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// Copyright (c) 2015 INRIA Sophia-Antipolis (France). // All rights reserved. // // This file is part of CGAL (www.cgal.org). // // $URL: https://github.com/CGAL/cgal/blob/v6.1/Shape_detection/include/CGAL/Shape_detection/Efficient_RANSAC/Octree.h $ // $Id: include/CGAL/Shape_detection/Efficient_RANSAC/Octree.h b26b07a1242 $ // SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // // Author(s) : Sven Oesau, Yannick Verdie, Clément Jamin, Pierre Alliez // #ifndef CGAL_SHAPE_DETECTION_EFFICIENT_RANSAC_OCTREE_H #define CGAL_SHAPE_DETECTION_EFFICIENT_RANSAC_OCTREE_H #include #include #include #include #include #include #include #include #include #include namespace CGAL { namespace Shape_detection { namespace internal { template struct Traits_base { typedef Traits type; }; template struct Traits_base > { typedef Gt type; }; template class RANSAC_octree { typedef typename Traits::Input_range::iterator Input_iterator; typedef typename Traits::Point_map Point_map; typedef typename Traits::FT FT; typedef std::vector Input_range; typedef Random_index_access_property_map Indexed_point_map; typedef Orthtree_traits_point::type, Input_range, Indexed_point_map, false, 3> OTraits; typedef CGAL::Orthtree Octree; Traits m_traits; Input_range m_input_range; Indexed_point_map m_index_map; Octree m_octree; Bbox_3 m_bBox; FT m_width; std::size_t m_offset; public: typedef typename Octree::Node_index Node; typedef typename OTraits::Node_data Node_data; RANSAC_octree(const Traits &traits, Input_iterator begin, Input_iterator end, Point_map point_map, std::size_t offset = 0) : m_traits(traits), m_input_range(boost::counting_iterator(0), boost::counting_iterator(end - begin)), m_index_map(begin, point_map), m_octree(OTraits(m_input_range, m_index_map)), m_bBox (bbox_3(make_transform_iterator_from_property_map(begin, point_map), make_transform_iterator_from_property_map(end, point_map))), m_offset(offset) {} std::size_t index (Node node, std::size_t i) const { return m_offset + *(m_octree.data(node).begin() + i); } std::size_t depth(const Node& node) const { return m_octree.depth(node); } bool is_leaf(const Node& node) const { return m_octree.is_leaf(node); } std::size_t size() const { return m_input_range.size(); } std::size_t maxLevel() const { return m_octree.depth(); } std::size_t offset() const { return m_offset; } void refine(double cluster_epsilon_for_max_level_recomputation = -1., std::size_t bucketSize = 20, std::size_t maxLevel = 10) { if (cluster_epsilon_for_max_level_recomputation > 0.) { FT bbox_diagonal = (FT) CGAL::sqrt( (m_bBox.xmax() - m_bBox.xmin()) * (m_bBox.xmax() - m_bBox.xmin()) + (m_bBox.ymax() - m_bBox.ymin()) * (m_bBox.ymax() - m_bBox.ymin()) + (m_bBox.zmax() - m_bBox.zmin()) * (m_bBox.zmax() - m_bBox.zmin())); maxLevel = std::size_t(std::log2(bbox_diagonal / cluster_epsilon_for_max_level_recomputation)); if (maxLevel == 0) maxLevel = 1; } m_octree.refine(maxLevel, bucketSize); m_width = FT(0.5) * FT(m_octree.bbox(m_octree.root()).xmax() - m_octree.bbox(m_octree.root()).xmin()); } const typename Traits::FT& width() const { return m_width; } Node child(const Node& node, std::size_t i) const { return m_octree.child(node, i); } Node parent(const Node& node) const { return m_octree.parent(node); } Node locate(const typename Traits::Point_3 &p) const { return m_octree.locate(p); } Node root() const { return m_octree.root(); } Node_data points(const Node& n) const { return m_octree.data(n); } typename Traits::Point_3 barycenter(const Node &node) const { return m_octree.barycenter(node); } typename Traits::GeomTraits::Iso_cuboid_3 boundingBox() const { return m_octree.bbox(m_octree.root()); } }; } } } #endif