outofcore_iterator_base.h

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#pragma once
 
#include <iterator>
 
#include <pcl/point_types.h>
 
#include <pcl/outofcore/octree_base.h>
#include <pcl/outofcore/octree_base_node.h>
#include <pcl/outofcore/octree_disk_container.h>
 
namespace pcl
{
  namespace outofcore
  {
    /** \brief Abstract octree iterator class
     *  \note This class is based on the octree_iterator written by Julius Kammerl adapted to the outofcore octree. The interface is very similar, but it does \b not inherit the \ref pcl::octree iterator base.
     *  \ingroup outofcore
     *  \author Stephen Fox (foxstephend@gmail.com)
     */
    template<typename PointT, typename ContainerT>
    class OutofcoreIteratorBase
    {
      public:
        using iterator_category = std::forward_iterator_tag;
        using value_type = const OutofcoreOctreeBaseNode<ContainerT, PointT>;
        using difference_type = void;
        using pointer = const OutofcoreOctreeBaseNode<ContainerT, PointT>*;
        using reference = const OutofcoreOctreeBaseNode<ContainerT, PointT>&;
 
        using OctreeDisk = pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>;
        using OctreeDiskNode = pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>;
        
        using BranchNode = typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>::BranchNode;
        using LeafNode = typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>::LeafNode;
 
        using OutofcoreNodeType = typename OctreeDisk::OutofcoreNodeType;
 
        explicit
        OutofcoreIteratorBase (OctreeDisk& octree_arg) 
          : octree_ (octree_arg), currentNode_ (nullptr)
        {
          reset ();
        }
        
        virtual
        ~OutofcoreIteratorBase () = default;
 
        OutofcoreIteratorBase (const OutofcoreIteratorBase& src)
          : octree_ (src.octree_), currentNode_ (src.currentNode_)
        {
        }
 
        inline OutofcoreIteratorBase&
        operator = (const OutofcoreIteratorBase& src)
        {
          if (this == &src)
            return *this;
          octree_ = src.octree_;
          currentNode_ = src.currentNode_;
          currentOctreeDepth_ = src.currentOctreeDepth_;
          return *this;
        }
        
        
        inline OutofcoreNodeType*
        operator* () const
        {
          return (this->getCurrentOctreeNode ());
        }
 
        virtual inline OutofcoreNodeType*
        getCurrentOctreeNode () const
        {
          return (currentNode_);
        }
        
        virtual inline void
        reset ()
        {
          currentNode_ = static_cast<OctreeDiskNode*> (octree_.getRootNode ());
          currentOctreeDepth_ = 0;
          max_depth_ = static_cast<unsigned int> (octree_.getDepth ());
        }
 
        inline void
        setMaxDepth (unsigned int max_depth)
        {
          if (max_depth > static_cast<unsigned int> (octree_.getDepth ()))
          {
            max_depth = static_cast<unsigned int> (octree_.getDepth ());
          }
 
          max_depth_ = max_depth;
        }
 
      protected:
        OctreeDisk& octree_;
        OctreeDiskNode* currentNode_;
        unsigned int currentOctreeDepth_;
        unsigned int max_depth_;
    };
 
 
#if 0
    class PCL_EXPORTS OutofcoreBreadthFirstIterator : public OutofcoreIteratorBase
    {
      
 
 
 
    };
    
    class PCL_EXPORTS OutofcoreLeafIterator : public OutofcoreIteratorBase
    {
 
 
 
    };
#endif
  }
}