octree_iterator.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * $Id: octree_iterator.h 6119 2012-07-03 18:50:04Z aichim $
 */

#ifndef OCTREE_ITERATOR_H
#define OCTREE_ITERATOR_H

#include <cstddef>
#include <vector>
#include <deque>

#include "octree_nodes.h"
#include "octree_key.h"

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <iterator>

// Ignore warnings in the above headers
#ifdef __GNUC__
#pragma GCC system_header 
#endif

namespace pcl
{
  namespace octree
  {
    template<typename DataT, typename OctreeT>
      class OctreeIteratorBase : public std::iterator<std::forward_iterator_tag, const OctreeNode, void,
          const OctreeNode*, const OctreeNode&>
      {
      public:

        typedef typename OctreeT::LeafNode LeafNode;
        typedef typename OctreeT::BranchNode BranchNode;

        explicit
        OctreeIteratorBase (OctreeT& octree_arg) :
            octree_ (octree_arg), currentNode_ (NULL)
        {
          reset ();
        }

        OctreeIteratorBase (const OctreeIteratorBase& src) :
            octree_ (src.octree_), currentNode_ (src.currentNode_), currentOctreeDepth_ (src.currentOctreeDepth_), currentOctreeKey_ (
                src.currentOctreeKey_)
        {
        }

        inline OctreeIteratorBase&
        operator = (const OctreeIteratorBase& src)
        {
          octree_ = src.octree_;
          currentNode_ = src.currentNode_;
          currentOctreeDepth_ = src.currentOctreeDepth_;
          currentOctreeKey_ = src.currentOctreeKey_;
          return (*this);
        }

        virtual
        ~OctreeIteratorBase ()
        {
        }

        inline void
        reset ()
        {
          // initialize iterator globals
          currentNode_ = static_cast<OctreeNode*> (octree_.getRootNode ());
          currentOctreeDepth_ = 0;

          // reset octree key
          currentOctreeKey_.x = currentOctreeKey_.y = currentOctreeKey_.z = 0;
        }

        inline const OctreeKey&
        getCurrentOctreeKey () const
        {
          return (currentOctreeKey_);
        }

        inline unsigned int
        getCurrentOctreeDepth () const
        {
          return (currentOctreeDepth_);
        }

        inline OctreeNode*
        getCurrentOctreeNode () const
        {
          return (currentNode_);
        }

        inline OctreeNode*
        operator* () const
        { // return designated object
          return (this->getCurrentOctreeNode ());
        }

        inline bool
        isBranchNode () const
        {
          return (currentNode_->getNodeType () == BRANCH_NODE);
        }

        inline bool
        isLeafNode () const
        {
          return (currentNode_->getNodeType () == LEAF_NODE);
        }

        inline char
        getNodeConfiguration () const
        {
          char ret = 0;

          if (isBranchNode ())
          {

            // current node is a branch node
            const BranchNode* currentBranch = static_cast<const BranchNode*> (this->currentNode_);

            // get child configuration bit pattern
            ret = octree_.getBranchBitPattern (*currentBranch);

          }

          return (ret);
        }

        virtual void
        getData (DataT& data_arg) const
        {

          assert(this->currentNode_ );

          octree_.getDataFromOctreeNode(this->currentNode_, data_arg);
        }

        virtual void
        getData (std::vector<DataT>& dataVector_arg) const
        {
          assert(this->currentNode_);

          octree_.getDataFromOctreeNode(this->currentNode_, dataVector_arg);
        }

        virtual std::size_t
        getSize () const
        {
          assert(this->currentNode_);

          return octree_.getDataSizeFromOctreeNode(this->currentNode_);
        }

        virtual unsigned long
        getNodeID () const
        {
          unsigned long id = 0;

          if (this->currentNode_)
          {
            // calculate integer id with respect to octree key
            unsigned int depth = octree_.getTreeDepth ();
            id = currentOctreeKey_.x << (depth * 2) | currentOctreeKey_.y << (depth * 1)
                | currentOctreeKey_.z << (depth * 0);
          }

          return id;
        }

      protected:
        OctreeT& octree_;

        OctreeNode* currentNode_;

        unsigned int currentOctreeDepth_;

        OctreeKey currentOctreeKey_;
      };


    template<typename DataT, typename OctreeT>
      class OctreeDepthFirstIterator : public OctreeIteratorBase<DataT, OctreeT>
      {

      public:

        typedef typename OctreeIteratorBase<DataT, OctreeT>::LeafNode LeafNode;
        typedef typename OctreeIteratorBase<DataT, OctreeT>::BranchNode BranchNode;


        explicit
        OctreeDepthFirstIterator (OctreeT& octree_arg);

        virtual
        ~OctreeDepthFirstIterator ();


        virtual void
        reset ();

        OctreeDepthFirstIterator&
        operator++ ();

        inline OctreeDepthFirstIterator
        operator++ (int)
        {
          OctreeDepthFirstIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }

        void
        skipChildVoxels ();

      protected:
        unsigned char currentChildIdx_;

        std::vector<std::pair<OctreeNode*, unsigned char> > stack_;
      };


    template<typename DataT, typename OctreeT>
      class OctreeBreadthFirstIterator : public OctreeIteratorBase<DataT, OctreeT>
      {
        // public typedefs
        typedef typename OctreeIteratorBase<DataT, OctreeT>::BranchNode BranchNode;
        typedef typename OctreeIteratorBase<DataT, OctreeT>::LeafNode LeafNode;

        struct FIFOElement
        {
          OctreeNode* node;
          OctreeKey key;
          unsigned int depth;
        };

      public:
        explicit
        OctreeBreadthFirstIterator (OctreeT& octree_arg);

        virtual
        ~OctreeBreadthFirstIterator ();

        void
        reset ();

        OctreeBreadthFirstIterator&
        operator++ ();

        inline OctreeBreadthFirstIterator
        operator++ (int)
        {
          OctreeBreadthFirstIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }

      protected:
        void
        addChildNodesToFIFO (const OctreeNode* node);

        std::deque<FIFOElement> FIFO_;
      };



    template<typename DataT, typename OctreeT>
      class OctreeLeafNodeIterator : public OctreeDepthFirstIterator<DataT, OctreeT>
      {
        typedef typename OctreeDepthFirstIterator<DataT, OctreeT>::BranchNode BranchNode;
        typedef typename OctreeDepthFirstIterator<DataT, OctreeT>::LeafNode LeafNode;

      public:
        explicit
        OctreeLeafNodeIterator (OctreeT& octree_arg) :
            OctreeDepthFirstIterator<DataT, OctreeT> (octree_arg)
        {
          reset ();
        }

        virtual
        ~OctreeLeafNodeIterator ()
        {
        }

        inline void
        reset ()
        {
          OctreeDepthFirstIterator<DataT, OctreeT>::reset ();
        }

        inline OctreeLeafNodeIterator&
        operator++ ()
        {
          do
          {
            OctreeDepthFirstIterator<DataT, OctreeT>::operator++ ();
          } while ((this->currentNode_) && (this->currentNode_->getNodeType () != LEAF_NODE));

          return (*this);
        }

        inline OctreeLeafNodeIterator
        operator++ (int)
        {
          OctreeLeafNodeIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }

        OctreeNode*
        operator* () const
        {
          // return designated object
          OctreeNode* ret = 0;

          if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE))
            ret = this->currentNode_;
          return (ret);
        }
      };

  }
}

#endif