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Merge pull request #3183 from SunBlack/readability-else-after-return_…
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…outofcore

Remove else after return statement [outofcore]
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@taketwo
taketwo authored Jun 24, 2019
2 parents 67eceb0 + b2726c9 commit 10991fa
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Showing 3 changed files with 134 additions and 164 deletions.
291 changes: 132 additions & 159 deletions outofcore/include/pcl/outofcore/impl/octree_base_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -298,10 +298,7 @@ namespace pcl
template<typename ContainerT, typename PointT> bool
OutofcoreOctreeBaseNode<ContainerT, PointT>::hasUnloadedChildren () const
{
if (this->getNumLoadedChildren () < this->getNumChildren ())
return (true);
else
return (false);
return (this->getNumLoadedChildren () < this->getNumChildren ());
}
////////////////////////////////////////////////////////////////////////////////

Expand Down Expand Up @@ -428,76 +425,70 @@ namespace pcl

return (p.size ());
}
else//check which points belong to this node, throw away the rest
//check which points belong to this node, throw away the rest
std::vector<const PointT*> buff;
BOOST_FOREACH(const PointT* pt, p)
{
std::vector<const PointT*> buff;
BOOST_FOREACH(const PointT* pt, p)
if(pointInBoundingBox(*pt))
{
if(pointInBoundingBox(*pt))
{
buff.push_back(pt);
}
buff.push_back(pt);
}
}

if (!buff.empty ())
{
root_node_->m_tree_->incrementPointsInLOD (this->depth_, buff.size ());
payload_->insertRange (buff.data (), buff.size ());
// payload_->insertRange ( buff );

if (!buff.empty ())
{
root_node_->m_tree_->incrementPointsInLOD (this->depth_, buff.size ());
payload_->insertRange (buff.data (), buff.size ());
// payload_->insertRange ( buff );

}
return (buff.size ());
}
return (buff.size ());
}
else

if (this->hasUnloadedChildren ())
{
if (this->hasUnloadedChildren ())
{
loadChildren (false);
}
loadChildren (false);
}

std::vector < std::vector<const PointT*> > c;
c.resize (8);
for (size_t i = 0; i < 8; i++)
{
c[i].reserve (p.size () / 8);
}
std::vector < std::vector<const PointT*> > c;
c.resize (8);
for (size_t i = 0; i < 8; i++)
{
c[i].reserve (p.size () / 8);
}

const size_t len = p.size ();
for (size_t i = 0; i < len; i++)
const size_t len = p.size ();
for (size_t i = 0; i < len; i++)
{
//const PointT& pt = p[i];
if (!skip_bb_check)
{
//const PointT& pt = p[i];
if (!skip_bb_check)
if (!this->pointInBoundingBox (*p[i]))
{
if (!this->pointInBoundingBox (*p[i]))
{
// std::cerr << "failed to place point!!!" << std::endl;
continue;
}
}

uint8_t box = 00;
Eigen::Vector3d mid_xyz = node_metadata_->getVoxelCenter ();
//hash each coordinate to the appropriate octant
box = static_cast<uint8_t> (((p[i]->z >= mid_xyz[2]) << 2) | ((p[i]->y >= mid_xyz[1]) << 1) | ((p[i]->x >= mid_xyz[0] )));
//3 bit, 8 octants
c[box].push_back (p[i]);
}

boost::uint64_t points_added = 0;
for (size_t i = 0; i < 8; i++)
{
if (c[i].empty ())
// std::cerr << "failed to place point!!!" << std::endl;
continue;
if (!children_[i])
createChild (i);
points_added += children_[i]->addDataToLeaf (c[i], true);
c[i].clear ();
}
}
return (points_added);

uint8_t box = 00;
Eigen::Vector3d mid_xyz = node_metadata_->getVoxelCenter ();
//hash each coordinate to the appropriate octant
box = static_cast<uint8_t> (((p[i]->z >= mid_xyz[2]) << 2) | ((p[i]->y >= mid_xyz[1]) << 1) | ((p[i]->x >= mid_xyz[0] )));
//3 bit, 8 octants
c[box].push_back (p[i]);
}
// std::cerr << "failed to place point!!!" << std::endl;
return (0);

boost::uint64_t points_added = 0;
for (size_t i = 0; i < 8; i++)
{
if (c[i].empty ())
continue;
if (!children_[i])
createChild (i);
points_added += children_[i]->addDataToLeaf (c[i], true);
c[i].clear ();
}
return (points_added);
}
////////////////////////////////////////////////////////////////////////////////

Expand Down Expand Up @@ -635,27 +626,23 @@ namespace pcl
}

// Add points found within the current node's bounding box
else
{
AlignedPointTVector buff;
const size_t len = p.size ();
AlignedPointTVector buff;
const size_t len = p.size ();

for (size_t i = 0; i < len; i++)
{
if (pointInBoundingBox (p[i]))
{
buff.push_back (p[i]);
}
}

if (!buff.empty ())
for (size_t i = 0; i < len; i++)
{
if (pointInBoundingBox (p[i]))
{
root_node_->m_tree_->incrementPointsInLOD (this->depth_, buff.size ());
payload_->insertRange ( buff );

buff.push_back (p[i]);
}
return (buff.size ());
}

if (!buff.empty ())
{
root_node_->m_tree_->incrementPointsInLOD (this->depth_, buff.size ());
payload_->insertRange ( buff );
}
return (buff.size ());
}
////////////////////////////////////////////////////////////////////////////////
template<typename ContainerT, typename PointT> boost::uint64_t
Expand All @@ -671,11 +658,8 @@ namespace pcl

return (input_cloud->width*input_cloud->height);
}
else
{
PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeBaseNode] Not implemented\n");
return (0);
}
PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeBaseNode] Not implemented\n");
return (0);
}


Expand Down Expand Up @@ -1452,55 +1436,50 @@ namespace pcl
PCL_DEBUG ( "[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points in dst_blob: %ul\n", __FUNCTION__, dst_blob->width*dst_blob->height );
return;
}
else
{
//otherwise queried bounding box only partially intersects this
//node's bounding box, so we have to check all the points in
//this box for intersection with queried bounding box


// PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Partial extraction of points in bounding box. Desired: %.2lf %.2lf %2lf, %.2lf %.2lf %.2lf; This node BB: %.2lf %.2lf %.2lf, %.2lf %.2lf %.2lf\n", __FUNCTION__, min_bb[0], min_bb[1], min_bb[2], max_bb[0], max_bb[1], max_bb[2], min_[0], min_[1], min_[2], max_[0], max_[1], max_[2] );

//put the ros message into a pointxyz point cloud (just to get the indices by using getPointsInBox)
typename pcl::PointCloud<PointT>::Ptr tmp_cloud ( new pcl::PointCloud<PointT> () );
pcl::fromPCLPointCloud2 ( *tmp_blob, *tmp_cloud );
assert (tmp_blob->width*tmp_blob->height == tmp_cloud->width*tmp_cloud->height );
// PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Partial extraction of points in bounding box. Desired: %.2lf %.2lf %2lf, %.2lf %.2lf %.2lf; This node BB: %.2lf %.2lf %.2lf, %.2lf %.2lf %.2lf\n", __FUNCTION__, min_bb[0], min_bb[1], min_bb[2], max_bb[0], max_bb[1], max_bb[2], min_[0], min_[1], min_[2], max_[0], max_[1], max_[2] );
//put the ros message into a pointxyz point cloud (just to get the indices by using getPointsInBox)
typename pcl::PointCloud<PointT>::Ptr tmp_cloud ( new pcl::PointCloud<PointT> () );
pcl::fromPCLPointCloud2 ( *tmp_blob, *tmp_cloud );
assert (tmp_blob->width*tmp_blob->height == tmp_cloud->width*tmp_cloud->height );

Eigen::Vector4f min_pt ( static_cast<float> ( min_bb[0] ), static_cast<float> ( min_bb[1] ), static_cast<float> ( min_bb[2] ), 1.0f);
Eigen::Vector4f max_pt ( static_cast<float> ( max_bb[0] ), static_cast<float> ( max_bb[1] ) , static_cast<float>( max_bb[2] ), 1.0f );

std::vector<int> indices;
Eigen::Vector4f min_pt ( static_cast<float> ( min_bb[0] ), static_cast<float> ( min_bb[1] ), static_cast<float> ( min_bb[2] ), 1.0f);
Eigen::Vector4f max_pt ( static_cast<float> ( max_bb[0] ), static_cast<float> ( max_bb[1] ) , static_cast<float>( max_bb[2] ), 1.0f );

pcl::getPointsInBox ( *tmp_cloud, min_pt, max_pt, indices );
PCL_DEBUG ( "[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points in box: %d\n", __FUNCTION__, indices.size () );
PCL_DEBUG ( "[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points remaining: %d\n", __FUNCTION__, tmp_cloud->width*tmp_cloud->height - indices.size () );
std::vector<int> indices;

pcl::getPointsInBox ( *tmp_cloud, min_pt, max_pt, indices );
PCL_DEBUG ( "[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points in box: %d\n", __FUNCTION__, indices.size () );
PCL_DEBUG ( "[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points remaining: %d\n", __FUNCTION__, tmp_cloud->width*tmp_cloud->height - indices.size () );

if ( !indices.empty () )
{
if( dst_blob->width*dst_blob->height > 0 )
{
if( dst_blob->width*dst_blob->height > 0 )
{
//need a new tmp destination with extracted points within BB
pcl::PCLPointCloud2::Ptr tmp_blob_within_bb (new pcl::PCLPointCloud2 ());

//copy just the points marked in indices
pcl::copyPointCloud ( *tmp_blob, indices, *tmp_blob_within_bb );
assert ( tmp_blob_within_bb->width*tmp_blob_within_bb->height == indices.size () );
assert ( tmp_blob->fields.size () == tmp_blob_within_bb->fields.size () );
//concatenate those points into the returned dst_blob
PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Concatenating point cloud in place\n", __FUNCTION__);
boost::uint64_t orig_points_in_destination = dst_blob->width*dst_blob->height;
(void)orig_points_in_destination;
int res = pcl::concatenatePointCloud (*dst_blob, *tmp_blob_within_bb, *dst_blob);
(void)res;
assert (res == 1);
assert (dst_blob->width*dst_blob->height == indices.size () + orig_points_in_destination);
//need a new tmp destination with extracted points within BB
pcl::PCLPointCloud2::Ptr tmp_blob_within_bb (new pcl::PCLPointCloud2 ());

//copy just the points marked in indices
pcl::copyPointCloud ( *tmp_blob, indices, *tmp_blob_within_bb );
assert ( tmp_blob_within_bb->width*tmp_blob_within_bb->height == indices.size () );
assert ( tmp_blob->fields.size () == tmp_blob_within_bb->fields.size () );
//concatenate those points into the returned dst_blob
PCL_DEBUG ("[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Concatenating point cloud in place\n", __FUNCTION__);
boost::uint64_t orig_points_in_destination = dst_blob->width*dst_blob->height;
(void)orig_points_in_destination;
int res = pcl::concatenatePointCloud (*dst_blob, *tmp_blob_within_bb, *dst_blob);
(void)res;
assert (res == 1);
assert (dst_blob->width*dst_blob->height == indices.size () + orig_points_in_destination);

}
else
{
pcl::copyPointCloud ( *tmp_blob, indices, *dst_blob );
assert ( dst_blob->width*dst_blob->height == indices.size () );
}
}
else
{
pcl::copyPointCloud ( *tmp_blob, indices, *dst_blob );
assert ( dst_blob->width*dst_blob->height == indices.size () );
}
}
}
Expand Down Expand Up @@ -1555,27 +1534,24 @@ namespace pcl
//otherwise queried bounding box only partially intersects this
//node's bounding box, so we have to check all the points in
//this box for intersection with queried bounding box
else
//read _all_ the points in from the disk container
AlignedPointTVector payload_cache;
payload_->readRange (0, payload_->size (), payload_cache);

uint64_t len = payload_->size ();
//iterate through each of them
for (uint64_t i = 0; i < len; i++)
{
//read _all_ the points in from the disk container
AlignedPointTVector payload_cache;
payload_->readRange (0, payload_->size (), payload_cache);

uint64_t len = payload_->size ();
//iterate through each of them
for (uint64_t i = 0; i < len; i++)
const PointT& p = payload_cache[i];
//if it falls within this bounding box
if (pointInBoundingBox (min_bb, max_bb, p))
{
const PointT& p = payload_cache[i];
//if it falls within this bounding box
if (pointInBoundingBox (min_bb, max_bb, p))
{
//store it in the list
v.push_back (p);
}
else
{
PCL_DEBUG ("[pcl::outofcore::queryBBIncludes] Point %.2lf %.2lf %.2lf not in bounding box %.2lf %.2lf %.2lf", p.x, p.y, p.z, min_bb[0], min_bb[1], min_bb[2], max_bb[0], max_bb[1], max_bb[2]);
}
//store it in the list
v.push_back (p);
}
else
{
PCL_DEBUG ("[pcl::outofcore::queryBBIncludes] Point %.2lf %.2lf %.2lf not in bounding box %.2lf %.2lf %.2lf", p.x, p.y, p.z, min_bb[0], min_bb[1], min_bb[2], max_bb[0], max_bb[1], max_bb[2]);
}
}
}
Expand Down Expand Up @@ -1690,31 +1666,28 @@ namespace pcl
return;
}
//otherwise the queried bounding box only partially intersects with this node's bounding box
else
//brute force selection of all valid points
AlignedPointTVector payload_cache_within_region;
{
//brute force selection of all valid points
AlignedPointTVector payload_cache_within_region;
AlignedPointTVector payload_cache;
payload_->readRange (0, payload_->size (), payload_cache);
for (size_t i = 0; i < payload_->size (); i++)
{
AlignedPointTVector payload_cache;
payload_->readRange (0, payload_->size (), payload_cache);
for (size_t i = 0; i < payload_->size (); i++)
const PointT& p = payload_cache[i];
if (pointInBoundingBox (min_bb, max_bb, p))
{
const PointT& p = payload_cache[i];
if (pointInBoundingBox (min_bb, max_bb, p))
{
payload_cache_within_region.push_back (p);
}
payload_cache_within_region.push_back (p);
}
}//force the payload cache to deconstruct here
}
}//force the payload cache to deconstruct here

//use STL random_shuffle and push back a random selection of the points onto our list
std::random_shuffle (payload_cache_within_region.begin (), payload_cache_within_region.end ());
size_t numpick = static_cast<size_t> (percent * static_cast<double> (payload_cache_within_region.size ()));;
//use STL random_shuffle and push back a random selection of the points onto our list
std::random_shuffle (payload_cache_within_region.begin (), payload_cache_within_region.end ());
size_t numpick = static_cast<size_t> (percent * static_cast<double> (payload_cache_within_region.size ()));;

for (size_t i = 0; i < numpick; i++)
{
dst.push_back (payload_cache_within_region[i]);
}
for (size_t i = 0; i < numpick; i++)
{
dst.push_back (payload_cache_within_region[i]);
}
}
}
Expand Down
5 changes: 1 addition & 4 deletions outofcore/include/pcl/outofcore/octree_base_node.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -256,10 +256,7 @@ namespace pcl
{
return (pcl::octree::BRANCH_NODE);
}
else
{
return (pcl::octree::LEAF_NODE);
}
return (pcl::octree::LEAF_NODE);
}


Expand Down
2 changes: 1 addition & 1 deletion outofcore/src/outofcore_node_data.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -260,7 +260,7 @@ namespace pcl
PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeNodeMetadata] Can not find index metadata at %s.\n", metadata_filename_.c_str ());
return (0);
}
else if(boost::filesystem::is_directory (metadata_filename_))
if(boost::filesystem::is_directory (metadata_filename_))
{
PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeNodeMetadata] Got a directory, but no oct_idx metadata?\n");
return (0);
Expand Down

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