merge pull request #22682 from TsingYiPainter:5.x

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3D: Handle cases where the depth of Octree setting is too large

* Handle cases where the depth setting is too large
This commit is contained in:
Yuhang Wang 2022-11-03 15:15:17 +08:00 committed by GitHub
parent 7e3d56e2ff
commit d976272d23
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 19 additions and 10 deletions
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3
modules/3d/include/opencv2/3d.hpp
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@ -2548,8 +2548,9 @@ public:
/** @brief Insert a point data to a OctreeNode. /** @brief Insert a point data to a OctreeNode.
* *
* @param point The point data in Point3f format. * @param point The point data in Point3f format.
* @return Returns whether the insertion is successful.
*/ */
void insertPoint(const Point3f& point); bool insertPoint(const Point3f& point);
/** @brief Read point cloud data and create OctreeNode. /** @brief Read point cloud data and create OctreeNode.
* *

24
modules/3d/src/octree.cpp
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@ -13,7 +13,7 @@ namespace cv{
static Ptr<OctreeNode> index(const Point3f& point, Ptr<OctreeNode>& node); static Ptr<OctreeNode> index(const Point3f& point, Ptr<OctreeNode>& node);
static bool _isPointInBound(const Point3f& _point, const Point3f& _origin, double _size); static bool _isPointInBound(const Point3f& _point, const Point3f& _origin, double _size);
static void insertPointRecurse( Ptr<OctreeNode>& node, const Point3f& point, int maxDepth); static bool insertPointRecurse( Ptr<OctreeNode>& node, const Point3f& point, int maxDepth);
bool deletePointRecurse( Ptr<OctreeNode>& node); bool deletePointRecurse( Ptr<OctreeNode>& node);
// For Nearest neighbor search. // For Nearest neighbor search.
@ -128,14 +128,14 @@ Octree::Octree(int _maxDepth) : p(new Impl)
Octree::~Octree(){} Octree::~Octree(){}
void Octree::insertPoint(const Point3f& point) bool Octree::insertPoint(const Point3f& point)
{ {
if(p->rootNode.empty()) if(p->rootNode.empty())
{ {
p->rootNode = new OctreeNode( 0, p->size, p->origin, -1); p->rootNode = new OctreeNode( 0, p->size, p->origin, -1);
} }
insertPointRecurse(p->rootNode, point, p->maxDepth); return insertPointRecurse(p->rootNode, point, p->maxDepth);
} }
@ -175,11 +175,15 @@ bool Octree::create(const std::vector<Point3f> &pointCloud, int _maxDepth)
this->p->size = 2 * halfSize; this->p->size = 2 * halfSize;
// Insert every point in PointCloud data. // Insert every point in PointCloud data.
int cnt=0;
for(size_t idx = 0; idx < pointCloud.size(); idx++ ) for(size_t idx = 0; idx < pointCloud.size(); idx++ )
{ {
insertPoint(pointCloud[idx]); if(!insertPoint(pointCloud[idx])){
cnt++;
};
} }
CV_LOG_IF_WARNING(NULL,cnt!=0,"OverAll "<<cnt<<" points has been ignored! The number of point clouds contained in the current octree is "<<pointCloud.size()-cnt);
return true; return true;
} }
@ -344,19 +348,23 @@ bool deletePointRecurse(Ptr<OctreeNode>& _node)
} }
} }
void insertPointRecurse( Ptr<OctreeNode>& _node, const Point3f& point, int maxDepth) bool insertPointRecurse( Ptr<OctreeNode>& _node, const Point3f& point, int maxDepth)
{ {
OctreeNode& node = *_node; OctreeNode& node = *_node;
if(!node.isPointInBound(point, node.origin, node.size)) bool pointInBoundFlag = node.isPointInBound(point, node.origin, node.size);
if(node.depth==0 && !pointInBoundFlag)
{ {
CV_Error(Error::StsBadArg, "The point is out of boundary!"); CV_Error(Error::StsBadArg, "The point is out of boundary!");
} }
else if (!pointInBoundFlag){
return false;
}
if(node.depth == maxDepth) if(node.depth == maxDepth)
{ {
node.isLeaf = true; node.isLeaf = true;
node.pointList.push_back(point); node.pointList.push_back(point);
return; return true;
} }
double childSize = node.size * 0.5; double childSize = node.size * 0.5;
@ -377,7 +385,7 @@ void insertPointRecurse( Ptr<OctreeNode>& _node, const Point3f& point, int maxD
node.children[childIndex] = new OctreeNode(node.depth + 1, childSize, childOrigin, int(childIndex)); node.children[childIndex] = new OctreeNode(node.depth + 1, childSize, childOrigin, int(childIndex));
node.children[childIndex]->parent = _node; node.children[childIndex]->parent = _node;
} }
insertPointRecurse(node.children[childIndex], point, maxDepth); return insertPointRecurse(node.children[childIndex], point, maxDepth);
} }
// For Nearest neighbor search. // For Nearest neighbor search.

2
modules/3d/test/test_octree.cpp
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@ -14,7 +14,7 @@ protected:
void SetUp() override void SetUp() override
{ {
pointCloudSize = 1000; pointCloudSize = 1000;
maxDepth = 4; maxDepth = 18;
int scale; int scale;
Point3i pmin, pmax; Point3i pmin, pmax;