Octree.h

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// -                        Open3D: www.open3d.org                            -
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// The MIT License (MIT)
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// Copyright (c) 2018 www.open3d.org
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#pragma once

#include <cstddef>
#include <memory>
#include <vector>

#include "open3d/geometry/Geometry3D.h"
#include "open3d/utility/IJsonConvertible.h"

namespace open3d {
namespace geometry {

class PointCloud;
class VoxelGrid;

class OctreeNodeInfo {
public:
    OctreeNodeInfo() : origin_(0, 0, 0), size_(0), depth_(0), child_index_(0) {}

    OctreeNodeInfo(const Eigen::Vector3d& origin,
                   const double& size,
                   const size_t& depth,
                   const size_t& child_index)
        : origin_(origin),
          size_(size),
          depth_(depth),
          child_index_(child_index) {}
    ~OctreeNodeInfo() {}

public:
    Eigen::Vector3d origin_;
    double size_;
    size_t depth_;
    size_t child_index_;
};

class OctreeNode : public utility::IJsonConvertible {
public:
    OctreeNode() {}
    virtual ~OctreeNode() {}

    static std::shared_ptr<OctreeNode> ConstructFromJsonValue(
            const Json::Value& value);
};

class OctreeInternalNode : public OctreeNode {
public:
    OctreeInternalNode() : children_(8) {}
    static std::shared_ptr<OctreeNodeInfo> GetInsertionNodeInfo(
            const std::shared_ptr<OctreeNodeInfo>& node_info,
            const Eigen::Vector3d& point);

    static std::function<std::shared_ptr<OctreeInternalNode>()>
    GetInitFunction();

    static std::function<void(std::shared_ptr<OctreeInternalNode>)>
    GetUpdateFunction();

    bool ConvertToJsonValue(Json::Value& value) const override;
    bool ConvertFromJsonValue(const Json::Value& value) override;

public:
    std::vector<std::shared_ptr<OctreeNode>> children_;
};

class OctreeInternalPointNode : public OctreeInternalNode {
public:
    OctreeInternalPointNode() : OctreeInternalNode() {}

    static std::function<std::shared_ptr<OctreeInternalNode>()>
    GetInitFunction();

    static std::function<void(std::shared_ptr<OctreeInternalNode>)>
    GetUpdateFunction(size_t idx);

    bool ConvertToJsonValue(Json::Value& value) const override;
    bool ConvertFromJsonValue(const Json::Value& value) override;

public:
    std::vector<size_t> indices_;
};

class OctreeLeafNode : public OctreeNode {
public:
    virtual bool operator==(const OctreeLeafNode& other) const = 0;
    virtual std::shared_ptr<OctreeLeafNode> Clone() const = 0;
};

class OctreeColorLeafNode : public OctreeLeafNode {
public:
    bool operator==(const OctreeLeafNode& other) const override;

    std::shared_ptr<OctreeLeafNode> Clone() const override;

    static std::function<std::shared_ptr<OctreeLeafNode>()> GetInitFunction();

    static std::function<void(std::shared_ptr<OctreeLeafNode>)>
    GetUpdateFunction(const Eigen::Vector3d& color);

    bool ConvertToJsonValue(Json::Value& value) const override;
    bool ConvertFromJsonValue(const Json::Value& value) override;
    Eigen::Vector3d color_ = Eigen::Vector3d(0, 0, 0);
};

class OctreePointColorLeafNode : public OctreeColorLeafNode {
public:
    bool operator==(const OctreeLeafNode& other) const override;
    std::shared_ptr<OctreeLeafNode> Clone() const override;

    static std::function<std::shared_ptr<OctreeLeafNode>()> GetInitFunction();

    static std::function<void(std::shared_ptr<OctreeLeafNode>)>
    GetUpdateFunction(size_t index, const Eigen::Vector3d& color);

    bool ConvertToJsonValue(Json::Value& value) const override;
    bool ConvertFromJsonValue(const Json::Value& value) override;

    std::vector<size_t> indices_;
};

class Octree : public Geometry3D, public utility::IJsonConvertible {
public:
    Octree()
        : Geometry3D(Geometry::GeometryType::Octree),
          origin_(0, 0, 0),
          size_(0),
          max_depth_(0) {}
    Octree(const size_t& max_depth)
        : Geometry3D(Geometry::GeometryType::Octree),
          origin_(0, 0, 0),
          size_(0),
          max_depth_(max_depth) {}
    Octree(const size_t& max_depth,
           const Eigen::Vector3d& origin,
           const double& size)
        : Geometry3D(Geometry::GeometryType::Octree),
          origin_(origin),
          size_(size),
          max_depth_(max_depth) {}
    Octree(const Octree& src_octree);
    ~Octree() override {}

public:
    Octree& Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector3d GetMinBound() const override;
    Eigen::Vector3d GetMaxBound() const override;
    Eigen::Vector3d GetCenter() const override;
    AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
    OrientedBoundingBox GetOrientedBoundingBox() const override;
    Octree& Transform(const Eigen::Matrix4d& transformation) override;
    Octree& Translate(const Eigen::Vector3d& translation,
                      bool relative = true) override;
    Octree& Scale(const double scale, const Eigen::Vector3d& center) override;
    Octree& Rotate(const Eigen::Matrix3d& R,
                   const Eigen::Vector3d& center) override;
    bool ConvertToJsonValue(Json::Value& value) const override;
    bool ConvertFromJsonValue(const Json::Value& value) override;

public:
    void ConvertFromPointCloud(const geometry::PointCloud& point_cloud,
                               double size_expand = 0.01);

    std::shared_ptr<OctreeNode> root_node_ = nullptr;

    Eigen::Vector3d origin_;

    double size_;

    size_t max_depth_;

    void InsertPoint(
            const Eigen::Vector3d& point,
            const std::function<std::shared_ptr<OctreeLeafNode>()>& fl_init,
            const std::function<void(std::shared_ptr<OctreeLeafNode>)>&
                    fl_update,
            const std::function<std::shared_ptr<OctreeInternalNode>()>&
                    fi_init = nullptr,
            const std::function<void(std::shared_ptr<OctreeInternalNode>)>&
                    fi_update = nullptr);

    void Traverse(
            const std::function<bool(const std::shared_ptr<OctreeNode>&,
                                     const std::shared_ptr<OctreeNodeInfo>&)>&
                    f);

    void Traverse(
            const std::function<bool(const std::shared_ptr<OctreeNode>&,
                                     const std::shared_ptr<OctreeNodeInfo>&)>&
                    f) const;

    std::pair<std::shared_ptr<OctreeLeafNode>, std::shared_ptr<OctreeNodeInfo>>

    LocateLeafNode(const Eigen::Vector3d& point) const;

    static bool IsPointInBound(const Eigen::Vector3d& point,
                               const Eigen::Vector3d& origin,
                               const double& size);

    bool operator==(const Octree& other) const;

    std::shared_ptr<geometry::VoxelGrid> ToVoxelGrid() const;

    void CreateFromVoxelGrid(const geometry::VoxelGrid& voxel_grid);

private:
    static void TraverseRecurse(
            const std::shared_ptr<OctreeNode>& node,
            const std::shared_ptr<OctreeNodeInfo>& node_info,
            const std::function<bool(const std::shared_ptr<OctreeNode>&,
                                     const std::shared_ptr<OctreeNodeInfo>&)>&
                    f);

    void InsertPointRecurse(
            const std::shared_ptr<OctreeNode>& node,
            const std::shared_ptr<OctreeNodeInfo>& node_info,
            const Eigen::Vector3d& point,
            const std::function<std::shared_ptr<OctreeLeafNode>()>& f_l_init,
            const std::function<void(std::shared_ptr<OctreeLeafNode>)>&
                    f_l_update,
            const std::function<std::shared_ptr<OctreeInternalNode>()>&
                    f_i_init,
            const std::function<void(std::shared_ptr<OctreeInternalNode>)>&
                    f_i_update);
};

}  // namespace geometry
}  // namespace open3d