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Add method which converts a pointcloud into an octree. #4608

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merged 7 commits into from
Dec 9, 2024
Merged

Add method which converts a pointcloud into an octree. #4608

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6e758e9
add function comment
nfranczak Dec 6, 2024
26f916a
add test + check if we can assert that the passed in cloud is already…
nfranczak Dec 6, 2024
73ed4ae
type assertion -- Bijan's comment
nfranczak Dec 6, 2024
b67273e
appease linter + introduce helper function named createPopulatedOctre…
nfranczak Dec 6, 2024
e838939
uncomment iterateError
nfranczak Dec 6, 2024
ffcd510
best practice is to return nil over an empty octree
nfranczak Dec 6, 2024
96bf8eb
actually return the error and not nil
nfranczak Dec 6, 2024
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19 changes: 19 additions & 0 deletions pointcloud/pointcloud_utils.go
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Original file line number Diff line number Diff line change
Expand Up @@ -91,3 +91,22 @@ func StatisticalOutlierFilter(meanK int, stdDevThresh float64) (func(PointCloud)
}
return filterFunc, nil
}

// PointCloudToBasicOctree takes a pointcloud object and converts it into an octree.
func PointCloudToBasicOctree(cloud PointCloud) (*BasicOctree, error) {
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If cloud is already a BasicOctree, we should return that directly instead of copying

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seems that is is not.

return utils.AssertType[*BasicOctree](cloud)

gives error

expected *pointcloud.BasicOctree but got *pointcloud.basicPointCloud

Unless, I am completely mis-understanding this comment.

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octrees still satify the pointcloud interface iirc, so a user could call this function with something thats already an octree.

if we realize that we have an octree already, then we should just return it

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That would be because you passed in a basicPointCloud.

You should not be returning AssertType directly, only if the err is nil.

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PointCloud is an interface type -- there are many structs that fulfill the PointCloud interface. You should do a type assertion to see if the cloud passed is already of the BasicOctree Type, and return it if it is.

This isn't just for your use case, but a check so that all future users can ensure they're not accidently passing in a pointcloud that already an OctTree type

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if octTree, ok := cloud.(*BasicOctree); ok {
   return octTree, nil
}

https://yourbasic.org/golang/type-assertion-switch/

center := getCenterFromPcMetaData(cloud.MetaData())
maxSideLength := getMaxSideLengthFromPcMetaData(cloud.MetaData())

basicOct, err := NewBasicOctree(center, maxSideLength)
if err != nil {
return &BasicOctree{}, err
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}

cloud.Iterate(0, 0, func(p r3.Vector, d Data) bool {
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if err = basicOct.Set(p, d); err != nil {
return false
}
return true
})
return basicOct, nil
}
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