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Update refine method of Direct octree to match indexed

This commit is contained in:
Jackson Campolattaro 2020-08-10 12:39:19 -04:00
parent 939ba23f39
commit ee2a93e8e1
2 changed files with 24 additions and 7 deletions
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14
Shape_detection/include/CGAL/Shape_detection/Efficient_RANSAC/Efficient_RANSAC.h
View File

@ -561,11 +561,13 @@ public:
do {
do {
first_sample = get_default_random()(
static_cast<unsigned int>(m_num_available_points));
first_sample = get_default_random()(static_cast<unsigned int>(m_num_available_points));
} while (m_shape_index[first_sample] != -1);
std::cerr << first_sample << std::endl;
std::cerr << "first sample: " << first_sample << std::endl;
std::cerr << "point index: " << *(m_input_iterator_first + first_sample) << std::endl;
auto point = get(m_point_pmap,
*(m_input_iterator_first + first_sample));
done =
drawSamplesFromCellContainingPoint(m_global_octree,
@ -576,8 +578,6 @@ public:
m_shape_index,
required_samples);
std::cerr << m_shape_index[first_sample] << std::endl;
if (callback && !callback(num_invalid / double(m_num_total_points)))
return false;
@ -1121,6 +1121,8 @@ private:
const std::vector<int> &shapeIndex,
std::size_t requiredSamples) {
std::cerr << " point: " << p << std::endl;
typedef typename Octree::Node Cell;
const Cell *cur = node_containing_point(octree, p, level);

17
Shape_detection/include/CGAL/Shape_detection/Efficient_RANSAC/Octree.h
View File

@ -135,6 +135,7 @@ class Indexed_octree {
typedef typename Traits::Input_range::iterator Input_iterator;
typedef typename Traits::Point_map Point_map;
typedef typename Traits::FT FT;
typedef std::vector<std::size_t> Input_range;
typedef Point_map_to_indexed_point_map<Input_iterator, Point_map> Indexed_point_map;
@ -177,7 +178,21 @@ public:
void refine(double cluster_epsilon_for_max_level_recomputation = -1., std::size_t bucketSize = 2,
std::size_t maxLevel = 10) {
// TODO: I need to find out what cluster_epsilon is used for
if (cluster_epsilon_for_max_level_recomputation > 0.) {
auto m_bBox = m_octree.bbox(m_octree.root());
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::log(bbox_diagonal
/ cluster_epsilon_for_max_level_recomputation)
/ std::log(2.0));
}
m_octree.refine(maxLevel, bucketSize);
}