Point Cloud Library (PCL)  1.12.0-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(uindex_t keyX, uindex_t keyY, uindex_t keyZ) : x(keyX), y(keyY), z(keyZ) {}
59 
60  /** \brief Copy constructor. */
61  OctreeKey(const OctreeKey& source) { std::memcpy(key_, source.key_, sizeof(key_)); }
62 
63  OctreeKey&
64  operator=(const OctreeKey&) = default;
65 
66  /** \brief Operator== for comparing octree keys with each other.
67  * \return "true" if leaf node indices are identical; "false" otherwise.
68  * */
69  bool
70  operator==(const OctreeKey& b) const
71  {
72  return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
73  }
74 
75  /** \brief Inequal comparison operator
76  * \param[in] other OctreeIteratorBase to compare with
77  * \return "true" if the current and other iterators are different ; "false"
78  * otherwise.
79  */
80  bool
81  operator!=(const OctreeKey& other) const
82  {
83  return !operator==(other);
84  }
85 
86  /** \brief Operator<= for comparing octree keys with each other.
87  * \return "true" if key indices are not greater than the key indices of b ; "false"
88  * otherwise.
89  * */
90  bool
91  operator<=(const OctreeKey& b) const
92  {
93  return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
94  }
95 
96  /** \brief Operator>= for comparing octree keys with each other.
97  * \return "true" if key indices are not smaller than the key indices of b ; "false"
98  * otherwise.
99  * */
100  bool
101  operator>=(const OctreeKey& b) const
102  {
103  return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
104  }
105 
106  /** \brief push a child node to the octree key
107  * \param[in] childIndex index of child node to be added (0-7)
108  * */
109  inline void
110  pushBranch(unsigned char childIndex)
111  {
112  this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
113  this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
114  this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
115  }
116 
117  /** \brief pop child node from octree key
118  * */
119  inline void
121  {
122  this->x >>= 1;
123  this->y >>= 1;
124  this->z >>= 1;
125  }
126 
127  /** \brief get child node index using depthMask
128  * \param[in] depthMask bit mask with single bit set at query depth
129  * \return child node index
130  * */
131  inline unsigned char
133  {
134  return static_cast<unsigned char>(((!!(this->x & depthMask)) << 2) |
135  ((!!(this->y & depthMask)) << 1) |
136  (!!(this->z & depthMask)));
137  }
138 
139  /* \brief maximum depth that can be addressed */
140  static const unsigned char maxDepth =
141  static_cast<unsigned char>(sizeof(uindex_t) * 8);
142 
143  // Indices addressing a voxel at (X, Y, Z)
144 
145  union {
146  struct {
150  };
152  };
153 };
154 } // namespace octree
155 } // namespace pcl
pcl
Definition: convolution.h:46
pcl::octree::OctreeKey::pushBranch
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition: octree_key.h:110
pcl::octree::OctreeKey::z
uindex_t z
Definition: octree_key.h:149
pcl::octree::OctreeKey::maxDepth
static const unsigned char maxDepth
Definition: octree_key.h:140
pcl::octree::OctreeKey::y
uindex_t y
Definition: octree_key.h:148
pcl::octree::OctreeKey::OctreeKey
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition: octree_key.h:61
pcl::octree::OctreeKey::popBranch
void popBranch()
pop child node from octree key
Definition: octree_key.h:120
pcl::octree::OctreeKey::OctreeKey
OctreeKey(uindex_t keyX, uindex_t keyY, uindex_t keyZ)
Constructor for key initialization.
Definition: octree_key.h:58
pcl::octree::OctreeKey
Octree key class
Definition: octree_key.h:52
pcl::octree::OctreeKey::operator!=
bool operator!=(const OctreeKey &other) const
Inequal comparison operator.
Definition: octree_key.h:81
pcl::octree::OctreeKey::operator>=
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition: octree_key.h:101
pcl::octree::OctreeKey::operator=
OctreeKey & operator=(const OctreeKey &)=default
pcl::octree::OctreeKey::OctreeKey
OctreeKey()
Empty constructor.
Definition: octree_key.h:55
pcl::octree::OctreeKey::operator==
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition: octree_key.h:70
pcl::octree::OctreeKey::getChildIdxWithDepthMask
unsigned char getChildIdxWithDepthMask(uindex_t depthMask) const
get child node index using depthMask
Definition: octree_key.h:132
pcl::octree::OctreeKey::x
uindex_t x
Definition: octree_key.h:147
pcl::octree::OctreeKey::key_
uindex_t key_[3]
Definition: octree_key.h:151
pcl::uindex_t
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
pcl::octree::OctreeKey::operator<=
bool operator<=(const OctreeKey &b) const
Operator<= for comparing octree keys with each other.
Definition: octree_key.h:91