三维点云学习（2）下-Octree

三维点云学习（2）下-Octree

Octree(八叉树)的基本结构

思想：立体空间的分割

二维平面的展示

Octree(八叉树)的构建

#extent:立方体中心点到面的距离
#Center of the cube 立方体的中心

1.判断每一个点里面都有怎么样的主节点
2.计算子节点的中心在哪，子节点的边长，再把属于这个子节点的数据放进去

Octant构建完成之后，进行kNN的搜寻
这里展现了Octree比kd-tree的优越在于当红色框被S2包围时，可以马上结束搜寻

1.如果octant是一个末尾叶子节点，直接把数据扔进去KNN搜寻
2.如果不是末尾节点，进行寻找最有可能的子节点
3.如果查找成功，直接退出返回True，不成功，再搜寻其他子节点
4.overlaps() 用于判断，子节点与球是否有交际，没有就跳过（空间结构思想）
5.inside() ,如果球面被某一个Octant包围，可直接退出

inside的实现
#红色代表worst——dist
#正方形代表一个octant
只需要判断 extent > radius +diff 就可认为球在正方体里面

overlaps的实现
#case1：判断是否有接触
如果 diff > extent + radius 可认为球面与octant没接触

#case2：判断球体和某一个面是否接触
假设case1 成立，当有球体的中心点有两个轴位于正方体的相应轴内部时，也同样可判断为有交集

#case3.1:判断球体有没有跟正方体某个角点接触
当 diff < radius 可判断为和角点有接触

#case3.2:判断球体有没有跟正方体某个棱是否接触
注意：用max(,0)解决球体中某个点会陷在正方体的某个轴上，而出现的负数影响

oerlaps回顾：

Better one：

如果有一个球体完全包围一个正方体，那只需要对相应的octant进行kNN search就行

图示:
如果：
图示绿色线 < radius 可认为被包裹

复杂度

完整代码

#运行结果

Radius search normal:
Search takes 45438.469ms

Radius search fast:
Search takes 20330.457ms

import random
import math
import numpy as np
import time

from lidar_KnnRnnClass_2 import KNNResultSet, RadiusNNResultSet


class Octant:
    def __init__(self, children, center, extent, point_indices, is_leaf):
        self.children = children
        self.center = center
        self.extent = extent
        self.point_indices = point_indices
        self.is_leaf = is_leaf

    def __str__(self):
        output = ''
        output += 'center: [%.2f, %.2f, %.2f], ' % (self.center[0], self.center[1], self.center[2])
        output += 'extent: %.2f, ' % self.extent
        output += 'is_leaf: %d, ' % self.is_leaf
        output += 'children: ' + str([x is not None for x in self.children]) + ", "
        output += 'point_indices: ' + str(self.point_indices)
        return output


def traverse_octree(root: Octant, depth, max_depth):
    depth[0] += 1
    if max_depth[0] < depth[0]:
        max_depth[0] = depth[0]

    if root is None:
        pass
    elif root.is_leaf:
        print(root)
    else:
        for child in root.children:
            traverse_octree(child, depth, max_depth)
    depth[0] -= 1


def octree_recursive_build(root, db, center, extent, point_indices, leaf_size, min_extent):
    if len(point_indices) == 0:
        return None

    if root is None:
        root = Octant([None for i in range(8)], center, extent, point_indices, is_leaf=True)

    # determine whether to split this octant
    if len(point_indices) <= leaf_size or extent <= min_extent:
        root.is_leaf = True
    else:
        root.is_leaf = False
        children_point_indices = [[] for i in range(8)]
        for point_idx in point_indices:
            point_db = db[point_idx]
            morton_code = 0
            if point_db[0] > center[0]:
                morton_code = morton_code | 1
            if point_db[1] > center[1]:
                morton_code = morton_code | 2
            if point_db[2] > center[2]:
                morton_code = morton_code | 4
            children_point_indices[morton_code].append(point_idx)
        # create children
        factor = [-0.5, 0.5]
        for i in range(8):
            child_center_x = center[0] + factor[(i & 1) > 0] * extent
            child_center_y = center[1] + factor[(i & 2) > 0] * extent
            child_center_z = center[2] + factor[(i & 4) > 0] * extent
            child_extent = 0.5 * extent
            child_center = np.asarray([child_center_x, child_center_y, child_center_z])
            root.children[i] = octree_recursive_build(root.children[i],
                                                      db,
                                                      child_center,
                                                      child_extent,
                                                      children_point_indices[i],
                                                      leaf_size,
                                                      min_extent)
    return root


def inside(query: np.ndarray, radius: float, octant:Octant):
    """
    Determines if the query ball is inside the octant
    :param query:
    :param radius:
    :param octant:
    :return:
    """
    query_offset = query - octant.center
    query_offset_abs = np.fabs(query_offset)
    possible_space = query_offset_abs + radius
    return np.all(possible_space < octant.extent)


def overlaps(query: np.ndarray, radius: float, octant:Octant):
    """
    Determines if the query ball overlaps with the octant
    :param query:
    :param radius:
    :param octant:
    :return:
    """
    query_offset = query - octant.center
    query_offset_abs = np.fabs(query_offset)

    # completely outside, since query is outside the relevant area
    max_dist = radius + octant.extent
    if np.any(query_offset_abs > max_dist):
        return False

    # if pass the above check, consider the case that the ball is contacting the face of the octant
    if np.sum((query_offset_abs < octant.extent).astype(np.int)) >= 2:
        return True

    # conside the case that the ball is contacting the edge or corner of the octant
    # since the case of the ball center (query) inside octant has been considered,
    # we only consider the ball center (query) outside octant
    x_diff = max(query_offset_abs[0] - octant.extent, 0)
    y_diff = max(query_offset_abs[1] - octant.extent, 0)
    z_diff = max(query_offset_abs[2] - octant.extent, 0)

    return x_diff * x_diff + y_diff * y_diff + z_diff * z_diff < radius * radius


def contains(query: np.ndarray, radius: float, octant:Octant):
    """
    Determine if the query ball contains the octant
    :param query:
    :param radius:
    :param octant:
    :return:
    """
    query_offset = query - octant.center
    query_offset_abs = np.fabs(query_offset)

    query_offset_to_farthest_corner = query_offset_abs + octant.extent
    return np.linalg.norm(query_offset_to_farthest_corner) < radius


def octree_radius_search_fast(root: Octant, db: np.ndarray, result_set: RadiusNNResultSet, query: np.ndarray):
    if root is None:
        return False

    if contains(query, result_set.worstDist(), root):
        # compare the contents of the octant
        leaf_points = db[root.point_indices, :]
        diff = np.linalg.norm(np.expand_dims(query, 0) - leaf_points, axis=1)
        for i in range(diff.shape[0]):
            result_set.add_point(diff[i], root.point_indices[i])
        # don't need to check any child
        return False

    if root.is_leaf and len(root.point_indices) > 0:
        # compare the contents of a leaf
        leaf_points = db[root.point_indices, :]
        diff = np.linalg.norm(np.expand_dims(query, 0) - leaf_points, axis=1)
        for i in range(diff.shape[0]):
            result_set.add_point(diff[i], root.point_indices[i])
        # check whether we can stop search now
        return inside(query, result_set.worstDist(), root)

    # no need to go to most relevant child first, because anyway we will go through all children
    for c, child in enumerate(root.children):
        if child is None:
            continue
        if False == overlaps(query, result_set.worstDist(), child):
            continue
        if octree_radius_search_fast(child, db, result_set, query):
            return True

    return inside(query, result_set.worstDist(), root)


def octree_radius_search(root: Octant, db: np.ndarray, result_set: RadiusNNResultSet, query: np.ndarray):
    if root is None:
        return False

    if root.is_leaf and len(root.point_indices) > 0:
        # compare the contents of a leaf
        leaf_points = db[root.point_indices, :]
        diff = np.linalg.norm(np.expand_dims(query, 0) - leaf_points, axis=1)
        for i in range(diff.shape[0]):
            result_set.add_point(diff[i], root.point_indices[i])
        # check whether we can stop search now
        return inside(query, result_set.worstDist(), root)

    # go to the relevant child first
    morton_code = 0
    if query[0] > root.center[0]:
        morton_code = morton_code | 1
    if query[1] > root.center[1]:
        morton_code = morton_code | 2
    if query[2] > root.center[2]:
        morton_code = morton_code | 4

    if octree_radius_search(root.children[morton_code], db, result_set, query):
        return True

    # check other children
    for c, child in enumerate(root.children):
        if c == morton_code or child is None:
            continue
        if False == overlaps(query, result_set.worstDist(), child):
            continue
        if octree_radius_search(child, db, result_set, query):
            return True

    # final check of if we can stop search
    return inside(query, result_set.worstDist(), root)


def octree_knn_search(root: Octant, db: np.ndarray, result_set: KNNResultSet, query: np.ndarray):
    if root is None:
        return False

    if root.is_leaf and len(root.point_indices) > 0:                             #如果是末尾节点(leaf)那就直接把数据扔进KNNResult
        # compare the contents of a leaf
        leaf_points = db[root.point_indices, :]
        diff = np.linalg.norm(np.expand_dims(query, 0) - leaf_points, axis=1)
        for i in range(diff.shape[0]):
            result_set.add_point(diff[i], root.point_indices[i])
        # check whether we can stop search now
        return inside(query, result_set.worstDist(), root)

    # go to the relevant child first
    morton_code = 0
    if query[0] > root.center[0]:
        morton_code = morton_code | 1
    if query[1] > root.center[1]:
        morton_code = morton_code | 2
    if query[2] > root.center[2]:
        morton_code = morton_code | 4

    if octree_knn_search(root.children[morton_code], db, result_set, query):
        return True

    # check other children
    for c, child in enumerate(root.children):
        if c == morton_code or child is None:
            continue
        if False == overlaps(query, result_set.worstDist(), child):
            continue
        if octree_knn_search(child, db, result_set, query):
            return True

    # final check of if we can stop search
    return inside(query, result_set.worstDist(), root)


def octree_construction(db_np, leaf_size, min_extent):
    N, dim = db_np.shape[0], db_np.shape[1]
    db_np_min = np.amin(db_np, axis=0)
    db_np_max = np.amax(db_np, axis=0)
    db_extent = np.max(db_np_max - db_np_min) * 0.5
    db_center = db_np_min + db_extent

    root = None
    root = octree_recursive_build(root, db_np, db_center, db_extent, list(range(N)),
                                  leaf_size, min_extent)

    return root

def main():
    # configuration
    db_size = 64000
    dim = 3
    leaf_size = 4
    min_extent = 0.0001
    k = 8

    db_np = np.random.rand(db_size, dim)

    root = octree_construction(db_np, leaf_size, min_extent)

    # depth = [0]
    # max_depth = [0]
    # traverse_octree(root, depth, max_depth)
    # print("tree max depth: %d" % max_depth[0])

    # query = np.asarray([0, 0, 0])
    # result_set = KNNResultSet(capacity=k)
    # octree_knn_search(root, db_np, result_set, query)
    # print(result_set)
    #
    # diff = np.linalg.norm(np.expand_dims(query, 0) - db_np, axis=1)
    # nn_idx = np.argsort(diff)
    # nn_dist = diff[nn_idx]
    # print(nn_idx[0:k])
    # print(nn_dist[0:k])

    begin_t = time.time()
    print("Radius search normal:")
    for i in range(100):
        query = np.random.rand(3)
        result_set = RadiusNNResultSet(radius=0.5)
        octree_radius_search(root, db_np, result_set, query)
    # print(result_set)
    print("Search takes %.3fms\n" % ((time.time() - begin_t) * 1000))

    begin_t = time.time()
    print("Radius search fast:")
    for i in range(100):
        query = np.random.rand(3)
        result_set = RadiusNNResultSet(radius = 0.5)
        octree_radius_search_fast(root, db_np, result_set, query)
    # print(result_set)
    print("Search takes %.3fms\n" % ((time.time() - begin_t)*1000))



if __name__ == '__main__':
    main()