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 * $Id$ 00037 */ 00038 00039 #ifndef PCL_OUTOFCORE_ITERATOR_BASE_H_ 00040 #define PCL_OUTOFCORE_ITERATOR_BASE_H_ 00041 00042 #include <iterator> 00043 00044 #include <pcl/point_types.h> 00045 00046 #include <pcl/outofcore/octree_base.h> 00047 #include <pcl/outofcore/octree_base_node.h> 00048 #include <pcl/outofcore/octree_disk_container.h> 00049 00050 namespace pcl 00051 { 00052 namespace outofcore 00053 { 00054 /** \brief Abstract octree iterator class 00055 * \note This class is based on the octree_iterator written by Julius Kammerl adapted to the outofcore octree. The interface is very similar, but it does \b not inherit the \ref pcl_octree iterator base. 00056 * \ingroup outofcore 00057 * \author Stephen Fox (foxstephend@gmail.com) 00058 */ 00059 template<typename PointT, typename ContainerT> 00060 class OutofcoreIteratorBase : public std::iterator<std::forward_iterator_tag, /*iterator type*/ 00061 const OutofcoreOctreeBaseNode<ContainerT, PointT>, 00062 void, /*no defined distance between iterator*/ 00063 const OutofcoreOctreeBaseNode<ContainerT, PointT>*,/*Pointer type*/ 00064 const OutofcoreOctreeBaseNode<ContainerT, PointT>&>/*Reference type*/ 00065 { 00066 public: 00067 typedef typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT> OctreeDisk; 00068 typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> OctreeDiskNode; 00069 00070 typedef typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>::BranchNode BranchNode; 00071 typedef typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>::LeafNode LeafNode; 00072 00073 typedef typename OctreeDisk::OutofcoreNodeType OutofcoreNodeType; 00074 00075 explicit 00076 OutofcoreIteratorBase (OctreeDisk& octree_arg) 00077 : octree_ (octree_arg), currentNode_ (NULL) 00078 { 00079 reset (); 00080 } 00081 00082 virtual 00083 ~OutofcoreIteratorBase () 00084 { 00085 } 00086 00087 OutofcoreIteratorBase (const OutofcoreIteratorBase& src) 00088 : octree_ (src.octree_), currentNode_ (src.currentNode_) 00089 { 00090 } 00091 00092 inline OutofcoreIteratorBase& 00093 operator = (const OutofcoreIteratorBase& src) 00094 { 00095 octree_ = src.octree_; 00096 currentNode_ = src.currentNode_; 00097 currentOctreeDepth_ = src.currentOctreeDepth_; 00098 } 00099 00100 00101 inline OutofcoreNodeType* 00102 operator* () const 00103 { 00104 return (this->getCurrentOctreeNode ()); 00105 } 00106 00107 virtual inline OutofcoreNodeType* 00108 getCurrentOctreeNode () const 00109 { 00110 return (currentNode_); 00111 } 00112 00113 virtual inline void 00114 reset () 00115 { 00116 currentNode_ = static_cast<OctreeDiskNode*> (octree_.getRootNode ()); 00117 currentOctreeDepth_ = 0; 00118 max_depth_ = static_cast<unsigned int> (octree_.getDepth ()); 00119 } 00120 00121 inline void 00122 setMaxDepth (unsigned int max_depth) 00123 { 00124 if (max_depth > static_cast<unsigned int> (octree_.getDepth ())) 00125 { 00126 max_depth = static_cast<unsigned int> (octree_.getDepth ()); 00127 } 00128 00129 max_depth_ = max_depth; 00130 } 00131 00132 protected: 00133 OctreeDisk& octree_; 00134 OctreeDiskNode* currentNode_; 00135 unsigned int currentOctreeDepth_; 00136 unsigned int max_depth_; 00137 }; 00138 00139 00140 #if 0 00141 class PCL_EXPORTS OutofcoreBreadthFirstIterator : public OutofcoreIteratorBase 00142 { 00143 00144 00145 00146 00147 }; 00148 00149 class PCL_EXPORTS OutofcoreLeafIterator : public OutofcoreIteratorBase 00150 { 00151 00152 00153 00154 }; 00155 #endif 00156 } 00157 } 00158 00159 #endif //PCL_OUTOFCORE_ITERATOR_BASE_H_