Point Cloud Library (PCL)  1.9.1
octree_key.h
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37 
38 #ifndef PCL_OCTREE_KEY_H
39 #define PCL_OCTREE_KEY_H
40 
41 namespace pcl
42 {
43  namespace octree
44  {
45  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46  /** \brief @b Octree key class
47  * \note Octree keys contain integer indices for each coordinate axis in order to address an octree leaf node.
48  * \author Julius Kammerl (julius@kammerl.de)
49  */
50  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
51  class OctreeKey
52  {
53  public:
54 
55  /** \brief Empty constructor. */
56  OctreeKey () :
57  x (0), y (0), z (0)
58  {
59  }
60 
61  /** \brief Constructor for key initialization. */
62  OctreeKey (unsigned int keyX, unsigned int keyY, unsigned int keyZ) :
63  x (keyX), y (keyY), z (keyZ)
64  {
65  }
66 
67  /** \brief Copy constructor. */
68  OctreeKey (const OctreeKey& source)
69  {
70  memcpy(key_, source.key_, sizeof(key_));
71  }
72 
73  /** \brief Operator== for comparing octree keys with each other.
74  * \return "true" if leaf node indices are identical; "false" otherwise.
75  * */
76  bool
77  operator == (const OctreeKey& b) const
78  {
79  return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
80  }
81 
82  /** \brief Inequal comparison operator
83  * \param[in] other OctreeIteratorBase to compare with
84  * \return "true" if the current and other iterators are different ; "false" otherwise.
85  */
86  bool operator!= (const OctreeKey& other) const
87  {
88  return !operator== (other);
89  }
90 
91  /** \brief Operator<= for comparing octree keys with each other.
92  * \return "true" if key indices are not greater than the key indices of b ; "false" otherwise.
93  * */
94  bool
95  operator <= (const OctreeKey& b) const
96  {
97  return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
98  }
99 
100  /** \brief Operator>= for comparing octree keys with each other.
101  * \return "true" if key indices are not smaller than the key indices of b ; "false" otherwise.
102  * */
103  bool
104  operator >= (const OctreeKey& b) const
105  {
106  return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
107  }
108 
109  /** \brief push a child node to the octree key
110  * \param[in] childIndex index of child node to be added (0-7)
111  * */
112  inline void
113  pushBranch (unsigned char childIndex)
114  {
115  this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
116  this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
117  this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
118  }
119 
120  /** \brief pop child node from octree key
121  * */
122  inline void
124  {
125  this->x >>= 1;
126  this->y >>= 1;
127  this->z >>= 1;
128  }
129 
130  /** \brief get child node index using depthMask
131  * \param[in] depthMask bit mask with single bit set at query depth
132  * \return child node index
133  * */
134  inline unsigned char
135  getChildIdxWithDepthMask (unsigned int depthMask) const
136  {
137  return static_cast<unsigned char> (((!!(this->x & depthMask)) << 2)
138  | ((!!(this->y & depthMask)) << 1)
139  | (!!(this->z & depthMask)));
140  }
141 
142  /* \brief maximum depth that can be addressed */
143  static const unsigned char maxDepth = static_cast<unsigned char>(sizeof(uint32_t)*8);
144 
145  // Indices addressing a voxel at (X, Y, Z)
146 
147  union
148  {
149  struct
150  {
151  uint32_t x;
152  uint32_t y;
153  uint32_t z;
154  };
155  uint32_t key_[3];
156  };
157 
158 
159  };
160  }
161 }
162 
163 #endif
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::octree::OctreeKey::z
uint32_t z
Definition: octree_key.h:153
pcl::octree::OctreeKey::pushBranch
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition: octree_key.h:113
pcl::octree::OctreeKey::OctreeKey
OctreeKey(unsigned int keyX, unsigned int keyY, unsigned int keyZ)
Constructor for key initialization.
Definition: octree_key.h:62
pcl::octree::OctreeKey::maxDepth
static const unsigned char maxDepth
Definition: octree_key.h:143
pcl::octree::OctreeKey::OctreeKey
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition: octree_key.h:68
pcl::octree::OctreeKey::popBranch
void popBranch()
pop child node from octree key
Definition: octree_key.h:123
pcl::octree::OctreeKey
Octree key class
Definition: octree_key.h:51
pcl::octree::OctreeKey::operator!=
bool operator!=(const OctreeKey &other) const
Inequal comparison operator.
Definition: octree_key.h:86
pcl::octree::OctreeKey::operator>=
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition: octree_key.h:104
pcl::octree::OctreeKey::OctreeKey
OctreeKey()
Empty constructor.
Definition: octree_key.h:56
pcl::octree::OctreeKey::operator==
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition: octree_key.h:77
pcl::octree::OctreeKey::getChildIdxWithDepthMask
unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const
get child node index using depthMask
Definition: octree_key.h:135
pcl::octree::OctreeKey::key_
uint32_t key_[3]
Definition: octree_key.h:155
pcl::octree::OctreeKey::y
uint32_t y
Definition: octree_key.h:152
pcl::octree::OctreeKey::x
uint32_t x
Definition: octree_key.h:151
pcl::octree::OctreeKey::operator<=
bool operator<=(const OctreeKey &b) const
Operator<= for comparing octree keys with each other.
Definition: octree_key.h:95