365 lines
9.1 KiB
C
365 lines
9.1 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*/
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#pragma once
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#include <pcl/octree/octree_container.h>
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <cassert>
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namespace pcl {
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namespace octree {
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// enum of node types within the octree
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enum node_type_t { BRANCH_NODE, LEAF_NODE };
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Abstract octree node class
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* \note Every octree node should implement the getNodeType () method
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* \author Julius Kammerl (julius@kammerl.de)
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*/
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class PCL_EXPORTS OctreeNode {
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public:
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OctreeNode() {}
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virtual ~OctreeNode() {}
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/** \brief Pure virtual method for receiving the type of octree node (branch or leaf)
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*/
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virtual node_type_t
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getNodeType() const = 0;
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/** \brief Pure virtual method to perform a deep copy of the octree */
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virtual OctreeNode*
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deepCopy() const = 0;
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};
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Abstract octree leaf class
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* \note Octree leafs may collect data of type DataT
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* \author Julius Kammerl (julius@kammerl.de)
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*/
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template <typename ContainerT>
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class OctreeLeafNode : public OctreeNode {
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public:
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/** \brief Empty constructor. */
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OctreeLeafNode() : OctreeNode() {}
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/** \brief Copy constructor. */
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OctreeLeafNode(const OctreeLeafNode& source) : OctreeNode()
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{
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container_ = source.container_;
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}
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/** \brief Empty deconstructor. */
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~OctreeLeafNode() {}
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/** \brief Method to perform a deep copy of the octree */
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OctreeLeafNode<ContainerT>*
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deepCopy() const override
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{
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return new OctreeLeafNode<ContainerT>(*this);
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}
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/** \brief Get the type of octree node. Returns LEAVE_NODE type */
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node_type_t
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getNodeType() const override
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{
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return LEAF_NODE;
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}
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/** \brief Get const pointer to container */
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const ContainerT*
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operator->() const
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{
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return &container_;
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}
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/** \brief Get pointer to container */
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ContainerT*
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operator->()
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{
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return &container_;
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}
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/** \brief Get const reference to container */
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const ContainerT&
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operator*() const
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{
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return container_;
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}
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/** \brief Get reference to container */
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ContainerT&
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operator*()
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{
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return container_;
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}
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/** \brief Get const reference to container */
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const ContainerT&
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getContainer() const
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{
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return container_;
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}
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/** \brief Get reference to container */
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ContainerT&
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getContainer()
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{
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return container_;
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}
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/** \brief Get const pointer to container */
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const ContainerT*
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getContainerPtr() const
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{
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return &container_;
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}
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/** \brief Get pointer to container */
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ContainerT*
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getContainerPtr()
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{
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return &container_;
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}
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protected:
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ContainerT container_;
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public:
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// Type ContainerT may have fixed-size Eigen objects inside
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Abstract octree branch class
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* \note Octree branch classes may collect data of type DataT
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* \author Julius Kammerl (julius@kammerl.de)
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*/
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template <typename ContainerT>
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class OctreeBranchNode : public OctreeNode {
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public:
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/** \brief Empty constructor. */
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OctreeBranchNode() : OctreeNode()
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{
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// reset pointer to child node vectors
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memset(child_node_array_, 0, sizeof(child_node_array_));
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}
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/** \brief Empty constructor. */
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OctreeBranchNode(const OctreeBranchNode& source) : OctreeNode()
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{
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memset(child_node_array_, 0, sizeof(child_node_array_));
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for (unsigned char i = 0; i < 8; ++i)
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if (source.child_node_array_[i])
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child_node_array_[i] = source.child_node_array_[i]->deepCopy();
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}
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/** \brief Copy operator. */
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inline OctreeBranchNode&
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operator=(const OctreeBranchNode& source)
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{
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memset(child_node_array_, 0, sizeof(child_node_array_));
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for (unsigned char i = 0; i < 8; ++i)
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if (source.child_node_array_[i])
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child_node_array_[i] = source.child_node_array_[i]->deepCopy();
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return (*this);
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}
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/** \brief Octree deep copy method */
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OctreeBranchNode*
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deepCopy() const override
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{
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return (new OctreeBranchNode<ContainerT>(*this));
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}
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/** \brief Empty deconstructor. */
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~OctreeBranchNode() {}
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/** \brief Access operator.
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* \param child_idx_arg: index to child node
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* \return OctreeNode pointer
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* */
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inline OctreeNode*&
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operator[](unsigned char child_idx_arg)
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{
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assert(child_idx_arg < 8);
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return child_node_array_[child_idx_arg];
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}
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/** \brief Get pointer to child
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* \param child_idx_arg: index to child node
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* \return OctreeNode pointer
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* */
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inline OctreeNode*
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getChildPtr(unsigned char child_idx_arg) const
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{
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assert(child_idx_arg < 8);
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return child_node_array_[child_idx_arg];
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}
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/** \brief Get pointer to child
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* \return OctreeNode pointer
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* */
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inline void
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setChildPtr(OctreeNode* child, unsigned char index)
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{
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assert(index < 8);
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child_node_array_[index] = child;
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}
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/** \brief Check if branch is pointing to a particular child node
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* \param child_idx_arg: index to child node
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* \return "true" if pointer to child node exists; "false" otherwise
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* */
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inline bool
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hasChild(unsigned char child_idx_arg) const
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{
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return (child_node_array_[child_idx_arg] != nullptr);
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}
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/** \brief Check if branch can be pruned
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* \note if all children are leaf nodes AND contain identical containers, branch can
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* be pruned
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* \return "true" if branch can be pruned; "false" otherwise
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**/
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/* inline bool isPrunable () const
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{
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const OctreeNode* firstChild = child_node_array_[0];
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if (!firstChild || firstChild->getNodeType()==BRANCH_NODE)
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return false;
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bool prunable = true;
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for (unsigned char i = 1; i < 8 && prunable; ++i)
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{
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const OctreeNode* child = child_node_array_[i];
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if ( (!child) ||
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(child->getNodeType()==BRANCH_NODE) ||
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((*static_cast<const OctreeContainerBase*>(child)) == (*static_cast<const
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OctreeContainerBase*>(child)) ) ) prunable = false;
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}
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return prunable;
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}*/
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/** \brief Get the type of octree node. Returns LEAVE_NODE type */
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node_type_t
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getNodeType() const override
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{
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return BRANCH_NODE;
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}
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// reset node
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void
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reset()
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{
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memset(child_node_array_, 0, sizeof(child_node_array_));
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container_.reset();
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}
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/** \brief Get const pointer to container */
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const ContainerT*
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operator->() const
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{
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return &container_;
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}
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/** \brief Get pointer to container */
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ContainerT*
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operator->()
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{
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return &container_;
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}
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/** \brief Get const reference to container */
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const ContainerT&
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operator*() const
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{
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return container_;
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}
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/** \brief Get reference to container */
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ContainerT&
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operator*()
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{
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return container_;
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}
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/** \brief Get const reference to container */
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const ContainerT&
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getContainer() const
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{
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return container_;
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}
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/** \brief Get reference to container */
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ContainerT&
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getContainer()
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{
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return container_;
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}
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/** \brief Get const pointer to container */
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const ContainerT*
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getContainerPtr() const
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{
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return &container_;
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}
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/** \brief Get pointer to container */
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ContainerT*
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getContainerPtr()
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{
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return &container_;
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}
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protected:
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OctreeNode* child_node_array_[8];
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ContainerT container_;
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};
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} // namespace octree
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} // namespace pcl
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