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#include <pcl/recognition/ransac_based/orr_octree.h>
#include <pcl/common/common.h>
#include <pcl/common/random.h>
#include <cmath>
#include <ctime> // for time
#include <algorithm>
#include <list>

using namespace pcl::recognition;

pcl::recognition::ORROctree::ORROctree ()
: voxel_size_ (-1.0),
  tree_levels_ (-1),
  root_ (nullptr)
{
}

//================================================================================================================================================================

void
pcl::recognition::ORROctree::clear ()
{
  delete root_;
  root_ = nullptr;

  full_leaves_.clear();
}

//================================================================================================================================================================

void
pcl::recognition::ORROctree::build (const float* bounds, float voxel_size)
{
  if ( voxel_size <= 0.0f )
    return;

  this->clear();

  voxel_size_ = voxel_size;

  float extent = std::max (std::max (bounds[1]-bounds[0], bounds[3]-bounds[2]), bounds[5]-bounds[4]);
  float center[3] = {0.5f*(bounds[0]+bounds[1]), 0.5f*(bounds[2]+bounds[3]), 0.5f*(bounds[4]+bounds[5])};
  float arg = extent/voxel_size;

  // Compute the number of tree levels
  if ( arg > 1.0f )
    tree_levels_ = static_cast<int> (std::ceil (std::log (arg)/std::log (2.0)) + 0.5);
  else
    tree_levels_ = 0;

  // Compute the number of octree levels and the bounds of the root
  float half_root_side = static_cast<float> (0.5f*pow (2.0, tree_levels_)*voxel_size);

  // Determine the bounding box of the octree
  bounds_[0] = center[0] - half_root_side;
  bounds_[1] = center[0] + half_root_side;
  bounds_[2] = center[1] - half_root_side;
  bounds_[3] = center[1] + half_root_side;
  bounds_[4] = center[2] - half_root_side;
  bounds_[5] = center[2] + half_root_side;

  // Create and initialize the root
  root_ = new ORROctree::Node();
  root_->setCenter(center);
  root_->setBounds(bounds_);
  root_->setParent(nullptr);
  root_->computeRadius();
}

//================================================================================================================================================================

void
pcl::recognition::ORROctree::build (const PointCloudIn& points, float voxel_size, const PointCloudN* normals, float enlarge_bounds)
{
  if ( voxel_size <= 0.0f )
    return;

  // Get the bounds of the input point set
  PointXYZ min, max;
  getMinMax3D(points, min, max);

  // Enlarge the bounds a bit to avoid points lying exact on the octree boundaries
  float eps = enlarge_bounds*std::max (std::max (max.x-min.x, max.y-min.y), max.z-min.z);
  float b[6] = {min.x-eps, max.x+eps, min.y-eps, max.y+eps, min.z-eps, max.z+eps};

  // Build an empty octree with the right boundaries and the right number of levels
  this->build (b, voxel_size);

#ifdef PCL_REC_ORR_OCTREE_VERBOSE
  printf("ORROctree::%s(): start\n", __func__);
  printf("point set bounds =\n"
         "[%f, %f]\n"
         "[%f, %f]\n"
         "[%f, %f]\n", min.x, max.x, min.y, max.y, min.z, max.z);
#endif

  std::size_t num_points = points.size ();

  // Fill the leaves with the points
  for (std::size_t i = 0 ; i < num_points ; ++i )
  {
    // Create a leaf which contains the i-th point.
    ORROctree::Node* node = this->createLeaf (points[i].x, points[i].y, points[i].z);

    // Make sure that the point is within some leaf
    if ( !node )
    {
      fprintf (stderr, "WARNING in 'ORROctree::%s()': the point (%f, %f, %f) should be within the octree bounds!\n",
        __func__, points[i].x, points[i].y, points[i].z);
      continue;
    }

    // Now, that we have the right leaf -> fill it
    node->getData ()->addToPoint (points[i].x, points[i].y, points[i].z);
    if ( normals )
      node->getData ()->addToNormal (normals->at(i).normal_x, normals->at(i).normal_y, normals->at(i).normal_z);
  }

  // Compute the normals and average points for each full octree node
  if ( normals )
  {
    for ( auto it = full_leaves_.begin() ; it != full_leaves_.end() ; )
    {
      // Compute the average point in the current octree leaf
      (*it)->getData ()->computeAveragePoint ();

      // Compute the length of the average normal
      float normal_length = aux::length3 ((*it)->getData ()->getNormal ());

      // We are suppose to use normals. However, it could be that all normals in this leaf are "illegal", because,
      // e.g., they were not available in the data set. In this case, remove the leaf from the octree.
      if ( normal_length <= std::numeric_limits<float>::epsilon () )
      {
        this->deleteBranch (*it);
        it = full_leaves_.erase (it);
      }
      else
      {
        aux::mult3 ((*it)->getData ()->getNormal (), 1.0f/normal_length);
        ++it;
      }
    }
  }
  else
  {
    // Iterate over all full leaves and average points
    for (const auto &full_leaf : full_leaves_)
      full_leaf->getData ()->computeAveragePoint ();
  }

#ifdef PCL_REC_ORR_OCTREE_VERBOSE
  printf("ORROctree::%s(): end\n", __func__);
#endif
}

//================================================================================================================================================================

bool
pcl::recognition::ORROctree::Node::createChildren()
{
  if ( children_ )
    return (false);

  float bounds[6], center[3], childside = 0.5f*(bounds_[1]-bounds_[0]);
  children_ = new ORROctree::Node[8];

  // Compute bounds and center for child 0, i.e., for (0,0,0)
  bounds[0] = bounds_[0]; bounds[1] = center_[0];
  bounds[2] = bounds_[2]; bounds[3] = center_[1];
  bounds[4] = bounds_[4]; bounds[5] = center_[2];
  // Compute the center of the new child
  center[0] = 0.5f*(bounds[0] + bounds[1]);
  center[1] = 0.5f*(bounds[2] + bounds[3]);
  center[2] = 0.5f*(bounds[4] + bounds[5]);
  // Save the results
  children_[0].setBounds(bounds);
  children_[0].setCenter(center);

  // Compute bounds and center for child 1, i.e., for (0,0,1)
  bounds[4] = center_[2]; bounds[5] = bounds_[5];
  // Update the center
  center[2] += childside;
  // Save the results
  children_[1].setBounds(bounds);
  children_[1].setCenter(center);

  // Compute bounds and center for child 3, i.e., for (0,1,1)
  bounds[2] = center_[1]; bounds[3] = bounds_[3];
  // Update the center
  center[1] += childside;
  // Save the results
  children_[3].setBounds(bounds);
  children_[3].setCenter(center);

  // Compute bounds and center for child 2, i.e., for (0,1,0)
  bounds[4] = bounds_[4]; bounds[5] = center_[2];
  // Update the center
  center[2] -= childside;
  // Save the results
  children_[2].setBounds(bounds);
  children_[2].setCenter(center);

  // Compute bounds and center for child 6, i.e., for (1,1,0)
  bounds[0] = center_[0]; bounds[1] = bounds_[1];
  // Update the center
  center[0] += childside;
  // Save the results
  children_[6].setBounds(bounds);
  children_[6].setCenter(center);

  // Compute bounds and center for child 7, i.e., for (1,1,1)
  bounds[4] = center_[2]; bounds[5] = bounds_[5];
  // Update the center
  center[2] += childside;
  // Save the results
  children_[7].setBounds(bounds);
  children_[7].setCenter(center);

  // Compute bounds and center for child 5, i.e., for (1,0,1)
  bounds[2] = bounds_[2]; bounds[3] = center_[1];
  // Update the center
  center[1] -= childside;
  // Save the results
  children_[5].setBounds(bounds);
  children_[5].setCenter(center);

  // Compute bounds and center for child 4, i.e., for (1,0,0)
  bounds[4] = bounds_[4]; bounds[5] = center_[2];
  // Update the center
  center[2] -= childside;
  // Save the results
  children_[4].setBounds(bounds);
  children_[4].setCenter(center);

  for ( int i = 0 ; i < 8 ; ++i )
  {
    children_[i].computeRadius();
    children_[i].setParent(this);
  }

  return (true);
}

//====================================================================================================

void
pcl::recognition::ORROctree::getFullLeavesIntersectedBySphere (const float* p, float radius, std::list<ORROctree::Node*>& out) const
{
  std::list<ORROctree::Node*> nodes;
  nodes.push_back (root_);

  ORROctree::Node *node, *child;

  while ( !nodes.empty () )
  {
    // Get the last element in the list
    node = nodes.back ();
    // Remove the last element from the list
    nodes.pop_back ();

    // Check if the sphere intersects the current node
    if ( std::abs (radius - aux::distance3<float> (p, node->getCenter ())) <= node->getRadius () )
    {
      // We have an intersection -> push back the children of the current node
      if ( node->hasChildren () )
      {
        for ( int i = 0 ; i < 8 ; ++i )
        {
          child = node->getChild (i);
          // We do not want to push all children -> only children with children or leaves
          if (child->hasChildren ())
            nodes.push_back(child);
          // only push back the child if it is not the leaf of p
          else if (child->hasData () && !aux::equal3 (p, child->getData ()->getPoint ()))
            nodes.push_back (child);
        }
      }
      // only push back the node if it is not the leaf of p
      else if (node->hasData () && !aux::equal3<float> (p, node->getData ()->getPoint ()))
        out.push_back (node); // We got a full leaf
    }
  }
}

//================================================================================================================================================================

ORROctree::Node*
pcl::recognition::ORROctree::getRandomFullLeafOnSphere (const float* p, float radius) const
{
  std::vector<int> tmp_ids;
  tmp_ids.reserve (8);

  pcl::common::UniformGenerator<int> randgen (0, 1, static_cast<std::uint32_t> (time (nullptr)));

  std::list<ORROctree::Node*> nodes;
  nodes.push_back (root_);

  while ( !nodes.empty () )
  {
    // Get the last element in the list
    ORROctree::Node *node = nodes.back ();
    // Remove the last element from the list
    nodes.pop_back ();

    // Check if the sphere intersects the current node
    if ( std::abs (radius - aux::distance3<float> (p, node->getCenter ())) <= node->getRadius () )
    {
      // We have an intersection -> push back the children of the current node
      if ( node->hasChildren () )
      {
        // Prepare the tmp id vector
        for ( int i = 0 ; i < 8 ; ++i )
          tmp_ids.push_back (i);

        // Push back the children in random order
        for ( int i = 0 ; i < 8 ; ++i )
        {
          randgen.setParameters (0, static_cast<int> (tmp_ids.size ()) - 1);
          int rand_pos = randgen.run ();
          nodes.push_back (node->getChild (tmp_ids[rand_pos]));
          // Remove the randomly selected id
          tmp_ids.erase (tmp_ids.begin () + rand_pos);
        }
      }
      else if ( node->hasData () )
        return node;
    }
  }

  return nullptr;
}

//================================================================================================================================================================

void
pcl::recognition::ORROctree::deleteBranch (Node* node)
{
  node->deleteChildren ();
  node->deleteData ();

  Node *parent = node->getParent ();

  // Go up until you reach a node which has other non-empty children (i.e., children with other children or with data)
  while ( parent )
  {
    Node *children = parent->getChildren ();
    // Check the children
    int i;
    for ( i = 0 ; i < 8 ; ++i )
    {
      if ( children[i].hasData () || children[i].hasChildren () )
        break;
    }

    // There are no children with other children or with data -> delete them all!
    if ( i == 8 )
    {
      parent->deleteChildren ();
      parent->deleteData ();
      // Go one level up
      parent = parent->getParent ();
    }
    else
      // Terminate the deleting process
      break;
  }
}

//================================================================================================================================================================

void
pcl::recognition::ORROctree::getFullLeavesPoints (PointCloudOut& out) const
{
  out.resize(full_leaves_.size ());
  std::size_t i = 0;

  // Now iterate over all full leaves and compute the normals and average points
  for ( std::vector<ORROctree::Node*>::const_iterator it = full_leaves_.begin() ; it != full_leaves_.end() ; ++it, ++i )
  {
    out[i].x = (*it)->getData ()->getPoint ()[0];
    out[i].y = (*it)->getData ()->getPoint ()[1];
    out[i].z = (*it)->getData ()->getPoint ()[2];
  }
}

//================================================================================================================================================================

void
pcl::recognition::ORROctree::getNormalsOfFullLeaves (PointCloudN& out) const
{
  out.resize(full_leaves_.size ());
  std::size_t i = 0;

  // Now iterate over all full leaves and compute the normals and average points
  for ( std::vector<ORROctree::Node*>::const_iterator it = full_leaves_.begin() ; it != full_leaves_.end() ; ++it, ++i )
  {
    out[i].normal_x = (*it)->getData ()->getNormal ()[0];
    out[i].normal_y = (*it)->getData ()->getNormal ()[1];
    out[i].normal_z = (*it)->getData ()->getNormal ()[2];
  }
}

//================================================================================================================================================================
