Point Cloud Library (PCL)
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outofcore
include
pcl
outofcore
outofcore_breadth_first_iterator.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: outofcore_depth_first_iterator.h 7938 2012-11-14 06:27:39Z jrosen $
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*/
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#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
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#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
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#include <pcl/outofcore/outofcore_iterator_base.h>
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namespace
pcl
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{
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namespace
outofcore
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{
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/** \class OutofcoreBreadthFirstIterator
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*
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* \ingroup outofcore
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* \author Justin Rosen (jmylesrosen@gmail.com)
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* \note Code adapted from \ref octree_iterator.h in Module \ref pcl_octree written by Julius Kammerl
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*/
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template
<
typename
Po
int
T=pcl::Po
int
XYZ,
typename
ContainerT=OutofcoreOctreeDiskContainer<pcl::Po
int
XYZ> >
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class
OutofcoreBreadthFirstIterator
:
public
OutofcoreIteratorBase
<PointT, ContainerT>
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{
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public
:
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typedef
typename
pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>
OctreeDisk
;
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typedef
typename
pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>
OctreeDiskNode
;
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typedef
typename
pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>
LeafNode
;
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typedef
typename
pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>
BranchNode
;
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explicit
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OutofcoreBreadthFirstIterator
(
OctreeDisk
& octree_arg);
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virtual
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~OutofcoreBreadthFirstIterator
();
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OutofcoreBreadthFirstIterator
&
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operator++
();
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inline
OutofcoreBreadthFirstIterator
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operator++
(
int
)
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{
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OutofcoreBreadthFirstIterator
_Tmp = *
this
;
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++*
this
;
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return
(_Tmp);
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}
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virtual
inline
void
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reset
()
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{
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OutofcoreIteratorBase<PointT, ContainerT>::reset
();
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// Clear the FIFO queue and add the root as the first node
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FIFO_
.clear ();
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FIFO_
.push_back(this->
currentNode_
);
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// Don't skip children
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skip_child_voxels_
=
false
;
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}
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void
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skipChildVoxels
()
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{
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skip_child_voxels_
=
true
;
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}
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protected
:
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/** FIFO list */
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std::deque<OctreeDiskNode*>
FIFO_
;
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bool
skip_child_voxels_
;
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};
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}
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}
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#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_