Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without modification, 00006 are permitted provided that the following conditions are met: 00007 00008 Redistributions of source code must retain the above copyright notice, this list of 00009 conditions and the following disclaimer. Redistributions in binary form must reproduce 00010 the above copyright notice, this list of conditions and the following disclaimer 00011 in the documentation and/or other materials provided with the distribution. 00012 00013 Neither the name of the Johns Hopkins University nor the names of its contributors 00014 may be used to endorse or promote products derived from this software without specific 00015 prior written permission. 00016 00017 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY 00018 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 00019 OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 00020 SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00021 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 00022 TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR 00023 BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00025 ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH 00026 DAMAGE. 00027 */ 00028 00029 #ifndef BINARY_NODE_INCLUDED 00030 #define BINARY_NODE_INCLUDED 00031 00032 #define MSVC_2010_FIX 1 00033 00034 namespace pcl 00035 { 00036 namespace poisson 00037 { 00038 template<class Real> 00039 class BinaryNode 00040 { 00041 public: 00042 static inline int CenterCount( int depth ) { return 1<<depth; } 00043 static inline int CornerCount( int depth ) { return (1<<depth)+1; } 00044 static inline int CumulativeCenterCount( int maxDepth ) { return (1<<(maxDepth+1))-1; } 00045 static inline int CumulativeCornerCount( int maxDepth ) { return (1<<(maxDepth+1))+maxDepth; } 00046 static inline int Index( int depth , int offSet ) { return (1<<depth)+offSet-1; } 00047 static inline int CenterIndex( int depth , int offSet ) { return (1<<depth)+offSet-1; } 00048 static inline int CornerIndex( int depth , int offSet ) { return (1<<depth)+offSet+depth; } 00049 00050 static inline int CornerIndex( int maxDepth , int depth , int offSet , int forwardCorner ){ return (offSet+forwardCorner)<<(maxDepth-depth); } 00051 static inline Real CornerIndexPosition(int index,int maxDepth){ return Real(index)/(1<<maxDepth); } 00052 static inline Real Width(int depth){ return Real(1.0/(1<<depth)); } 00053 static inline void CenterAndWidth( int depth , int offset , Real& center , Real& width ) 00054 { 00055 width=Real (1.0/(1<<depth) ); 00056 center=Real((0.5+offset)*width); 00057 } 00058 static inline void CenterAndWidth( int idx , Real& center , Real& width ) 00059 { 00060 int depth , offset; 00061 DepthAndOffset( idx , depth , offset ); 00062 CenterAndWidth( depth , offset , center , width ); 00063 } 00064 static inline void DepthAndOffset( int idx , int& depth , int& offset ) 00065 { 00066 int i=idx+1; 00067 #if MSVC_2010_FIX 00068 depth = 0; 00069 #else // !MSVC_2010_FIX 00070 depth = -1; 00071 #endif // MSVC_2010_FIX 00072 while( i ) 00073 { 00074 i >>= 1; 00075 depth++; 00076 } 00077 #if MSVC_2010_FIX 00078 depth--; 00079 #endif // MSVC_2010_FIX 00080 offset = ( idx+1 ) - (1<<depth); 00081 } 00082 }; 00083 00084 00085 } 00086 } 00087 00088 #endif // BINARY_NODE_INCLUDED