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345 lines
11 KiB
C++
345 lines
11 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include <limits>
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namespace
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{
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using namespace cv;
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const size_t MAX_STACK_SIZE = 255;
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const size_t MAX_LEAFS = 8;
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bool checkIfNodeOutsideSphere(const Octree::Node& node, const Point3f& c, float r)
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{
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if (node.x_max < (c.x - r) || node.y_max < (c.y - r) || node.z_max < (c.z - r))
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return true;
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if ((c.x + r) < node.x_min || (c.y + r) < node.y_min || (c.z + r) < node.z_min)
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return true;
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return false;
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}
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bool checkIfNodeInsideSphere(const Octree::Node& node, const Point3f& c, float r)
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{
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r *= r;
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float d2_xmin = (node.x_min - c.x) * (node.x_min - c.x);
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float d2_ymin = (node.y_min - c.y) * (node.y_min - c.y);
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float d2_zmin = (node.z_min - c.z) * (node.z_min - c.z);
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if (d2_xmin + d2_ymin + d2_zmin > r)
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return false;
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float d2_zmax = (node.z_max - c.z) * (node.z_max - c.z);
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if (d2_xmin + d2_ymin + d2_zmax > r)
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return false;
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float d2_ymax = (node.y_max - c.y) * (node.y_max - c.y);
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if (d2_xmin + d2_ymax + d2_zmin > r)
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return false;
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if (d2_xmin + d2_ymax + d2_zmax > r)
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return false;
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float d2_xmax = (node.x_max - c.x) * (node.x_max - c.x);
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if (d2_xmax + d2_ymin + d2_zmin > r)
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return false;
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if (d2_xmax + d2_ymin + d2_zmax > r)
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return false;
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if (d2_xmax + d2_ymax + d2_zmin > r)
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return false;
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if (d2_xmax + d2_ymax + d2_zmax > r)
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return false;
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return true;
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}
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void fillMinMax(const vector<Point3f>& points, Octree::Node& node)
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{
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node.x_max = node.y_max = node.z_max = std::numeric_limits<float>::min();
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node.x_min = node.y_min = node.z_min = std::numeric_limits<float>::max();
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for (size_t i = 0; i < points.size(); ++i)
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{
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const Point3f& point = points[i];
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if (node.x_max < point.x)
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node.x_max = point.x;
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if (node.y_max < point.y)
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node.y_max = point.y;
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if (node.z_max < point.z)
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node.z_max = point.z;
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if (node.x_min > point.x)
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node.x_min = point.x;
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if (node.y_min > point.y)
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node.y_min = point.y;
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if (node.z_min > point.z)
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node.z_min = point.z;
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}
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}
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size_t findSubboxForPoint(const Point3f& point, const Octree::Node& node)
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{
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size_t ind_x = point.x < (node.x_max + node.x_min) / 2 ? 0 : 1;
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size_t ind_y = point.y < (node.y_max + node.y_min) / 2 ? 0 : 1;
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size_t ind_z = point.z < (node.z_max + node.z_min) / 2 ? 0 : 1;
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return (ind_x << 2) + (ind_y << 1) + (ind_z << 0);
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}
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void initChildBox(const Octree::Node& parent, size_t boxIndex, Octree::Node& child)
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{
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child.x_min = child.x_max = (parent.x_max + parent.x_min) / 2;
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child.y_min = child.y_max = (parent.y_max + parent.y_min) / 2;
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child.z_min = child.z_max = (parent.z_max + parent.z_min) / 2;
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if ((boxIndex >> 0) & 1)
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child.z_max = parent.z_max;
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else
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child.z_min = parent.z_min;
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if ((boxIndex >> 1) & 1)
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child.y_max = parent.y_max;
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else
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child.y_min = parent.y_min;
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if ((boxIndex >> 2) & 1)
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child.x_max = parent.x_max;
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else
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child.x_min = parent.x_min;
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}
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}//namespace
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////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////// Octree //////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////
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namespace cv
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{
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Octree::Octree()
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{
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}
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Octree::Octree(const vector<Point3f>& points3d, int maxLevels, int _minPoints)
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{
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buildTree(points3d, maxLevels, _minPoints);
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}
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Octree::~Octree()
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{
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}
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void Octree::getPointsWithinSphere(const Point3f& center, float radius, vector<Point3f>& out) const
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{
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out.clear();
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if (nodes.empty())
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return;
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int stack[MAX_STACK_SIZE];
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int pos = 0;
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stack[pos] = 0;
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while (pos >= 0)
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{
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const Node& cur = nodes[stack[pos--]];
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if (checkIfNodeOutsideSphere(cur, center, radius))
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continue;
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if (checkIfNodeInsideSphere(cur, center, radius))
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{
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size_t sz = out.size();
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out.resize(sz + cur.end - cur.begin);
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for (int i = cur.begin; i < cur.end; ++i)
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out[sz++] = points[i];
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continue;
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}
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if (cur.isLeaf)
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{
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double r2 = radius * radius;
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size_t sz = out.size();
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out.resize(sz + (cur.end - cur.begin));
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for (int i = cur.begin; i < cur.end; ++i)
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{
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const Point3f& point = points[i];
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double dx = (point.x - center.x);
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double dy = (point.y - center.y);
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double dz = (point.z - center.z);
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double dist2 = dx * dx + dy * dy + dz * dz;
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if (dist2 < r2)
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out[sz++] = point;
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};
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out.resize(sz);
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continue;
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}
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if (cur.children[0])
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stack[++pos] = cur.children[0];
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if (cur.children[1])
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stack[++pos] = cur.children[1];
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if (cur.children[2])
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stack[++pos] = cur.children[2];
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if (cur.children[3])
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stack[++pos] = cur.children[3];
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if (cur.children[4])
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stack[++pos] = cur.children[4];
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if (cur.children[5])
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stack[++pos] = cur.children[5];
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if (cur.children[6])
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stack[++pos] = cur.children[6];
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if (cur.children[7])
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stack[++pos] = cur.children[7];
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}
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}
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void Octree::buildTree(const vector<Point3f>& points3d, int maxLevels, int _minPoints)
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{
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assert((size_t)maxLevels * 8 < MAX_STACK_SIZE);
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points.resize(points3d.size());
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std::copy(points3d.begin(), points3d.end(), points.begin());
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minPoints = _minPoints;
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nodes.clear();
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nodes.push_back(Node());
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Node& root = nodes[0];
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fillMinMax(points, root);
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root.isLeaf = true;
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root.maxLevels = maxLevels;
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root.begin = 0;
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root.end = (int)points.size();
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for (size_t i = 0; i < MAX_LEAFS; i++)
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root.children[i] = 0;
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if (maxLevels != 1 && (root.end - root.begin) > _minPoints)
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{
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root.isLeaf = false;
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buildNext(0);
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}
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}
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void Octree::buildNext(size_t nodeInd)
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{
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size_t size = nodes[nodeInd].end - nodes[nodeInd].begin;
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vector<size_t> boxBorders(MAX_LEAFS+1, 0);
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vector<size_t> boxIndices(size);
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vector<Point3f> tempPoints(size);
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for (int i = nodes[nodeInd].begin, j = 0; i < nodes[nodeInd].end; ++i, ++j)
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{
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const Point3f& p = points[i];
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size_t subboxInd = findSubboxForPoint(p, nodes[nodeInd]);
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boxBorders[subboxInd+1]++;
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boxIndices[j] = subboxInd;
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tempPoints[j] = p;
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}
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for (size_t i = 1; i < boxBorders.size(); ++i)
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boxBorders[i] += boxBorders[i-1];
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vector<size_t> writeInds(boxBorders.begin(), boxBorders.end());
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for (size_t i = 0; i < size; ++i)
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{
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size_t boxIndex = boxIndices[i];
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Point3f& curPoint = tempPoints[i];
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size_t copyTo = nodes[nodeInd].begin + writeInds[boxIndex]++;
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points[copyTo] = curPoint;
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}
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for (size_t i = 0; i < MAX_LEAFS; ++i)
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{
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if (boxBorders[i] == boxBorders[i+1])
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continue;
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nodes.push_back(Node());
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Node& child = nodes.back();
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initChildBox(nodes[nodeInd], i, child);
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child.isLeaf = true;
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child.maxLevels = nodes[nodeInd].maxLevels - 1;
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child.begin = nodes[nodeInd].begin + (int)boxBorders[i+0];
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child.end = nodes[nodeInd].begin + (int)boxBorders[i+1];
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for (size_t k = 0; k < MAX_LEAFS; k++)
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child.children[k] = 0;
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nodes[nodeInd].children[i] = (int)(nodes.size() - 1);
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if (child.maxLevels != 1 && (child.end - child.begin) > minPoints)
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{
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child.isLeaf = false;
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buildNext(nodes.size() - 1);
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}
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}
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}
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}
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