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_DEPTH_FIRST_ITERATOR_IMPL_H_ 00040 #define PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_ 00041 00042 namespace pcl 00043 { 00044 namespace outofcore 00045 { 00046 00047 template<typename PointT, typename ContainerT> 00048 OutofcoreDepthFirstIterator<PointT, ContainerT>::OutofcoreDepthFirstIterator (OutofcoreOctreeBase<ContainerT, PointT>& octree_arg) 00049 : OutofcoreIteratorBase<PointT, ContainerT> (octree_arg) 00050 , currentChildIdx_ (0) 00051 , stack_ (0) 00052 { 00053 stack_.reserve (this->octree_.getTreeDepth ()); 00054 OutofcoreIteratorBase<PointT,ContainerT>::reset (); 00055 } 00056 00057 //////////////////////////////////////////////////////////////////////////////// 00058 00059 template<typename PointT, typename ContainerT> 00060 OutofcoreDepthFirstIterator<PointT, ContainerT>::~OutofcoreDepthFirstIterator () 00061 { 00062 } 00063 00064 //////////////////////////////////////////////////////////////////////////////// 00065 00066 template<typename PointT, typename ContainerT> 00067 OutofcoreDepthFirstIterator<PointT, ContainerT>& 00068 OutofcoreDepthFirstIterator<PointT, ContainerT>::operator++ () 00069 { 00070 //when currentNode_ is 0, skip incrementing because it is already at the end 00071 if (this->currentNode_) 00072 { 00073 bool bTreeUp = false; 00074 OutofcoreOctreeBaseNode<ContainerT, PointT>* itNode = 0; 00075 00076 if (this->currentNode_->getNodeType () == pcl::octree::BRANCH_NODE) 00077 { 00078 BranchNode* currentBranch = static_cast<BranchNode*> (this->currentNode_); 00079 00080 if (currentChildIdx_ < 8) 00081 { 00082 itNode = this->octree_.getBranchChildPtr (*currentBranch, currentChildIdx_); 00083 00084 //keep looking for a valid child until we've run out of children or a valid one is found 00085 while ((currentChildIdx_ < 7) && !(itNode)) 00086 { 00087 //find next existing child node 00088 currentChildIdx_++; 00089 itNode = this->octree_.getBranchChildPtr (*currentBranch, currentChildIdx_); 00090 } 00091 //if no valid one was found, set flag to move back up the tree to the parent node 00092 if (!itNode) 00093 { 00094 bTreeUp = true; 00095 } 00096 } 00097 else 00098 { 00099 bTreeUp = true; 00100 } 00101 } 00102 else 00103 { 00104 bTreeUp = true; 00105 } 00106 00107 if (bTreeUp) 00108 { 00109 if (stack_.size () > 0) 00110 { 00111 std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char>& stackEntry = stack_.back (); 00112 stack_.pop_back (); 00113 00114 this->currentNode_ = stackEntry.first; 00115 currentChildIdx_ = stackEntry.second; 00116 00117 //don't do anything with the keys here... 00118 this->currentOctreeDepth_--; 00119 } 00120 else 00121 { 00122 this->currentNode_ = NULL; 00123 } 00124 00125 } 00126 else 00127 { 00128 std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char> newStackEntry; 00129 newStackEntry.first = this->currentNode_; 00130 newStackEntry.second = static_cast<unsigned char> (currentChildIdx_+1); 00131 00132 stack_.push_back (newStackEntry); 00133 00134 //don't do anything with the keys here... 00135 00136 this->currentOctreeDepth_++; 00137 currentChildIdx_= 0; 00138 this->currentNode_ = itNode; 00139 } 00140 } 00141 00142 return (*this); 00143 } 00144 00145 //////////////////////////////////////////////////////////////////////////////// 00146 00147 }//namesapce pcl 00148 }//namespace outofcore 00149 00150 #endif //PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_ 00151