41 #include <pcl/octree/octree_container.h>
42 #include <pcl/octree/octree_iterator.h>
43 #include <pcl/octree/octree_key.h>
44 #include <pcl/octree/octree_nodes.h>
52 template <
typename ContainerT>
71 for (
unsigned char b = 0; b < 2; ++b)
72 for (
unsigned char i = 0; i < 8; ++i)
95 getChildPtr(
unsigned char buffer_arg,
unsigned char index_arg)
const
97 assert((buffer_arg < 2) && (index_arg < 8));
108 unsigned char index_arg,
111 assert((buffer_arg < 2) && (index_arg < 8));
121 hasChild(
unsigned char buffer_arg,
unsigned char index_arg)
const
123 assert((buffer_arg < 2) && (index_arg < 8));
215 template <
typename LeafContainerT =
index_t,
241 return Iterator(
this, max_depth_arg);
464 bool do_XOR_encoding_arg =
false);
478 std::vector<LeafContainerT*>& leaf_container_vector_arg,
479 bool do_XOR_encoding_arg =
false);
487 serializeLeafs(std::vector<LeafContainerT*>& leaf_container_vector_arg);
506 bool do_XOR_decoding_arg =
false);
519 std::vector<LeafContainerT*>& leaf_container_vector_arg,
520 bool do_XOR_decoding_arg =
false);
539 inline LeafContainerT*
542 LeafContainerT* result =
nullptr;
553 inline LeafContainerT*
574 return (
findLeaf(key_arg) !=
nullptr);
625 unsigned char child_idx_arg,
643 for (
unsigned char i = 0; i < 8; i++) {
645 node_bits |=
static_cast<char>((!!child) << i);
659 unsigned char bufferSelector_arg)
const
665 for (
unsigned char i = 0; i < 8; i++) {
667 node_bits |=
static_cast<char>((!!child) << i);
684 node_bits[0] = node_bits[1] = 0;
686 for (
unsigned char i = 0; i < 8; i++) {
690 node_bits[0] |=
static_cast<char>((!!childA) << i);
691 node_bits[1] |=
static_cast<char>((!!childB) << i);
694 return node_bits[0] ^ node_bits[1];
715 unsigned char buffer_selector_arg,
716 unsigned char child_idx_arg)
718 if (branch_arg.
hasChild(buffer_selector_arg, child_idx_arg)) {
720 branch_arg.
getChildPtr(buffer_selector_arg, child_idx_arg);
728 delete (branchChild);
734 delete (branchChild);
742 branch_arg.
setChildPtr(buffer_selector_arg, child_idx_arg,
nullptr);
763 for (
char i = 0; i < 8; i++) {
793 return new_branch_child;
808 return new_leaf_child;
832 bool branch_reset_arg =
false);
846 LeafContainerT*& result_arg)
const;
878 std::vector<char>* binary_tree_out_arg,
879 typename std::vector<LeafContainerT*>* leaf_container_vector_arg,
880 bool do_XOR_encoding_arg =
false,
881 bool new_leafs_filter_arg =
false);
904 typename std::vector<char>::const_iterator& binary_tree_in_it_arg,
905 typename std::vector<char>::const_iterator& binary_tree_in_it_end_arg,
906 typename std::vector<LeafContainerT*>::const_iterator*
907 leaf_container_vector_it_arg,
908 typename std::vector<LeafContainerT*>::const_iterator*
909 leaf_container_vector_it_end_arg,
910 bool branch_reset_arg =
false,
911 bool do_XOR_decoding_arg =
false);
955 unsigned char mask = 1;
958 for (
int i = 0; i < 8; i++) {
960 std::cout << ((data_arg & (mask << i)) ?
"1" :
"0");
962 std::cout << std::endl;
1001 #ifdef PCL_NO_PRECOMPILE
1002 #include <pcl/octree/impl/octree2buf_base.hpp>
BufferedBranchNode(const BufferedBranchNode &source)
Copy constructor.
ContainerT & getContainer()
Get reference to container.
OctreeNode * child_node_array_[2][8]
const ContainerT * operator->() const
Get const pointer to container.
BufferedBranchNode * deepCopy() const override
Method to perform a deep copy of the octree.
const ContainerT & getContainer() const
Get const reference to container.
ContainerT * getContainerPtr()
Get pointer to container.
const ContainerT * getContainerPtr() const
Get const pointer to container.
node_type_t getNodeType() const override
Get the type of octree node.
BufferedBranchNode & operator=(const BufferedBranchNode &source_arg)
Copy operator.
~BufferedBranchNode() override=default
Empty constructor.
ContainerT * operator->()
Get pointer to container.
const ContainerT & operator*() const
Get const reference to container.
void reset()
Reset branch node container for every branch buffer.
ContainerT & operator*()
Get reference to container.
void setChildPtr(unsigned char buffer_arg, unsigned char index_arg, OctreeNode *newNode_arg)
Set child pointer in current branch node.
BufferedBranchNode()
Empty constructor.
OctreeNode * getChildPtr(unsigned char buffer_arg, unsigned char index_arg) const
Get child pointer in current branch node.
bool hasChild(unsigned char buffer_arg, unsigned char index_arg) const
Check if branch is pointing to a particular child node.
Octree double buffer class
LeafNode * createLeafChild(BranchNode &branch_arg, unsigned char child_idx_arg)
Fetch and add a new leaf child to a branch class.
OctreeLeafNodeDepthFirstIterator< OctreeT > LeafNodeDepthFirstIterator
void deleteBranch(BranchNode &branch_arg)
Delete branch and all its subchilds from octree (both buffers)
bool hasBranchChanges(const BranchNode &branch_arg) const
Test if branch changed between previous and current buffer.
OctreeNode * getRootNode() const
Retrieve root node.
LeafContainerT * findLeaf(const OctreeKey &key_arg) const
Find leaf node.
void serializeLeafs(std::vector< LeafContainerT * > &leaf_container_vector_arg)
Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
OctreeDepthFirstIterator< OctreeT > DepthFirstIterator
char getBranchBitPattern(const BranchNode &branch_arg) const
Generate bit pattern reflecting the existence of child node pointers for current buffer.
Octree2BufBase(const Octree2BufBase &source)
Copy constructor.
OctreeKey max_key_
key range
LeafNodeBreadthIterator leaf_breadth_begin(uindex_t max_depth_arg=0u)
Iterator begin(uindex_t max_depth_arg=0)
void switchBuffers()
Switch buffers and reset current octree structure.
OctreeLeafNode< LeafContainerT > LeafNode
const LeafNodeBreadthIterator leaf_breadth_end()
std::size_t getLeafCount() const
Return the amount of existing leafs in the octree.
BranchNode * createBranchChild(BranchNode &branch_arg, unsigned char child_idx_arg)
Fetch and add a new branch child to a branch class in current buffer.
uindex_t createLeafRecursive(const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false)
Create a leaf node at octree key.
std::size_t leaf_count_
Amount of leaf nodes
uindex_t octree_depth_
Octree depth.
void serializeTree(std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false)
Serialize octree into a binary output vector describing its branch node structure.
void treeCleanUpRecursive(BranchNode *branch_arg)
Recursively explore the octree and remove unused branch and leaf nodes.
char getBranchBitPattern(const BranchNode &branch_arg, unsigned char bufferSelector_arg) const
Generate bit pattern reflecting the existence of child node pointers in specific buffer.
bool octreeCanResize()
Test if octree is able to dynamically change its depth.
void deleteTree()
Delete the octree structure and its leaf nodes.
void removeLeaf(const OctreeKey &key_arg)
Remove leaf node from octree.
unsigned char buffer_selector_
Currently active octree buffer
void deleteCurrentBuffer()
Delete the octree structure in the current buffer.
void deleteBranchChild(BranchNode &branch_arg, unsigned char child_idx_arg)
Delete child node and all its subchilds from octree in current buffer.
char getBranchXORBitPattern(const BranchNode &branch_arg) const
Generate XOR bit pattern reflecting differences between the two octree buffers.
virtual void deserializeTreeCallback(LeafContainerT &, const OctreeKey &)
Callback executed for every leaf node data during deserialization.
void serializeTreeRecursive(BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false)
Recursively explore the octree and output binary octree description together with a vector of leaf no...
bool branchHasChild(const BranchNode &branch_arg, unsigned char child_idx_arg) const
Check if branch is pointing to a particular child node.
bool existLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
void deserializeTree(std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false)
Deserialize a binary octree description vector and create a corresponding octree structure.
void deletePreviousBuffer()
Delete octree structure of previous buffer.
LeafContainerT * createLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
void deleteBranchChild(BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg)
Delete child node and all its subchilds from octree in specific buffer.
OctreeLeafNodeBreadthFirstIterator< OctreeT > LeafNodeBreadthIterator
BranchNode * root_node_
Pointer to root branch node of octree
void setTreeDepth(uindex_t depth_arg)
Set the maximum depth of the octree.
BreadthFirstIterator breadth_begin(uindex_t max_depth_arg=0)
BranchContainerT BranchContainer
void printBinary(char data_arg)
Prints binary representation of a byte - used for debugging.
bool tree_dirty_flag_
flags indicating if unused branches and leafs might exist in previous buffer
void setBranchChildPtr(BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
Assign new child node to branch.
std::size_t branch_count_
Amount of branch nodes
void setMaxVoxelIndex(uindex_t max_voxel_index_arg)
Set the maximum amount of voxels per dimension.
bool dynamic_depth_enabled_
Enable dynamic_depth.
void removeLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
const DepthFirstIterator depth_end()
bool deleteLeafRecursive(const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg)
Recursively search and delete leaf node.
const BreadthFirstIterator breadth_end()
OctreeNode * getBranchChildPtr(const BranchNode &branch_arg, unsigned char child_idx_arg) const
Retrieve a child node pointer for child node at child_idx.
DepthFirstIterator depth_begin(uindex_t maxDepth_arg=0)
LeafContainerT * findLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
LeafContainerT * createLeaf(const OctreeKey &key_arg)
Create a leaf node.
bool existLeaf(const OctreeKey &key_arg) const
Check if leaf doesn't exist in the octree.
uindex_t depth_mask_
Depth mask based on octree depth
uindex_t getTreeDepth() const
Get the maximum depth of the octree.
std::size_t getBranchCount() const
Return the amount of existing branches in the octree.
void serializeNewLeafs(std::vector< LeafContainerT * > &leaf_container_vector_arg)
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buff...
OctreeBreadthFirstIterator< OctreeT > BreadthFirstIterator
virtual void serializeTreeCallback(LeafContainerT &, const OctreeKey &)
Callback executed for every leaf node data during serialization.
BufferedBranchNode< BranchContainerT > BranchNode
LeafContainerT LeafContainer
LeafNodeDepthFirstIterator leaf_depth_begin(uindex_t max_depth_arg=0)
Octree2BufBase()
Empty constructor.
Octree2BufBase & operator=(const Octree2BufBase &source)
Copy constructor.
const LeafNodeDepthFirstIterator leaf_depth_end()
void findLeafRecursive(const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const
Recursively search for a given leaf node and return a pointer.
virtual ~Octree2BufBase()
Empty deconstructor.
void deserializeTreeRecursive(BranchNode *branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false)
Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initializati...
OctreeDepthFirstIterator< OctreeT > Iterator
Octree container class that does not store any information.
Abstract octree iterator class
Octree leaf node iterator class.
Octree leaf node iterator class.
Abstract octree leaf class
const ContainerT * getContainerPtr() const
Get const pointer to container.
Abstract octree node class
virtual node_type_t getNodeType() const =0
Pure virtual method for receiving the type of octree node (branch or leaf)
virtual OctreeNode * deepCopy() const =0
Pure virtual method to perform a deep copy of the octree.
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Defines all the PCL and non-PCL macros used.