octree_nodes.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 * $Id: octree_nodes.h 4702 2012-02-23 09:39:33Z gedikli $
 */

#ifndef OCTREE_NODE_H
#define OCTREE_NODE_H

// maximum depth of octree as we are using "unsigned int" octree keys / bit masks
#define OCT_MAXTREEDEPTH ( sizeof(unsigned int) * 8  )

#include <string.h>

#include <pcl/pcl_macros.h>

namespace pcl
{
  namespace octree
  {

    // enum of node types within the octree
    enum node_type_t
    {
      BRANCH_NODE, LEAF_NODE, LEAF_BRANCH
    };


    class PCL_EXPORTS OctreeNode
    {
    public:

      virtual node_type_t getNodeType () const = 0;

      virtual OctreeNode* deepCopy () const = 0;
    };


    template<typename DataT>
    class OctreeLeafAbstract : public OctreeNode
    {
    public:

      typedef DataT leaf_data_t;

      OctreeLeafAbstract () 
      {
      }

      ~OctreeLeafAbstract () 
      {
      }

      virtual OctreeNode* deepCopy () const = 0;

      inline virtual node_type_t getNodeType () const {return LEAF_NODE;}

      virtual void
        setData (const leaf_data_t& data_arg) = 0;

      virtual void
        getData (const DataT*& data_arg) const = 0;

      virtual void
        getData (std::vector<leaf_data_t>& dataVector_arg) const = 0;

      virtual void
        reset () = 0;

    };


    template<typename DataT>
    class OctreeLeafEmpty : public OctreeLeafAbstract<DataT>
    {
    public:
      OctreeLeafEmpty ()
      {
      }

      ~OctreeLeafEmpty ()
      {
      }

      virtual OctreeNode *
      deepCopy () const
      {
        return (OctreeNode*) new OctreeLeafEmpty (*this);
      }

      virtual void
        setData (const DataT& data_arg)
      {
      }

      virtual void
        getData (const DataT*& data_arg) const
      {
        data_arg = 0;
      }

      virtual void
        getData (std::vector<DataT>& dataVector_arg) const
      {
      }

      virtual void
        reset ()
      {
      }
    };


    template<typename DataT>
    class OctreeLeafDataT : public OctreeLeafAbstract<DataT>
    {
    public:

      OctreeLeafDataT ()
      {
      }

      ~OctreeLeafDataT ()
      {
      }

      virtual OctreeNode*
      deepCopy () const
      {
        return (OctreeNode*) new OctreeLeafDataT (*this);
      }

      virtual void
        setData (const DataT& data_arg)
      {
        this->data_ = data_arg;
      }

      virtual void
        getData (const DataT*& data_arg) const
      {
        data_arg = &data_;
      }

      virtual void
        getData (std::vector<DataT>& dataVector_arg) const
      {
        dataVector_arg.push_back (this->data_);
      }

      virtual void
        reset ()
      {
        memset (&data_, 0, sizeof(data_));
      }

    protected:
      DataT data_;

    };


    template<typename DataT>
    class OctreeLeafDataTVector : public OctreeLeafAbstract<DataT>
    {
      public:

      OctreeLeafDataTVector ()
      {
      }

      ~OctreeLeafDataTVector ()
      {
      }

      virtual OctreeNode *
      deepCopy () const
      {
        return (OctreeNode*) new OctreeLeafDataTVector (*this);
      }

      virtual void
        setData (const DataT& data_arg)
      {
        leafDataTVector_.push_back (data_arg);
      }

      virtual void
        getData (const DataT*& data_arg) const
      {
        DataT* result = 0;

        if (leafDataTVector_.size () > 0)
          result = (DataT*)&leafDataTVector_.back ();

        data_arg = result;
      }

      virtual void
        getData (std::vector<DataT>& dataVector_arg) const
      {
        dataVector_arg.insert (dataVector_arg.end (), leafDataTVector_.begin (), leafDataTVector_.end ());
      }

      virtual const std::vector<DataT>&
        getIdxVector ()
      {
        return leafDataTVector_;
      }

      virtual void
        reset ()
      {
        leafDataTVector_.clear ();
      }

    protected:
      std::vector<DataT> leafDataTVector_;

    };



    class OctreeBranch : public OctreeNode
    {
      
    public:

      typedef const OctreeNode * octree_node_ptr;

      OctreeBranch ()
      {
        memset (this->subNodes_, 0, sizeof(this->subNodes_));
      }
      
      OctreeBranch (const OctreeBranch& source)
      {
        memset (subNodes_, 0, sizeof(subNodes_));
        // iterate over the 8 child nodes
        for (unsigned int i=0; i<8; i++)
        {
          if (source.subNodes_[i] != 0)
            subNodes_[i] = source.subNodes_[i]->deepCopy ();
        }
      }

      virtual OctreeNode *
      deepCopy () const
      {
        return (OctreeNode*) new OctreeBranch (*this);
      }

      virtual ~OctreeBranch () {}

      inline virtual node_type_t
        getNodeType () const {return BRANCH_NODE;}

      inline const octree_node_ptr& operator[] (size_t pos) const {return subNodes_[pos];}

      inline octree_node_ptr& operator[] (size_t pos) {return subNodes_[pos];}

      inline void reset () {memset (subNodes_, 0, sizeof (subNodes_));}

    private:
      octree_node_ptr subNodes_[8];
    };


  }
}

#endif