Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, 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 */ 00037 00038 #ifndef PCL_OCTREE_KEY_H 00039 #define PCL_OCTREE_KEY_H 00040 00041 #include <string> 00042 00043 namespace pcl 00044 { 00045 namespace octree 00046 { 00047 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00048 /** \brief @b Octree key class 00049 * \note Octree keys contain integer indices for each coordinate axis in order to address an octree leaf node. 00050 * \author Julius Kammerl (julius@kammerl.de) 00051 */ 00052 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00053 class OctreeKey 00054 { 00055 public: 00056 00057 /** \brief Empty constructor. */ 00058 OctreeKey () : 00059 x (0), y (0), z (0) 00060 { 00061 } 00062 00063 /** \brief Constructor for key initialization. */ 00064 OctreeKey (unsigned int keyX, unsigned int keyY, unsigned int keyZ) : 00065 x (keyX), y (keyY), z (keyZ) 00066 { 00067 } 00068 00069 /** \brief Copy constructor. */ 00070 OctreeKey (const OctreeKey& source) 00071 { 00072 memcpy(key_, source.key_, sizeof(key_)); 00073 } 00074 00075 /** \brief Operator== for comparing octree keys with each other. 00076 * \return "true" if leaf node indices are identical; "false" otherwise. 00077 * */ 00078 bool 00079 operator == (const OctreeKey& b) const 00080 { 00081 return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z)); 00082 } 00083 00084 /** \brief Operator<= for comparing octree keys with each other. 00085 * \return "true" if key indices are not greater than the key indices of b ; "false" otherwise. 00086 * */ 00087 bool 00088 operator <= (const OctreeKey& b) const 00089 { 00090 return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z)); 00091 } 00092 00093 /** \brief Operator>= for comparing octree keys with each other. 00094 * \return "true" if key indices are not smaller than the key indices of b ; "false" otherwise. 00095 * */ 00096 bool 00097 operator >= (const OctreeKey& b) const 00098 { 00099 return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z)); 00100 } 00101 00102 /** \brief push a child node to the octree key 00103 * \param[in] childIndex index of child node to be added (0-7) 00104 * */ 00105 inline void 00106 pushBranch (unsigned char childIndex) 00107 { 00108 this->x = (this->x << 1) | (!!(childIndex & (1 << 2))); 00109 this->y = (this->y << 1) | (!!(childIndex & (1 << 1))); 00110 this->z = (this->z << 1) | (!!(childIndex & (1 << 0))); 00111 } 00112 00113 /** \brief pop child node from octree key 00114 * */ 00115 inline void 00116 popBranch () 00117 { 00118 this->x >>= 1; 00119 this->y >>= 1; 00120 this->z >>= 1; 00121 } 00122 00123 /** \brief get child node index using depthMask 00124 * \param[in] depthMask bit mask with single bit set at query depth 00125 * \return child node index 00126 * */ 00127 inline unsigned char 00128 getChildIdxWithDepthMask (unsigned int depthMask) const 00129 { 00130 return static_cast<unsigned char> (((!!(this->x & depthMask)) << 2) 00131 | ((!!(this->y & depthMask)) << 1) 00132 | (!!(this->z & depthMask))); 00133 } 00134 00135 /* \brief maximum depth that can be addressed */ 00136 static const unsigned char maxDepth = static_cast<const unsigned char>(sizeof(uint32_t)*8); 00137 00138 // Indices addressing a voxel at (X, Y, Z) 00139 00140 union 00141 { 00142 struct 00143 { 00144 uint32_t x; 00145 uint32_t y; 00146 uint32_t z; 00147 }; 00148 uint32_t key_[3]; 00149 }; 00150 00151 00152 }; 00153 } 00154 } 00155 00156 #endif