Point Cloud Library (PCL) 1.13.0
outofcore_depth_first_iterator.hpp
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38
39#ifndef PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_
40#define PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_
41
42namespace pcl
43{
44 namespace outofcore
45 {
46
47 template<typename PointT, typename ContainerT>
49 : OutofcoreIteratorBase<PointT, ContainerT> (octree_arg)
50 , currentChildIdx_ (0)
51 , stack_ (0)
52 {
53 stack_.reserve (this->octree_.getTreeDepth ());
55 }
56
57 ////////////////////////////////////////////////////////////////////////////////
58
59 template<typename PointT, typename ContainerT>
61
62 ////////////////////////////////////////////////////////////////////////////////
63
64 template<typename PointT, typename ContainerT>
67 {
68 //when currentNode_ is 0, skip incrementing because it is already at the end
69 if (this->currentNode_)
70 {
71 bool bTreeUp = false;
73
74 if (this->currentNode_->getNodeType () == pcl::octree::BRANCH_NODE)
75 {
76 auto* currentBranch = static_cast<BranchNode*> (this->currentNode_);
77
78 if (currentChildIdx_ < 8)
79 {
80 itNode = this->octree_.getBranchChildPtr (*currentBranch, currentChildIdx_);
81
82 //keep looking for a valid child until we've run out of children or a valid one is found
83 while ((currentChildIdx_ < 7) && !(itNode))
84 {
85 //find next existing child node
86 currentChildIdx_++;
87 itNode = this->octree_.getBranchChildPtr (*currentBranch, currentChildIdx_);
88 }
89 //if no valid one was found, set flag to move back up the tree to the parent node
90 if (!itNode)
91 {
92 bTreeUp = true;
93 }
94 }
95 else
96 {
97 bTreeUp = true;
98 }
99 }
100 else
101 {
102 bTreeUp = true;
103 }
104
105 if (bTreeUp)
106 {
107 if (!stack_.empty ())
108 {
109 std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char>& stackEntry = stack_.back ();
110 stack_.pop_back ();
111
112 this->currentNode_ = stackEntry.first;
113 currentChildIdx_ = stackEntry.second;
114
115 //don't do anything with the keys here...
116 this->currentOctreeDepth_--;
117 }
118 else
119 {
120 this->currentNode_ = nullptr;
121 }
122
123 }
124 else
125 {
126 std::pair<OutofcoreOctreeBaseNode<ContainerT, PointT>*, unsigned char> newStackEntry;
127 newStackEntry.first = this->currentNode_;
128 newStackEntry.second = static_cast<unsigned char> (currentChildIdx_+1);
129
130 stack_.push_back (newStackEntry);
131
132 //don't do anything with the keys here...
133
134 this->currentOctreeDepth_++;
135 currentChildIdx_= 0;
136 this->currentNode_ = itNode;
137 }
138 }
139
140 return (*this);
141 }
142
143 ////////////////////////////////////////////////////////////////////////////////
144
145 }//namesapce pcl
146}//namespace outofcore
147
148#endif //PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_IMPL_H_
149
std::vector< std::pair< OctreeDiskNode *, unsigned char > > stack_
This code defines the octree used for point storage at Urban Robotics.
Definition: octree_base.h:150
std::uint64_t getTreeDepth() const
Definition: octree_base.h:440
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...
A point structure representing Euclidean xyz coordinates, and the RGB color.