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  /** \brief Operator== for comparing octree keys with each other.
73  * \return "true" if leaf node indices are identical; "false" otherwise.
74  * */
75  bool
76  operator == (const OctreeKey& b) const
77  {
78  return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
79  }
80 
81  /** \brief Inequal comparison operator
82  * \param[in] other OctreeIteratorBase to compare with
83  * \return "true" if the current and other iterators are different ; "false" otherwise.
84  */
85  bool operator!= (const OctreeKey& other) const
86  {
87  return !operator== (other);
88  }
89 
90  /** \brief Operator<= for comparing octree keys with each other.
91  * \return "true" if key indices are not greater than the key indices of b ; "false" otherwise.
92  * */
93  bool
94  operator <= (const OctreeKey& b) const
95  {
96  return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
97  }
98 
99  /** \brief Operator>= for comparing octree keys with each other.
100  * \return "true" if key indices are not smaller than the key indices of b ; "false" 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 = static_cast<unsigned char>(sizeof(uint32_t)*8);
143 
144  // Indices addressing a voxel at (X, Y, Z)
145 
146  union
147  {
148  struct
149  {
150  uint32_t x;
151  uint32_t y;
152  uint32_t z;
153  };
154  uint32_t key_[3];
155  };
156 
157 
158  };
159  }
160 }
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition: octree_key.h:76
static const unsigned char maxDepth
Definition: octree_key.h:142
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
bool operator!=(const OctreeKey &other) const
Inequal comparison operator.
Definition: octree_key.h:85
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition: octree_key.h:67
void popBranch()
pop child node from octree key
Definition: octree_key.h:122
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition: octree_key.h:103
unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const
get child node index using depthMask
Definition: octree_key.h:134
Octree key class
Definition: octree_key.h:50
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:94
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:61