39 #ifndef PCL_OCTREE_ITERATOR_H 40 #define PCL_OCTREE_ITERATOR_H 46 #include <pcl/octree/octree_nodes.h> 47 #include <pcl/octree/octree_key.h> 53 #pragma GCC system_header 74 template<
typename OctreeT>
75 class OctreeIteratorBase :
public std::iterator<std::forward_iterator_tag, const OctreeNode, void,
76 const OctreeNode*, const OctreeNode&>
257 ret =
octree_->getBranchBitPattern (*current_branch);
276 return leaf_node->getContainer();
291 return leaf_node->getContainer();
306 return branch_node->getContainer();
321 return branch_node->getContainer();
327 virtual unsigned long 330 unsigned long id = 0;
339 unsigned int depth =
octree_->getTreeDepth ();
340 id =
static_cast<unsigned long> (key.
x) << (depth * 2)
341 |
static_cast<unsigned long> (key.
y) << (depth * 1)
342 |
static_cast<unsigned long> (key.
z) << (depth * 0);
365 template<
typename OctreeT>
451 template<
typename OctreeT>
533 template<
typename OctreeT>
622 #include <pcl/octree/impl/octree_iterator.hpp> bool isLeafNode() const
check if current node is a branch node
OctreeBreadthFirstIterator & operator=(const OctreeBreadthFirstIterator &src)
Copy operator.
void reset()
Reset iterator.
const BranchContainer & getBranchContainer() const
Method for retrieving the container from an octree branch node.
OctreeLeafNodeIterator & operator++()
Preincrement operator.
OctreeIteratorBase(const OctreeIteratorBase &src, unsigned int max_depth_arg=0)
Copy constructor.
OctreeIteratorBase & operator=(const OctreeIteratorBase &src)
Copy operator.
virtual node_type_t getNodeType() const =0
Pure virtual method for receiving the type of octree node (branch or leaf)
OctreeT::LeafContainer LeafContainer
std::deque< IteratorState > FIFO_
FIFO list.
bool isBranchNode() const
check if current node is a branch node
OctreeNode * operator*() const
*operator.
const LeafContainer & getLeafContainer() const
Method for retrieving a single leaf container from the octree leaf node.
std::vector< IteratorState > stack_
Stack structure.
IteratorState * current_state_
Pointer to current iterator state.
OctreeNode * operator*() const
*operator.
Octree leaf node iterator class.
OctreeT::BranchNode BranchNode
LeafContainer & getLeafContainer()
Method for retrieving a single leaf container from the octree leaf node.
unsigned int max_octree_depth_
Maximum octree depth.
void reset()
Reset the iterator to the root node of the octree.
virtual void reset()
Reset the iterator to the root node of the octree.
OctreeT::BranchContainer BranchContainer
unsigned int getCurrentOctreeDepth() const
Get the current depth level of octree.
OctreeIteratorBase< OctreeT >::LeafNode LeafNode
OctreeIteratorBase< OctreeT >::BranchNode BranchNode
bool operator!=(const OctreeIteratorBase &other) const
Inequal comparison operator.
OctreeIteratorBase(unsigned int max_depth_arg=0)
Empty constructor.
OctreeNode * getCurrentOctreeNode() const
Get the current octree node.
OctreeLeafNodeIterator(unsigned int max_depth_arg=0)
Empty constructor.
char getNodeConfiguration() const
Get bit pattern of children configuration of current node.
OctreeDepthFirstIterator(unsigned int max_depth_arg=0)
Empty constructor.
void skipChildVoxels()
Skip all child voxels of current node and return to parent node.
virtual ~OctreeBreadthFirstIterator()
Empty deconstructor.
virtual unsigned long getNodeID() const
get a integer identifier for current node (note: identifier depends on tree depth).
OctreeLeafNodeIterator(OctreeT *octree_arg, unsigned int max_depth_arg=0)
Constructor.
const OctreeKey & getCurrentOctreeKey() const
Get octree key for the current iterator octree node.
virtual ~OctreeLeafNodeIterator()
Empty deconstructor.
void reset()
Reset the iterator to the root node of the octree.
OctreeBreadthFirstIterator & operator++()
Preincrement operator.
OctreeT * octree_
Reference to octree class.
OctreeDepthFirstIterator & operator++()
Preincrement operator.
OctreeT::LeafNode LeafNode
Abstract octree iterator class
OctreeDepthFirstIterator & operator=(const OctreeDepthFirstIterator &src)
Copy operator.
virtual ~OctreeIteratorBase()
Empty deconstructor.
bool operator==(const OctreeIteratorBase &other) const
Equal comparison operator.
virtual ~OctreeDepthFirstIterator()
Empty deconstructor.
Abstract octree node class
OctreeIteratorBase(OctreeT *octree_arg, unsigned int max_depth_arg=0)
Constructor.
BranchContainer & getBranchContainer()
Method for retrieving the container from an octree branch node.
OctreeBreadthFirstIterator(unsigned int max_depth_arg=0)
Empty constructor.