Point Cloud Library (PCL)  1.9.1-dev
octree_key.h
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37 
38 #pragma once
39 
40 namespace pcl
41 {
42  namespace octree
43  {
44  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
45  /** \brief @b Octree key class
46  * \note Octree keys contain integer indices for each coordinate axis in order to address an octree leaf node.
47  * \author Julius Kammerl (julius@kammerl.de)
48  */
49  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
50  class OctreeKey
51  {
52  public:
53 
54  /** \brief Empty constructor. */
55  OctreeKey () :
56  x (0), y (0), z (0)
57  {
58  }
59 
60  /** \brief Constructor for key initialization. */
61  OctreeKey (unsigned int keyX, unsigned int keyY, unsigned int keyZ) :
62  x (keyX), y (keyY), z (keyZ)
63  {
64  }
65 
66  /** \brief Copy constructor. */
67  OctreeKey (const OctreeKey& source)
68  {
69  memcpy(key_, source.key_, sizeof(key_));
70  }
71 
72  OctreeKey& operator=(const OctreeKey&) = default;
73 
74  /** \brief Operator== for comparing octree keys with each other.
75  * \return "true" if leaf node indices are identical; "false" otherwise.
76  * */
77  bool
78  operator == (const OctreeKey& b) const
79  {
80  return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
81  }
82 
83  /** \brief Inequal comparison operator
84  * \param[in] other OctreeIteratorBase to compare with
85  * \return "true" if the current and other iterators are different ; "false" otherwise.
86  */
87  bool operator!= (const OctreeKey& other) const
88  {
89  return !operator== (other);
90  }
91 
92  /** \brief Operator<= for comparing octree keys with each other.
93  * \return "true" if key indices are not greater than the key indices of b ; "false" otherwise.
94  * */
95  bool
96  operator <= (const OctreeKey& b) const
97  {
98  return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
99  }
100 
101  /** \brief Operator>= for comparing octree keys with each other.
102  * \return "true" if key indices are not smaller than the key indices of b ; "false" otherwise.
103  * */
104  bool
105  operator >= (const OctreeKey& b) const
106  {
107  return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
108  }
109 
110  /** \brief push a child node to the octree key
111  * \param[in] childIndex index of child node to be added (0-7)
112  * */
113  inline void
114  pushBranch (unsigned char childIndex)
115  {
116  this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
117  this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
118  this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
119  }
120 
121  /** \brief pop child node from octree key
122  * */
123  inline void
125  {
126  this->x >>= 1;
127  this->y >>= 1;
128  this->z >>= 1;
129  }
130 
131  /** \brief get child node index using depthMask
132  * \param[in] depthMask bit mask with single bit set at query depth
133  * \return child node index
134  * */
135  inline unsigned char
136  getChildIdxWithDepthMask (unsigned int depthMask) const
137  {
138  return static_cast<unsigned char> (((!!(this->x & depthMask)) << 2)
139  | ((!!(this->y & depthMask)) << 1)
140  | (!!(this->z & depthMask)));
141  }
142 
143  /* \brief maximum depth that can be addressed */
144  static const unsigned char maxDepth = static_cast<unsigned char>(sizeof(std::uint32_t)*8);
145 
146  // Indices addressing a voxel at (X, Y, Z)
147 
148  union
149  {
150  struct
151  {
152  std::uint32_t x;
153  std::uint32_t y;
154  std::uint32_t z;
155  };
156  std::uint32_t key_[3];
157  };
158 
159 
160  };
161  }
162 }
std::uint32_t key_[3]
Definition: octree_key.h:156
static const unsigned char maxDepth
Definition: octree_key.h:144
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition: octree_key.h:105
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition: octree_key.h:67
void popBranch()
pop child node from octree key
Definition: octree_key.h:124
bool operator!=(const OctreeKey &other) const
Inequal comparison operator.
Definition: octree_key.h:87
unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const
get child node index using depthMask
Definition: octree_key.h:136
OctreeKey & operator=(const OctreeKey &)=default
Octree key class
Definition: octree_key.h:50
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition: octree_key.h:78
OctreeKey()
Empty constructor.
Definition: octree_key.h:55
bool operator<=(const OctreeKey &b) const
Operator<= for comparing octree keys with each other.
Definition: octree_key.h:96
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition: octree_key.h:114
OctreeKey(unsigned int keyX, unsigned int keyY, unsigned int keyZ)
Constructor for key initialization.
Definition: octree_key.h:61