Point Cloud Library (PCL)  1.8.1-dev
octree_key.h
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37 
38 #ifndef PCL_OCTREE_KEY_H
39 #define PCL_OCTREE_KEY_H
40 
41 namespace pcl
42 {
43  namespace octree
44  {
45  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46  /** \brief @b Octree key class
47  * \note Octree keys contain integer indices for each coordinate axis in order to address an octree leaf node.
48  * \author Julius Kammerl (julius@kammerl.de)
49  */
50  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
51  class OctreeKey
52  {
53  public:
54 
55  /** \brief Empty constructor. */
56  OctreeKey () :
57  x (0), y (0), z (0)
58  {
59  }
60 
61  /** \brief Constructor for key initialization. */
62  OctreeKey (unsigned int keyX, unsigned int keyY, unsigned int keyZ) :
63  x (keyX), y (keyY), z (keyZ)
64  {
65  }
66 
67  /** \brief Copy constructor. */
68  OctreeKey (const OctreeKey& source)
69  {
70  memcpy(key_, source.key_, sizeof(key_));
71  }
72 
73  /** \brief Operator== for comparing octree keys with each other.
74  * \return "true" if leaf node indices are identical; "false" otherwise.
75  * */
76  bool
77  operator == (const OctreeKey& b) const
78  {
79  return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
80  }
81 
82  /** \brief Operator<= for comparing octree keys with each other.
83  * \return "true" if key indices are not greater than the key indices of b ; "false" otherwise.
84  * */
85  bool
86  operator <= (const OctreeKey& b) const
87  {
88  return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
89  }
90 
91  /** \brief Operator>= for comparing octree keys with each other.
92  * \return "true" if key indices are not smaller than the key indices of b ; "false" otherwise.
93  * */
94  bool
95  operator >= (const OctreeKey& b) const
96  {
97  return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
98  }
99 
100  /** \brief push a child node to the octree key
101  * \param[in] childIndex index of child node to be added (0-7)
102  * */
103  inline void
104  pushBranch (unsigned char childIndex)
105  {
106  this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
107  this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
108  this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
109  }
110 
111  /** \brief pop child node from octree key
112  * */
113  inline void
115  {
116  this->x >>= 1;
117  this->y >>= 1;
118  this->z >>= 1;
119  }
120 
121  /** \brief get child node index using depthMask
122  * \param[in] depthMask bit mask with single bit set at query depth
123  * \return child node index
124  * */
125  inline unsigned char
126  getChildIdxWithDepthMask (unsigned int depthMask) const
127  {
128  return static_cast<unsigned char> (((!!(this->x & depthMask)) << 2)
129  | ((!!(this->y & depthMask)) << 1)
130  | (!!(this->z & depthMask)));
131  }
132 
133  /* \brief maximum depth that can be addressed */
134  static const unsigned char maxDepth = static_cast<const unsigned char>(sizeof(uint32_t)*8);
135 
136  // Indices addressing a voxel at (X, Y, Z)
137 
138  union
139  {
140  struct
141  {
142  uint32_t x;
143  uint32_t y;
144  uint32_t z;
145  };
146  uint32_t key_[3];
147  };
148 
149 
150  };
151  }
152 }
153 
154 #endif
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition: octree_key.h:77
static const unsigned char maxDepth
Definition: octree_key.h:134
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition: octree_key.h:68
void popBranch()
pop child node from octree key
Definition: octree_key.h:114
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition: octree_key.h:95
unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const
get child node index using depthMask
Definition: octree_key.h:126
Octree key class
Definition: octree_key.h:51
OctreeKey()
Empty constructor.
Definition: octree_key.h:56
bool operator<=(const OctreeKey &b) const
Operator<= for comparing octree keys with each other.
Definition: octree_key.h:86
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition: octree_key.h:104
OctreeKey(unsigned int keyX, unsigned int keyY, unsigned int keyZ)
Constructor for key initialization.
Definition: octree_key.h:62