add comments

octreelib/grid/grid.py

@@ -18,7 +18,7 @@
 
 
 class GridConfig(GridConfigBase):
-    _compatible_octree_types = [OctreeManager]
+    _compatible_octree_manager_types = [OctreeManager]
 
 
 class Grid(GridBase):
@@ -38,7 +38,7 @@ def __init__(self, grid_config: GridConfig):
         self.__pose_voxel_coordinates: Dict[int, List[VoxelBase]] = {}
 
         # {voxel -> octree manager}
-        self.__octrees: Dict[VoxelBase, grid_config.octree_type] = {}
+        self.__octrees: Dict[VoxelBase, grid_config.octree_manager_type] = {}
 
     def insert_points(self, pose_number: int, points: PointCloud):
         """
@@ -73,7 +73,7 @@ def insert_points(self, pose_number: int, points: PointCloud):
                 self._grid_config.grid_voxel_edge_length,
             )
             if target_voxel not in self.__octrees:
-                self.__octrees[target_voxel] = self._grid_config.octree_type(
+                self.__octrees[target_voxel] = self._grid_config.octree_manager_type(
                     self._grid_config.octree_config,
                     np.array(voxel_coordinates),
                     self._grid_config.grid_voxel_edge_length,

octreelib/grid/grid_base.py

@@ -50,16 +50,16 @@ class GridConfigBase(ABC):
     """
     Config for Grid
 
-    octree_type: type of Octree used
+    octree_manager_type: type of OctreeManager used
     octree_config: config to be forwarded to the octrees
     debug: debug mode
     grid_voxel_edge_length: initial size of voxels
     corner: corner of a grid
     """
 
-    _compatible_octree_types = []
+    _compatible_octree_manager_types = []
 
-    octree_type: Type[T]
+    octree_manager_type: Type[T]
     octree_config: OctreeConfigBase
     debug: bool = False
     grid_voxel_edge_length: int = 1
@@ -70,17 +70,17 @@ def compatible_octree_types(self):
         """
         :return: Types of Octrees which are compatible with this
         """
-        return self._compatible_octree_types
+        return self._compatible_octree_manager_types
 
     def __post_init__(self):
         """
         Check that
         :raises TypeError: if given octree_type is not compatible with this type of grid.
         """
-        if self.octree_type not in self.compatible_octree_types:
+        if self.octree_manager_type not in self.compatible_octree_types:
             raise TypeError(
-                f"Cannot use the provided octree type {self.octree_type.__name__}. "
-                f"The compatible octree types are [{', '.join(cls.__name__ for cls in self.compatible_octree_types)}]."
+                f"Cannot use the provided octree manager type {self.octree_manager_type.__name__}. "
+                f"The compatible octree manager types are [{', '.join(cls.__name__ for cls in self.compatible_octree_types)}]."
             )
 
 

octreelib/internal/point.py

@@ -1,5 +1,3 @@
-from __future__ import annotations
-
 from typing import Annotated, Literal
 
 import numpy as np

octreelib/octree/octree.py

@@ -19,23 +19,6 @@ class OctreeConfig(OctreeConfigBase):
 
 
 class OctreeNode(OctreeNodeBase):
-    def __generate_children(self):
-        child_edge_length = self.edge_length / np.float_(2)
-        children_corners_offsets = itertools.product([0, child_edge_length], repeat=3)
-        return [
-            OctreeNode(
-                self.corner_min + offset,
-                child_edge_length,
-                8 * self._position + internal_position,
-            )
-            for internal_position, offset in enumerate(children_corners_offsets)
-        ]
-
-    def __unify(self):
-        self._points = self.get_points()
-        self._has_children = False
-        self._children = []
-
     def subdivide(self, subdivision_criteria: List[Callable[[PointCloud], bool]]):
         """
         Subdivide node based on the subdivision criteria.
@@ -79,17 +62,19 @@ def insert_points(self, points: PointCloud):
         :param points: Points to insert.
         """
         if self._has_children:
+            # distribute points to children
             clouds = []
-
             for offset in itertools.product([0, self.edge_length / 2], repeat=3):
                 child_corner_min = self.corner_min + np.array(offset)
                 child_corner_max = child_corner_min + self.edge_length / 2
+                # find points in the child
                 mask = np.all(
                     (points >= child_corner_min) & (points < child_corner_max), axis=1
                 )
                 child_points = points[mask]
                 clouds.append(child_points)
 
+            # insert points to children
             for child, cloud in zip(self._children, clouds):
                 child.insert_points(cloud)
         else:
@@ -167,6 +152,29 @@ def n_points(self):
             else len(self._points)
         )
 
+    def __generate_children(self):
+        """
+        Generate children of the node.
+        """
+        child_edge_length = self.edge_length / np.float_(2)
+        children_corners_offsets = itertools.product([0, child_edge_length], repeat=3)
+        return [
+            OctreeNode(
+                self.corner_min + offset,
+                child_edge_length,
+                8 * self._position + internal_position,
+            )
+            for internal_position, offset in enumerate(children_corners_offsets)
+        ]
+
+    def __unify(self):
+        """
+        Unify (unsubdivide) children of the node.
+        """
+        self._points = self.get_points()
+        self._has_children = False
+        self._children = []
+
 
 class Octree(OctreeBase, Generic[T]):
     """

test/grid/test_grid.py

@@ -15,7 +15,7 @@ def points_are_same(points_first: PointCloud, points_second: PointCloud):
 def generated_grid():
     grid = Grid(
         GridConfig(
-            octree_type=OctreeManager,
+            octree_manager_type=OctreeManager,
             octree_config=OctreeConfig(),
             grid_voxel_edge_length=5,
         )
@@ -155,15 +155,15 @@ def test_invalid_octree_type():
     try:
         Grid(
             GridConfig(
-                octree_type=Octree,
+                octree_manager_type=Octree,
                 octree_config=OctreeConfig(),
                 grid_voxel_edge_length=5,
             )
         )
     except TypeError as e:
         assert str(e) == (
-            "Cannot use the provided octree type Octree. "
-            "The compatible octree types are [OctreeManager]."
+            "Cannot use the provided octree manager type Octree. "
+            "The compatible octree manager types are [OctreeManager]."
         )
     else:
         raise AssertionError("This type of octree should have caused an exception")