open3D源码分析第六篇

2021SC@SDUSC

Octree.h

注释中文部分是源码解读，分析和问题在源码之后

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

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

namespace open3d {
   
namespace geometry {
   

class PointCloud;
class VoxelGrid;

// OctreeNode信息类class OctreeNodeInfo
// 简要的OctreeNode信息。
// OctreeNodeInfo即时计算，不与节点一起存储。
class OctreeNodeInfo {
   
public:
    // 默认构造函数
    // 所有值初始化为0.
    OctreeNodeInfo() : origin_(0, 0, 0), size_(0), depth_(0), child_index_(0) {
   }

    // 参数化构造函数。
    OctreeNodeInfo(const Eigen::Vector3d& origin,// 节点的原点坐标
                   const double& size,// 节点的大小
                   const size_t& depth,// 节点到根的深度。根是深度0。
                   const size_t& child_index)// 子节点索引
        : origin_(origin),
          size_(size),
          depth_(depth),
          child_index_(child_index) {
   }
    ~OctreeNodeInfo() {
   }

public:
    // 节点的原点坐标
    Eigen::Vector3d origin_;
    // 节点的大小
    double size_;
    // 节点到根的深度。根是深度0。
    size_t depth_;
    // 子节点索引
    size_t child_index_;
};

// 八叉树类class OctreeNode
// 八叉树节点的基础类。
//设计决策：不要存储节点的来源和大小
//-好：空间效率更高。
//-差：遍历时需要重新计算原点和大小。
class OctreeNode : public utility::IJsonConvertible {
   
public:
    // 默认构造函数
    OctreeNode() {
   }
    virtual ~OctreeNode() {
   }

    // 工厂函数通过解析json值来构建OctreeNode。
    static std::shared_ptr<OctreeNode> ConstructFromJsonValue(
            const Json::Value& value);
};

//OctreeInternalNode类，包含OctreeNode子节点。
//子节点排序约定如下。
//为了说明，假设，
// - root_node: origin == (0, 0, 0), size == 2
// - children_[0]: origin == (0, 0, 0), size == 1
// - children_[1]: origin == (1, 0, 0), size == 1, along X-axis next to child 0
// - children_[2]: origin == (0, 1, 0), size == 1, along Y-axis next to child 0
// - children_[3]: origin == (1, 1, 0), size == 1, in X-Y plane
// - children_[4]: origin == (0, 0, 1), size == 1, along Z-axis next to child 0
// - children_[5]: origin == (1, 0, 1), size == 1, in X-Z plane
// - children_[6]: origin == (0, 1, 1), size == 1, in Y-Z plane
// - children_[7]: origin == (1, 1, 1), size == 1, furthest from child 0
class OctreeInternalNode : public OctreeNode {
   
public:
    // 默认构造函数
    OctreeInternalNode() : children_(8) {
   }
    static std::shared_ptr<OctreeNodeInfo> GetInsertionNodeInfo(
            const std::shared_ptr<OctreeNodeInfo>& node_info,
            const Eigen::Vector3d& point);

	//获取lambda函数