Point Cloud Library (PCL)  1.10.1-dev
octree_key.h
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37 
38 #pragma once
39 
40 #include <cstdint>
41 #include <cstring> // for memcpy
42 
43 namespace pcl {
44 namespace octree {
45 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46 /** \brief @b Octree key class
47  * \note Octree keys contain integer indices for each coordinate axis in order to
48  * address an octree leaf node.
49  * \author Julius Kammerl (julius@kammerl.de)
50  */
51 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
52 class OctreeKey {
53 public:
54  /** \brief Empty constructor. */
55  OctreeKey() : x(0), y(0), z(0) {}
56 
57  /** \brief Constructor for key initialization. */
58  OctreeKey(unsigned int keyX, unsigned int keyY, unsigned int keyZ)
59  : x(keyX), y(keyY), z(keyZ)
60  {}
61 
62  /** \brief Copy constructor. */
63  OctreeKey(const OctreeKey& source) { std::memcpy(key_, source.key_, sizeof(key_)); }
64 
65  OctreeKey&
66  operator=(const OctreeKey&) = default;
67 
68  /** \brief Operator== for comparing octree keys with each other.
69  * \return "true" if leaf node indices are identical; "false" otherwise.
70  * */
71  bool
72  operator==(const OctreeKey& b) const
73  {
74  return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
75  }
76 
77  /** \brief Inequal comparison operator
78  * \param[in] other OctreeIteratorBase to compare with
79  * \return "true" if the current and other iterators are different ; "false"
80  * otherwise.
81  */
82  bool
83  operator!=(const OctreeKey& other) const
84  {
85  return !operator==(other);
86  }
87 
88  /** \brief Operator<= for comparing octree keys with each other.
89  * \return "true" if key indices are not greater than the key indices of b ; "false"
90  * otherwise.
91  * */
92  bool
93  operator<=(const OctreeKey& b) const
94  {
95  return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
96  }
97 
98  /** \brief Operator>= for comparing octree keys with each other.
99  * \return "true" if key indices are not smaller than the key indices of b ; "false"
100  * otherwise.
101  * */
102  bool
103  operator>=(const OctreeKey& b) const
104  {
105  return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
106  }
107 
108  /** \brief push a child node to the octree key
109  * \param[in] childIndex index of child node to be added (0-7)
110  * */
111  inline void
112  pushBranch(unsigned char childIndex)
113  {
114  this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
115  this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
116  this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
117  }
118 
119  /** \brief pop child node from octree key
120  * */
121  inline void
123  {
124  this->x >>= 1;
125  this->y >>= 1;
126  this->z >>= 1;
127  }
128 
129  /** \brief get child node index using depthMask
130  * \param[in] depthMask bit mask with single bit set at query depth
131  * \return child node index
132  * */
133  inline unsigned char
134  getChildIdxWithDepthMask(unsigned int depthMask) const
135  {
136  return static_cast<unsigned char>(((!!(this->x & depthMask)) << 2) |
137  ((!!(this->y & depthMask)) << 1) |
138  (!!(this->z & depthMask)));
139  }
140 
141  /* \brief maximum depth that can be addressed */
142  static const unsigned char maxDepth =
143  static_cast<unsigned char>(sizeof(std::uint32_t) * 8);
144 
145  // Indices addressing a voxel at (X, Y, Z)
146 
147  union {
148  struct {
149  std::uint32_t x;
150  std::uint32_t y;
151  std::uint32_t z;
152  };
153  std::uint32_t key_[3];
154  };
155 };
156 } // namespace octree
157 } // namespace pcl
std::uint32_t key_[3]
Definition: octree_key.h:153
static const unsigned char maxDepth
Definition: octree_key.h:142
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition: octree_key.h:103
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition: octree_key.h:63
void popBranch()
pop child node from octree key
Definition: octree_key.h:122
bool operator!=(const OctreeKey &other) const
Inequal comparison operator.
Definition: octree_key.h:83
unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const
get child node index using depthMask
Definition: octree_key.h:134
OctreeKey & operator=(const OctreeKey &)=default
Octree key class
Definition: octree_key.h:52
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition: octree_key.h:72
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:93
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition: octree_key.h:112
OctreeKey(unsigned int keyX, unsigned int keyY, unsigned int keyZ)
Constructor for key initialization.
Definition: octree_key.h:58