octree_iterator.hpp

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 * $Id: octree_iterator.hpp 4702 2012-02-23 09:39:33Z gedikli $
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#ifndef OCTREE_ITERATOR_HPP_
#define OCTREE_ITERATOR_HPP_

#include <vector>
#include <assert.h>

#include "pcl/common/common.h"

namespace pcl
{
  namespace octree
  {

    using namespace std;

    template<typename DataT, typename LeafT, typename OctreeT>
      OctreeDepthFirstIterator<DataT, LeafT, OctreeT>::OctreeDepthFirstIterator (const OctreeT& octree_arg) :
          OctreeIteratorBase<DataT, LeafT, OctreeT> (octree_arg),currentChildIdx_ (0)
      {

        // allocate stack
        stack_.reserve (this->octree_.getTreeDepth ());

        // initialize iterator
        reset ();

      }

    template<typename DataT, typename LeafT, typename OctreeT>
      OctreeDepthFirstIterator<DataT, LeafT, OctreeT>::~OctreeDepthFirstIterator ()
      {

      }

    template<typename DataT, typename LeafT, typename OctreeT>
      void
      OctreeDepthFirstIterator<DataT, LeafT, OctreeT>::reset ()
      {
        OctreeIteratorBase<DataT, LeafT, OctreeT>::reset ();

        // empty stack
        stack_.clear ();
      }

    template<typename DataT, typename LeafT, typename OctreeT>
      void
      OctreeDepthFirstIterator<DataT, LeafT, OctreeT>::skipChildVoxels ()
      {
        if (this->currentNode_)
        {
          // make sure, we are not at the root node
          if (stack_.size () > 0)
          {
            // pop stack
            std::pair<OctreeNode const*, unsigned char>& stackEntry = stack_.back ();
            stack_.pop_back ();

            // assign parent node and child index
            this->currentNode_ = stackEntry.first;
            currentChildIdx_ = stackEntry.second;

            // update octree key
            this->currentOctreeKey_.x = (this->currentOctreeKey_.x >> 1);
            this->currentOctreeKey_.y = (this->currentOctreeKey_.y >> 1);
            this->currentOctreeKey_.z = (this->currentOctreeKey_.z >> 1);

            // update octree depth
            this->currentOctreeDepth_--;

          }
          else
          {
            // we are at root node level - finish
            this->currentNode_ = NULL;
          }

        }

      }

    template<typename DataT, typename LeafT, typename OctreeT>
      OctreeDepthFirstIterator<DataT, LeafT, OctreeT>&
      OctreeDepthFirstIterator<DataT, LeafT, OctreeT>::operator++ ()
      {
        if (this->currentNode_)
        {

          bool bTreeUp = false;
          const OctreeNode* itNode = NULL;

          if (this->currentNode_->getNodeType () == BRANCH_NODE)
          {
            // current node is a branch node
            const OctreeBranch* currentBranch = (const OctreeBranch*)this->currentNode_;

            // find next existing child node
            while ((currentChildIdx_ < 8) && !(itNode = this->octree_.getBranchChild (*currentBranch, currentChildIdx_)))
            {
              currentChildIdx_++;
            };

            if (currentChildIdx_ == 8)
            {
              // all childs traversed -> back to parent node
              bTreeUp = true;
            }
          }
          else
          {
            // at leaf node level, we need to return to parent node
            bTreeUp = true;
          }

          if (bTreeUp)
          {
            // return to parent node

            if (stack_.size () > 0)
            {
              // pop the stack
              std::pair<OctreeNode const*, unsigned char>& stackEntry = stack_.back ();
              stack_.pop_back ();

              // assign parent node and child index
              this->currentNode_ = stackEntry.first;
              currentChildIdx_ = stackEntry.second;

              // update octree key
              this->currentOctreeKey_.x = (this->currentOctreeKey_.x >> 1);
              this->currentOctreeKey_.y = (this->currentOctreeKey_.y >> 1);
              this->currentOctreeKey_.z = (this->currentOctreeKey_.z >> 1);

              // update octree depth
              this->currentOctreeDepth_--;
            }
            else
            {
              // root level -> finish
              this->currentNode_ = NULL;
            }

          }
          else
          {
            // traverse child node

            // new stack entry
            std::pair<OctreeNode const*, unsigned char> newStackEntry;

            // assign current node and child index to stack entry
            newStackEntry.first = this->currentNode_;
            newStackEntry.second = currentChildIdx_ + 1;

            // push stack entry to stack
            stack_.push_back (newStackEntry);

            // update octree key
            this->currentOctreeKey_.x = (this->currentOctreeKey_.x << 1) | (!!(currentChildIdx_ & (1 << 2)));
            this->currentOctreeKey_.y = (this->currentOctreeKey_.y << 1) | (!!(currentChildIdx_ & (1 << 1)));
            this->currentOctreeKey_.z = (this->currentOctreeKey_.z << 1) | (!!(currentChildIdx_ & (1 << 0)));

            // update octree depth
            this->currentOctreeDepth_++;

            // traverse to child node
            currentChildIdx_ = 0;
            this->currentNode_ = itNode;
          }
        }

        return (*this);
      }

    template<typename DataT, typename LeafT, typename OctreeT>
      OctreeBreadthFirstIterator<DataT, LeafT, OctreeT>::OctreeBreadthFirstIterator (const OctreeT& octree_arg) :
          OctreeIteratorBase<DataT, LeafT, OctreeT> (octree_arg)
      {
        OctreeIteratorBase<DataT, LeafT, OctreeT>::reset ();

        // initialize iterator
        reset ();

      }

    template<typename DataT, typename LeafT, typename OctreeT>
      OctreeBreadthFirstIterator<DataT, LeafT, OctreeT>::~OctreeBreadthFirstIterator ()
      {
      }

    template<typename DataT, typename LeafT, typename OctreeT>
      void
      OctreeBreadthFirstIterator<DataT, LeafT, OctreeT>::addChildNodesToFIFO (const OctreeNode* node)
      {
        unsigned char i;

        if (node && (node->getNodeType () == BRANCH_NODE))
        {

          for (i = 0; i < 8; i++)
          {
            // current node is a branch node
            const OctreeBranch* currentBranch = (const OctreeBranch*)this->currentNode_;

            const OctreeNode* itNode = (const OctreeNode*)this->octree_.getBranchChild (*currentBranch, i);

            // if node exist, push it to FIFO
            if (itNode)
            {
              OctreeKey newKey;

              // generate octree key
              newKey.x = (this->currentOctreeKey_.x << 1) | (!!(i & (1 << 2)));
              newKey.y = (this->currentOctreeKey_.y << 1) | (!!(i & (1 << 1)));
              newKey.z = (this->currentOctreeKey_.z << 1) | (!!(i & (1 << 0)));

              FIFOElement newListElement;
              newListElement.node = itNode;
              newListElement.key = newKey;
              newListElement.depth = this->currentOctreeDepth_ + 1;

              FIFO_.push_back (newListElement);
            }
          }
        }

      }

    template<typename DataT, typename LeafT, typename OctreeT>
      void
      OctreeBreadthFirstIterator<DataT, LeafT, OctreeT>::reset ()
      {
        OctreeIteratorBase<DataT, LeafT, OctreeT>::reset ();

        // init FIFO
        FIFO_.clear ();

      }

    template<typename DataT, typename LeafT, typename OctreeT>
      OctreeBreadthFirstIterator<DataT, LeafT, OctreeT>&
      OctreeBreadthFirstIterator<DataT, LeafT, OctreeT>::operator++ ()
      {
        if (this->currentNode_)
        {

          // add childs of current node to FIFO
          addChildNodesToFIFO (this->currentNode_);

          if (FIFO_.size () > 0)
          {
            FIFOElement FIFOElement;

            // get FIFO front element
            FIFOElement = FIFO_.front ();
            FIFO_.pop_front ();

            // update iterator variables
            this->currentNode_ = FIFOElement.node;
            this->currentOctreeKey_ = FIFOElement.key;
            this->currentOctreeDepth_ = FIFOElement.depth;

          }
          else
          {
            // last node reached
            this->currentNode_ = NULL;
          }

        }

        return (*this);
      }
  }
}

#endif