41 #include <pcl/octree/octree_container.h>
42 #include <pcl/octree/octree_iterator.h>
43 #include <pcl/octree/octree_key.h>
44 #include <pcl/octree/octree_nodes.h>
52 template <
typename ContainerT>
71 for (
unsigned char b = 0; b < 2; ++b)
72 for (
unsigned char i = 0; i < 8; ++i)
95 getChildPtr(
unsigned char buffer_arg,
unsigned char index_arg)
const
97 assert((buffer_arg < 2) && (index_arg < 8));
108 unsigned char index_arg,
111 assert((buffer_arg < 2) && (index_arg < 8));
121 hasChild(
unsigned char buffer_arg,
unsigned char index_arg)
const
123 assert((buffer_arg < 2) && (index_arg < 8));
215 template <
typename LeafContainerT = int,
239 begin(
unsigned int max_depth_arg = 0)
241 return Iterator(
this, max_depth_arg);
396 createLeaf(
unsigned int idx_x_arg,
unsigned int idx_y_arg,
unsigned int idx_z_arg);
406 findLeaf(
unsigned int idx_x_arg,
unsigned int idx_y_arg,
unsigned int idx_z_arg);
416 unsigned int idx_y_arg,
417 unsigned int idx_z_arg)
const;
425 removeLeaf(
unsigned int idx_x_arg,
unsigned int idx_y_arg,
unsigned int idx_z_arg);
480 bool do_XOR_encoding_arg =
false);
494 std::vector<LeafContainerT*>& leaf_container_vector_arg,
495 bool do_XOR_encoding_arg =
false);
503 serializeLeafs(std::vector<LeafContainerT*>& leaf_container_vector_arg);
522 bool do_XOR_decoding_arg =
false);
535 std::vector<LeafContainerT*>& leaf_container_vector_arg,
536 bool do_XOR_decoding_arg =
false);
555 inline LeafContainerT*
558 LeafContainerT* result =
nullptr;
569 inline LeafContainerT*
590 return (
findLeaf(key_arg) !=
nullptr);
641 unsigned char child_idx_arg,
659 for (
unsigned char i = 0; i < 8; i++) {
661 node_bits |=
static_cast<char>((!!child) << i);
675 unsigned char bufferSelector_arg)
const
681 for (
unsigned char i = 0; i < 8; i++) {
683 node_bits |=
static_cast<char>((!!child) << i);
700 node_bits[0] = node_bits[1] = 0;
702 for (
unsigned char i = 0; i < 8; i++) {
706 node_bits[0] |=
static_cast<char>((!!childA) << i);
707 node_bits[1] |=
static_cast<char>((!!childB) << i);
710 return node_bits[0] ^ node_bits[1];
731 unsigned char buffer_selector_arg,
732 unsigned char child_idx_arg)
734 if (branch_arg.
hasChild(buffer_selector_arg, child_idx_arg)) {
736 branch_arg.
getChildPtr(buffer_selector_arg, child_idx_arg);
744 delete (branchChild);
750 delete (branchChild);
758 branch_arg.
setChildPtr(buffer_selector_arg, child_idx_arg,
nullptr);
779 for (
char i = 0; i < 8; i++) {
809 return new_branch_child;
824 return new_leaf_child;
844 unsigned int depth_mask_arg,
848 bool branch_reset_arg =
false);
860 unsigned int depth_mask_arg,
862 LeafContainerT*& result_arg)
const;
874 unsigned int depth_mask_arg,
894 std::vector<char>* binary_tree_out_arg,
895 typename std::vector<LeafContainerT*>* leaf_container_vector_arg,
896 bool do_XOR_encoding_arg =
false,
897 bool new_leafs_filter_arg =
false);
918 unsigned int depth_mask_arg,
920 typename std::vector<char>::const_iterator& binary_tree_in_it_arg,
921 typename std::vector<char>::const_iterator& binary_tree_in_it_end_arg,
922 typename std::vector<LeafContainerT*>::const_iterator*
923 leaf_container_vector_it_arg,
924 typename std::vector<LeafContainerT*>::const_iterator*
925 leaf_container_vector_it_end_arg,
926 bool branch_reset_arg =
false,
927 bool do_XOR_decoding_arg =
false);
961 return std::log2(n_arg);
980 unsigned char mask = 1;
983 for (
int i = 0; i < 8; i++) {
985 std::cout << ((data_arg & (mask << i)) ?
"1" :
"0");
987 std::cout << std::endl;
1025 #ifdef PCL_NO_PRECOMPILE
1026 #include <pcl/octree/impl/octree2buf_base.hpp>
BufferedBranchNode(const BufferedBranchNode &source)
Copy constructor.
ContainerT & getContainer()
Get reference to container.
OctreeNode * child_node_array_[2][8]
const ContainerT * operator->() const
Get const pointer to container.
BufferedBranchNode * deepCopy() const override
Method to perform a deep copy of the octree.
const ContainerT & getContainer() const
Get const reference to container.
ContainerT * getContainerPtr()
Get pointer to container.
const ContainerT * getContainerPtr() const
Get const pointer to container.
node_type_t getNodeType() const override
Get the type of octree node.
BufferedBranchNode & operator=(const BufferedBranchNode &source_arg)
Copy operator.
ContainerT * operator->()
Get pointer to container.
const ContainerT & operator*() const
Get const reference to container.
void reset()
Reset branch node container for every branch buffer.
ContainerT & operator*()
Get reference to container.
void setChildPtr(unsigned char buffer_arg, unsigned char index_arg, OctreeNode *newNode_arg)
Set child pointer in current branch node.
BufferedBranchNode()
Empty constructor.
OctreeNode * getChildPtr(unsigned char buffer_arg, unsigned char index_arg) const
Get child pointer in current branch node.
~BufferedBranchNode()
Empty constructor.
bool hasChild(unsigned char buffer_arg, unsigned char index_arg) const
Check if branch is pointing to a particular child node.
Octree double buffer class
LeafNode * createLeafChild(BranchNode &branch_arg, unsigned char child_idx_arg)
Fetch and add a new leaf child to a branch class.
OctreeLeafNodeDepthFirstIterator< OctreeT > LeafNodeDepthFirstIterator
void deleteBranch(BranchNode &branch_arg)
Delete branch and all its subchilds from octree (both buffers)
bool hasBranchChanges(const BranchNode &branch_arg) const
Test if branch changed between previous and current buffer.
double Log2(double n_arg)
Helper function to calculate the binary logarithm.
OctreeNode * getRootNode() const
Retrieve root node.
LeafContainerT * findLeaf(const OctreeKey &key_arg) const
Find leaf node.
void serializeLeafs(std::vector< LeafContainerT * > &leaf_container_vector_arg)
Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
OctreeDepthFirstIterator< OctreeT > DepthFirstIterator
char getBranchBitPattern(const BranchNode &branch_arg) const
Generate bit pattern reflecting the existence of child node pointers for current buffer.
Octree2BufBase(const Octree2BufBase &source)
Copy constructor.
OctreeKey max_key_
key range
void switchBuffers()
Switch buffers and reset current octree structure.
const LeafNodeIterator leaf_end()
OctreeLeafNode< LeafContainerT > LeafNode
LeafNodeIterator leaf_begin(unsigned int max_depth_arg=0)
const LeafNodeBreadthIterator leaf_breadth_end()
LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
unsigned int depth_mask_
Depth mask based on octree depth
std::size_t getLeafCount() const
Return the amount of existing leafs in the octree.
BranchNode * createBranchChild(BranchNode &branch_arg, unsigned char child_idx_arg)
Fetch and add a new branch child to a branch class in current buffer.
unsigned int getTreeDepth() const
Get the maximum depth of the octree.
LeafContainerT * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
std::size_t leaf_count_
Amount of leaf nodes
void serializeTree(std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false)
Serialize octree into a binary output vector describing its branch node structure.
void treeCleanUpRecursive(BranchNode *branch_arg)
Recursively explore the octree and remove unused branch and leaf nodes.
bool existLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const
Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
char getBranchBitPattern(const BranchNode &branch_arg, unsigned char bufferSelector_arg) const
Generate bit pattern reflecting the existence of child node pointers in specific buffer.
bool octreeCanResize()
Test if octree is able to dynamically change its depth.
void deleteTree()
Delete the octree structure and its leaf nodes.
void removeLeaf(const OctreeKey &key_arg)
Remove leaf node from octree.
unsigned char buffer_selector_
Currently active octree buffer
LeafNodeDepthFirstIterator leaf_depth_begin(unsigned int max_depth_arg=0)
LeafNodeBreadthIterator leaf_breadth_begin(unsigned int max_depth_arg=0u)
void deleteCurrentBuffer()
Delete the octree structure in the current buffer.
void deleteBranchChild(BranchNode &branch_arg, unsigned char child_idx_arg)
Delete child node and all its subchilds from octree in current buffer.
char getBranchXORBitPattern(const BranchNode &branch_arg) const
Generate XOR bit pattern reflecting differences between the two octree buffers.
virtual void deserializeTreeCallback(LeafContainerT &, const OctreeKey &)
Callback executed for every leaf node data during deserialization.
void serializeTreeRecursive(BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false)
Recursively explore the octree and output binary octree description together with a vector of leaf no...
bool branchHasChild(const BranchNode &branch_arg, unsigned char child_idx_arg) const
Check if branch is pointing to a particular child node.
void setMaxVoxelIndex(unsigned int max_voxel_index_arg)
Set the maximum amount of voxels per dimension.
void deserializeTree(std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false)
Deserialize a binary octree description vector and create a corresponding octree structure.
void deletePreviousBuffer()
Delete octree structure of previous buffer.
void deleteBranchChild(BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg)
Delete child node and all its subchilds from octree in specific buffer.
OctreeLeafNodeBreadthFirstIterator< OctreeT > LeafNodeBreadthIterator
BranchNode * root_node_
Pointer to root branch node of octree
BranchContainerT BranchContainer
void printBinary(char data_arg)
Prints binary representation of a byte - used for debugging.
BreadthFirstIterator breadth_begin(unsigned int max_depth_arg=0)
void setBranchChildPtr(BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
Assign new child node to branch.
std::size_t branch_count_
Amount of branch nodes
bool dynamic_depth_enabled_
Enable dynamic_depth.
const DepthFirstIterator depth_end()
const BreadthFirstIterator breadth_end()
DepthFirstIterator depth_begin(unsigned int maxDepth_arg=0)
unsigned int createLeafRecursive(const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false)
Create a leaf node at octree key.
OctreeNode * getBranchChildPtr(const BranchNode &branch_arg, unsigned char child_idx_arg) const
Retrieve a child node pointer for child node at child_idx.
void setTreeDepth(unsigned int depth_arg)
Set the maximum depth of the octree.
LeafContainerT * createLeaf(const OctreeKey &key_arg)
Create a leaf node.
void deserializeTreeRecursive(BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false)
Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initializati...
bool existLeaf(const OctreeKey &key_arg) const
Check if leaf doesn't exist in the octree.
std::size_t getBranchCount() const
Return the amount of existing branches in the octree.
void serializeNewLeafs(std::vector< LeafContainerT * > &leaf_container_vector_arg)
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buff...
OctreeBreadthFirstIterator< OctreeT > BreadthFirstIterator
virtual void serializeTreeCallback(LeafContainerT &, const OctreeKey &)
Callback executed for every leaf node data during serialization.
Iterator begin(unsigned int max_depth_arg=0)
void removeLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
BufferedBranchNode< BranchContainerT > BranchNode
OctreeLeafNodeDepthFirstIterator< OctreeT > LeafNodeIterator
LeafContainerT LeafContainer
unsigned int octree_depth_
Octree depth.
void findLeafRecursive(const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const
Recursively search for a given leaf node and return a pointer.
Octree2BufBase()
Empty constructor.
bool deleteLeafRecursive(const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)
Recursively search and delete leaf node.
Octree2BufBase & operator=(const Octree2BufBase &source)
Copy constructor.
const LeafNodeDepthFirstIterator leaf_depth_end()
virtual ~Octree2BufBase()
Empty deconstructor.
OctreeDepthFirstIterator< OctreeT > Iterator
Octree container class that does not store any information.
Abstract octree iterator class
Octree leaf node iterator class.
Octree leaf node iterator class.
Abstract octree leaf class
const ContainerT * getContainerPtr() const
Get const pointer to container.
Abstract octree node class
virtual node_type_t getNodeType() const =0
Pure virtual method for receiving the type of octree node (branch or leaf)
virtual OctreeNode * deepCopy() const =0
Pure virtual method to perform a deep copy of the octree.
Defines all the PCL and non-PCL macros used.
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....