Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: octree_iterator.h 3018 2011-11-01 03:24:12Z svn $ 00037 */ 00038 00039 #ifndef OCTREE_ITERATOR_H 00040 #define OCTREE_ITERATOR_H 00041 00042 #include <cstddef> 00043 #include <vector> 00044 00045 #include "octree_nodes.h" 00046 00047 #include <iterator> 00048 00049 namespace pcl 00050 { 00051 namespace octree 00052 { 00054 00059 00060 00061 template<typename DataT, typename LeafT, typename OctreeT> 00062 class OctreeNodeIterator : public std::iterator<std::forward_iterator_tag, const OctreeNode, void, 00063 const OctreeNode*, const OctreeNode&> 00064 { 00065 00066 // public typedefs 00067 typedef typename OctreeT::OctreeBranch OctreeBranch; 00068 typedef typename OctreeT::OctreeKey OctreeKey; 00069 00070 public: 00071 00075 explicit 00076 OctreeNodeIterator (const OctreeT& octree_arg); 00077 00079 virtual 00080 ~OctreeNodeIterator (); 00081 00084 inline void 00085 reset (); 00086 00090 inline const OctreeKey& 00091 getCurrentOctreeKey () const 00092 { 00093 return currentOctreeKey_; 00094 } 00095 00099 inline 00100 unsigned int 00101 getCurrentOctreeDepth () const 00102 { 00103 return currentOctreeDepth_; 00104 } 00105 00109 inline const OctreeNode* 00110 getCurrentOctreeNode () const 00111 { 00112 return currentNode_; 00113 } 00114 00118 inline const OctreeNode* 00119 operator* () const 00120 { // return designated object 00121 return this->getCurrentOctreeNode (); 00122 } 00123 00127 inline 00128 bool 00129 operator== (const OctreeNodeIterator& right_arg) const 00130 { // test for iterator equality 00131 return ((octree_ == right_arg.octree_) && (currentNode_ == right_arg.currentNode_)); 00132 } 00133 00137 inline 00138 bool 00139 operator!= (const OctreeNodeIterator& right_arg) const 00140 { // test for iterator inequality 00141 return (!(octree_ != right_arg.octree_) || !(currentNode_ != right_arg.currentNode_)); 00142 } 00143 00146 void 00147 skipChildVoxels (); 00148 00152 OctreeNodeIterator& 00153 operator++ (); 00154 00158 inline OctreeNodeIterator 00159 operator++ (int) 00160 { 00161 OctreeNodeIterator _Tmp = *this; 00162 ++*this; 00163 return (_Tmp); 00164 } 00165 00166 protected: 00167 00168 // reference to octree class 00169 const OctreeT& octree_; 00170 00171 // pointer to current octree node 00172 const OctreeNode* currentNode_; 00173 00174 // child index at current octree node 00175 unsigned char currentChildIdx_; 00176 00177 // depth level in the octree structure 00178 unsigned int currentOctreeDepth_; 00179 00180 // octree key for current octree node 00181 OctreeKey currentOctreeKey_; 00182 00183 // stack structure 00184 std::vector<std::pair<OctreeNode const*, unsigned char> > stack_; 00185 }; 00186 00187 00189 00194 00195 template<typename DataT, typename LeafT, typename OctreeT> 00196 class OctreeLeafNodeIterator : public OctreeNodeIterator<DataT, LeafT, OctreeT> 00197 { 00198 00199 public: 00200 00204 explicit 00205 OctreeLeafNodeIterator (const OctreeT& octree_arg) : 00206 OctreeNodeIterator<DataT, LeafT, OctreeT> (octree_arg) 00207 { 00208 } 00209 00211 virtual 00212 ~OctreeLeafNodeIterator () 00213 { 00214 } 00215 00219 inline OctreeLeafNodeIterator& 00220 operator++ () 00221 { 00222 do 00223 { 00224 OctreeNodeIterator<DataT, LeafT, OctreeT>::operator++ (); 00225 } while ((this->currentNode_) && (this->currentNode_->getNodeType () != LEAF_NODE)); 00226 00227 return (*this); 00228 } 00229 00233 inline OctreeLeafNodeIterator 00234 operator++ (int) 00235 { 00236 OctreeLeafNodeIterator _Tmp = *this; 00237 ++*this; 00238 return (_Tmp); 00239 } 00240 00244 const LeafT* 00245 operator* () const 00246 { // return designated object 00247 const LeafT* ret = NULL; 00248 00249 if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE)) 00250 { 00251 ret = (const LeafT*)this->currentNode_; 00252 } 00253 return ret; 00254 } 00255 00259 virtual void 00260 getData (const DataT*& data_arg) const 00261 { 00262 const DataT* result = 0; 00263 00264 if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE)) 00265 { 00266 const LeafT* leafNode = (const LeafT*)this->currentNode_; 00267 leafNode->getData (result); 00268 } 00269 data_arg = result; 00270 } 00271 00275 virtual void 00276 getData (std::vector<DataT>& dataVector_arg) const 00277 { 00278 if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE)) 00279 { 00280 const LeafT* leafNode = (const LeafT*)this->currentNode_; 00281 leafNode->getData (dataVector_arg); 00282 } 00283 } 00284 00285 }; 00286 00287 } 00288 } 00289 00290 #endif 00291