fix OctreeBase: add abstractmethod annotations

fix Octree: do not unsubdivide after filter
prime-slam · Nov 16, 2023 · a4fd195 · a4fd195
1 parent c3914c1
commit a4fd195
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/octreelib/octree/octree.py b/octreelib/octree/octree.py
@@ -94,9 +94,6 @@ def filter(self, filtering_criteria: List[Callable[[PointCloud], bool]]):
         if self._has_children:
             for child in self._children:
                 child.filter(filtering_criteria)
-            if all([child.n_points == 0 for child in self._children]):
-                self._children = []
-                self._has_children = False
         elif not all([criterion(self._points) for criterion in filtering_criteria]):
             self._points = np.empty((0, 3), dtype=float)
 

diff --git a/octreelib/octree/octree_base.py b/octreelib/octree/octree_base.py
@@ -96,6 +96,7 @@ def subdivide(self, subdivision_criteria: List[Callable[[PointCloud], bool]]):
         """
         pass
 
+    @abstractmethod
     def subdivide_as(self, other: "OctreeNodeBase"):
         """
         Subdivide octree node using the subdivision scheme of a different octree node.
@@ -189,6 +190,7 @@ def subdivide(self, subdivision_criteria: List[Callable[[PointCloud], bool]]):
         """
         pass
 
+    @abstractmethod
     def subdivide_as(self, other: "OctreeBase"):
         """
         Subdivide octree using the subdivision scheme of a different octree.