Point Cloud Library (PCL)  1.9.1-dev
outofcore_breadth_first_iterator.hpp
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36  * $Id: outofcore_depth_first_iterator.hpp 7938 2012-11-14 06:27:39Z jrosen $
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38 
39 #ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
40 #define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
41 
42 namespace pcl
43 {
44  namespace outofcore
45  {
46 
47  template<typename PointT, typename ContainerT>
49  : OutofcoreIteratorBase<PointT, ContainerT> (octree_arg)
50  {
51  reset();
52  }
53 
54  ////////////////////////////////////////////////////////////////////////////////
55 
56  template<typename PointT, typename ContainerT>
58  {
59  }
60 
61  ////////////////////////////////////////////////////////////////////////////////
62 
63  template<typename PointT, typename ContainerT>
66  {
67  if (!FIFO_.empty ())
68  {
69  // Get the first entry from the FIFO queue
70  OctreeDiskNode *node = FIFO_.front ();
71  FIFO_.pop_front ();
72 
73  // If not skipping children, not at the max specified depth and we're a branch then iterate over children
74  if (!skip_child_voxels_ && node->getDepth () < this->max_depth_ && node->getNodeType () == pcl::octree::BRANCH_NODE)
75  {
76  // Get the branch node
77  BranchNode* branch = static_cast<BranchNode*> (node);
78  OctreeDiskNode* child = nullptr;
79 
80  // Iterate over the branches children
81  for (unsigned char child_idx = 0; child_idx < 8 ; child_idx++)
82  {
83  // If child/index exists add it to FIFO queue
84  child = this->octree_.getBranchChildPtr (*branch, child_idx);
85  if (child)
86  {
87  FIFO_.push_back (child);
88  }
89  }
90  }
91  }
92 
93  // Reset skipped children
94  skip_child_voxels_ = false;
95 
96  // If there's a queue, set the current node to the first entry
97  if (!FIFO_.empty ())
98  {
99  this->currentNode_ = FIFO_.front ();
100  }
101  else
102  {
103  this->currentNode_ = nullptr;
104  }
105 
106  return (*this);
107  }
108 
109  ////////////////////////////////////////////////////////////////////////////////
110 
111  }//namesapce pcl
112 }//namespace outofcore
113 
114 #endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
115 
OutofcoreNodeType * getBranchChildPtr(const BranchNode &branch_arg, unsigned char childIdx_arg) const
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
node_type_t getNodeType() const override
Pure virtual method for receiving the type of octree node (branch or leaf)
virtual std::size_t getDepth() const
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.
Abstract octree iterator class.
A point structure representing Euclidean xyz coordinates, and the RGB color.
This code defines the octree used for point storage at Urban Robotics.
Definition: octree_base.h:150