Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
outofcore_breadth_first_iterator.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * $Id: outofcore_depth_first_iterator.hpp 7938 2012-11-14 06:27:39Z jrosen $
37 */
38
39#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
40#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
41
42namespace pcl
43{
44 namespace outofcore
45 {
46
47 template<typename PointT, typename ContainerT>
53
54 ////////////////////////////////////////////////////////////////////////////////
55
56 template<typename PointT, typename ContainerT>
60
61 ////////////////////////////////////////////////////////////////////////////////
62
63 template<typename PointT, typename ContainerT>
66 {
67 if (!FIFO_.empty ())
68 {
69 // Get the first entry from the FIFO queue
70 OctreeDiskNode *node = FIFO_.front ();
71 FIFO_.pop_front ();
72
73 // If not skipping children, not at the max specified depth and we're a branch then iterate over children
74 if (!skip_child_voxels_ && node->getDepth () < this->max_depth_ && node->getNodeType () == pcl::octree::BRANCH_NODE)
75 {
76 // Get the branch node
77 BranchNode* branch = static_cast<BranchNode*> (node);
78 OctreeDiskNode* child = nullptr;
79
80 // Iterate over the branches children
81 for (unsigned char child_idx = 0; child_idx < 8 ; child_idx++)
82 {
83 // If child/index exists add it to FIFO queue
84 child = this->octree_.getBranchChildPtr (*branch, child_idx);
85 if (child)
86 {
87 FIFO_.push_back (child);
88 }
89 }
90 }
91 }
92
93 // Reset skipped children
94 skip_child_voxels_ = false;
95
96 // If there's a queue, set the current node to the first entry
97 if (!FIFO_.empty ())
98 {
99 this->currentNode_ = FIFO_.front ();
100 }
101 else
102 {
103 this->currentNode_ = nullptr;
104 }
105
106 return (*this);
107 }
108
109 ////////////////////////////////////////////////////////////////////////////////
110
111 }//namesapce pcl
112}//namespace outofcore
113
114#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
115
Iterator class for point clouds with or without given indices.
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...
node_type_t getNodeType() const override
Pure virtual method for receiving the type of octree node (branch or leaf)
A point structure representing Euclidean xyz coordinates, and the RGB color.