Octree.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#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(
            bool robust = false) const override;
 
    OrientedBoundingBox GetMinimalOrientedBoundingBox(
            bool robust = false) 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