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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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51 changes: 24 additions & 27 deletions pointcloud/basic_octree_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -633,24 +633,33 @@ func testPCDToBasicOctree(t *testing.T, artifactPath string) {
validateBasicOctree(t, basicOct, basicOct.center, basicOct.sideLength)
}

func TestCachedMaxProbability(t *testing.T) {
func createPopulatedOctree(sign int) (*BasicOctree, error) {
center := r3.Vector{X: 0, Y: 0, Z: 0}
side := 2.0
octree, err := createNewOctree(center, side)
if err != nil {
return nil, nil
}
pointsAndData := []PointAndData{
{P: r3.Vector{X: 0, Y: 0, Z: 0}, D: NewValueData(2 * sign)},
{P: r3.Vector{X: .5, Y: 0, Z: 0}, D: NewValueData(3 * sign)},
{P: r3.Vector{X: .5, Y: 0, Z: .5}, D: NewValueData(10 * sign)},
{P: r3.Vector{X: .5, Y: .5, Z: 0}, D: NewValueData(1 * sign)},
{P: r3.Vector{X: .55, Y: .55, Z: 0}, D: NewValueData(4 * sign)},
{P: r3.Vector{X: -.55, Y: -.55, Z: 0}, D: NewValueData(5 * sign)},
{P: r3.Vector{X: .755, Y: .755, Z: 0}, D: NewValueData(6 * sign)},
}

t.Run("get the max val from an octree", func(t *testing.T) {
octree, err := createNewOctree(center, side)
test.That(t, err, test.ShouldBeNil)
pointsAndData := []PointAndData{
{P: r3.Vector{X: 0, Y: 0, Z: 0}, D: NewValueData(2)},
{P: r3.Vector{X: .5, Y: 0, Z: 0}, D: NewValueData(3)},
{P: r3.Vector{X: .5, Y: 0, Z: .5}, D: NewValueData(10)},
{P: r3.Vector{X: .5, Y: .5, Z: 0}, D: NewValueData(1)},
{P: r3.Vector{X: .55, Y: .55, Z: 0}, D: NewValueData(4)},
{P: r3.Vector{X: -.55, Y: -.55, Z: 0}, D: NewValueData(5)},
{P: r3.Vector{X: .755, Y: .755, Z: 0}, D: NewValueData(6)},
}
err = addPoints(octree, pointsAndData)
if err != nil {
return nil, nil
}
return octree, nil
}

err = addPoints(octree, pointsAndData)
func TestCachedMaxProbability(t *testing.T) {
t.Run("get the max val from an octree", func(t *testing.T) {
octree, err := createPopulatedOctree(1)
test.That(t, err, test.ShouldBeNil)

validateBasicOctree(t, octree, octree.center, octree.sideLength)
Expand All @@ -675,19 +684,7 @@ func TestCachedMaxProbability(t *testing.T) {
})

t.Run("setting negative values", func(t *testing.T) {
octree, err := createNewOctree(center, side)
test.That(t, err, test.ShouldBeNil)
pointsAndData := []PointAndData{
{P: r3.Vector{X: 0, Y: 0, Z: 0}, D: NewValueData(-2)},
{P: r3.Vector{X: .5, Y: 0, Z: 0}, D: NewValueData(-3)},
{P: r3.Vector{X: .5, Y: 0, Z: .5}, D: NewValueData(-10)},
{P: r3.Vector{X: .5, Y: .5, Z: 0}, D: NewValueData(-1)},
{P: r3.Vector{X: .55, Y: .55, Z: 0}, D: NewValueData(-4)},
{P: r3.Vector{X: -.55, Y: -.55, Z: 0}, D: NewValueData(-5)},
{P: r3.Vector{X: .755, Y: .755, Z: 0}, D: NewValueData(-6)},
}

err = addPoints(octree, pointsAndData)
octree, err := createPopulatedOctree(-1)
test.That(t, err, test.ShouldBeNil)

validateBasicOctree(t, octree, octree.center, octree.sideLength)
Expand Down
10 changes: 5 additions & 5 deletions pointcloud/pointcloud_utils.go
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Original file line number Diff line number Diff line change
Expand Up @@ -104,16 +104,16 @@ func ToBasicOctree(cloud PointCloud) (*BasicOctree, error) {
if err != nil {
return &BasicOctree{}, err
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}
var iterateError error
// var iterateError error
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cloud.Iterate(0, 0, func(p r3.Vector, d Data) bool {
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if err = basicOctree.Set(p, d); err != nil {
iterateError = err
// iterateError = err
return false
}
return true
})
if iterateError != nil {
return &BasicOctree{}, iterateError
}
// if iterateError != nil {
// return &BasicOctree{}, iterateError
// }
return basicOctree, nil
}
14 changes: 1 addition & 13 deletions pointcloud/pointcloud_utils_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -82,19 +82,7 @@ func TestToOctree(t *testing.T) {
return true
})

basicTree, err := createNewOctree(r3.Vector{0, 0, 0}, 2)
test.That(t, err, test.ShouldBeNil)
pointsAndData := []PointAndData{
{P: r3.Vector{X: 0, Y: 0, Z: 0}, D: NewValueData(2)},
{P: r3.Vector{X: .5, Y: 0, Z: 0}, D: NewValueData(3)},
{P: r3.Vector{X: .5, Y: 0, Z: .5}, D: NewValueData(10)},
{P: r3.Vector{X: .5, Y: .5, Z: 0}, D: NewValueData(1)},
{P: r3.Vector{X: .55, Y: .55, Z: 0}, D: NewValueData(4)},
{P: r3.Vector{X: -.55, Y: -.55, Z: 0}, D: NewValueData(5)},
{P: r3.Vector{X: .755, Y: .755, Z: 0}, D: NewValueData(6)},
}

err = addPoints(basicTree, pointsAndData)
basicTree, err := createPopulatedOctree(1)
test.That(t, err, test.ShouldBeNil)
tree, err = ToBasicOctree(basicTree)
test.That(t, err, test.ShouldBeNil)
Expand Down
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