Point Cloud Library (PCL) 1.12.0
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outofcore_depth_first_iterator.hpp
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38
39#ifndef PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_
40#define PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_
41
42namespace pcl
43{
44 namespace outofcore
45 {
46
47 template<typename PointT, typename ContainerT>
49 : OutofcoreIteratorBase<PointT, ContainerT> (octree_arg)
50 , currentChildIdx_ (0)
51 , stack_ (0)
52 {
53 stack_.reserve (this->octree_.getTreeDepth ());
55 }
56
57 ////////////////////////////////////////////////////////////////////////////////
58
59 template<typename PointT, typename ContainerT>
61 {
62 }
63
64 ////////////////////////////////////////////////////////////////////////////////
65
66 template<typename PointT, typename ContainerT>
69 {
70 //when currentNode_ is 0, skip incrementing because it is already at the end
71 if (this->currentNode_)
72 {
73 bool bTreeUp = false;
75
76 if (this->currentNode_->getNodeType () == pcl::octree::BRANCH_NODE)
77 {
78 BranchNode* currentBranch = static_cast<BranchNode*> (this->currentNode_);
79
80 if (currentChildIdx_ < 8)
81 {
82 itNode = this->octree_.getBranchChildPtr (*currentBranch, currentChildIdx_);
83
84 //keep looking for a valid child until we've run out of children or a valid one is found
85 while ((currentChildIdx_ < 7) && !(itNode))
86 {
87 //find next existing child node
88 currentChildIdx_++;
89 itNode = this->octree_.getBranchChildPtr (*currentBranch, currentChildIdx_);
90 }
91 //if no valid one was found, set flag to move back up the tree to the parent node
92 if (!itNode)
93 {
94 bTreeUp = true;
95 }
96 }
97 else
98 {
99 bTreeUp = true;
100 }
101 }
102 else
103 {
104 bTreeUp = true;
105 }
106
107 if (bTreeUp)
108 {
109 if (!stack_.empty ())
110 {
111 std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char>& stackEntry = stack_.back ();
112 stack_.pop_back ();
113
114 this->currentNode_ = stackEntry.first;
115 currentChildIdx_ = stackEntry.second;
116
117 //don't do anything with the keys here...
118 this->currentOctreeDepth_--;
119 }
120 else
121 {
122 this->currentNode_ = nullptr;
123 }
124
125 }
126 else
127 {
128 std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char> newStackEntry;
129 newStackEntry.first = this->currentNode_;
130 newStackEntry.second = static_cast<unsigned char> (currentChildIdx_+1);
131
132 stack_.push_back (newStackEntry);
133
134 //don't do anything with the keys here...
135
136 this->currentOctreeDepth_++;
137 currentChildIdx_= 0;
138 this->currentNode_ = itNode;
139 }
140 }
141
142 return (*this);
143 }
144
145 ////////////////////////////////////////////////////////////////////////////////
146
147 }//namesapce pcl
148}//namespace outofcore
149
150#endif //PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_
151
std::vector< std::pair< OctreeDiskNode *, unsigned char > > stack_
This code defines the octree used for point storage at Urban Robotics.
std::uint64_t getTreeDepth() const
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...
A point structure representing Euclidean xyz coordinates, and the RGB color.