outofcore_breadth_first_iterator.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: outofcore_depth_first_iterator.h 7938 2012-11-14 06:27:39Z jrosen $
*/
#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
#include <pcl/outofcore/outofcore_iterator_base.h>
namespace pcl
{
namespace outofcore
{
/** \class OutofcoreBreadthFirstIterator
*
* \ingroup outofcore
* \author Justin Rosen (jmylesrosen@gmail.com)
* \note Code adapted from \ref octree_iterator.h in Module \ref pcl::octree written by Julius Kammerl
*/
template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
class OutofcoreBreadthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
{
public:
typedef typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT> OctreeDisk;
typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> OctreeDiskNode;
typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> LeafNode;
typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> BranchNode;
explicit
OutofcoreBreadthFirstIterator (OctreeDisk& octree_arg);
virtual
~OutofcoreBreadthFirstIterator ();
OutofcoreBreadthFirstIterator&
operator++ ();
inline OutofcoreBreadthFirstIterator
operator++ (int)
{
OutofcoreBreadthFirstIterator _Tmp = *this;
++*this;
return (_Tmp);
}
virtual inline void
reset ()
{
OutofcoreIteratorBase<PointT, ContainerT>::reset();
// Clear the FIFO queue and add the root as the first node
FIFO_.clear ();
FIFO_.push_back(this->currentNode_);
// Don't skip children
skip_child_voxels_ = false;
}
void
skipChildVoxels ()
{
skip_child_voxels_ = true;
}
protected:
/** FIFO list */
std::deque<OctreeDiskNode*> FIFO_;
bool skip_child_voxels_;
};
}
}
#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
pcl
Definition: cloud_iterator.h:46
pcl::outofcore::OutofcoreBreadthFirstIterator::BranchNode
pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT > BranchNode
Definition: outofcore_breadth_first_iterator.h:62
pcl::outofcore::OutofcoreIteratorBase::currentNode_
OctreeDiskNode * currentNode_
Definition: outofcore_iterator_base.h:134
pcl::outofcore::OutofcoreBreadthFirstIterator::LeafNode
pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT > LeafNode
Definition: outofcore_breadth_first_iterator.h:61
pcl::outofcore::OutofcoreBreadthFirstIterator::OutofcoreBreadthFirstIterator
OutofcoreBreadthFirstIterator(OctreeDisk &octree_arg)
Definition: outofcore_breadth_first_iterator.hpp:48
pcl::outofcore::OutofcoreBreadthFirstIterator::FIFO_
std::deque< OctreeDiskNode * > FIFO_
FIFO list.
Definition: outofcore_breadth_first_iterator.h:103
pcl::outofcore::OutofcoreIteratorBase::reset
virtual void reset()
Definition: outofcore_iterator_base.h:114
pcl::outofcore::OutofcoreBreadthFirstIterator::reset
virtual void reset()
Definition: outofcore_breadth_first_iterator.h:83
pcl::outofcore::OutofcoreBreadthFirstIterator::skipChildVoxels
void skipChildVoxels()
Definition: outofcore_breadth_first_iterator.h:96
pcl::outofcore::OutofcoreBreadthFirstIterator::operator++
OutofcoreBreadthFirstIterator & operator++()
Definition: outofcore_breadth_first_iterator.hpp:65
pcl::outofcore::OutofcoreOctreeBaseNode
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.
Definition: octree_base_node.h:59
pcl::outofcore::OutofcoreIteratorBase
Abstract octree iterator class.
Definition: outofcore_iterator_base.h:60
pcl::outofcore::OutofcoreBreadthFirstIterator::~OutofcoreBreadthFirstIterator
virtual ~OutofcoreBreadthFirstIterator()
Definition: outofcore_breadth_first_iterator.hpp:57
pcl::outofcore::OutofcoreBreadthFirstIterator::OctreeDiskNode
pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT > OctreeDiskNode
Definition: outofcore_breadth_first_iterator.h:59
pcl::outofcore::OutofcoreOctreeBase
This code defines the octree used for point storage at Urban Robotics.
Definition: octree_base.h:149
pcl::outofcore::OutofcoreBreadthFirstIterator::skip_child_voxels_
bool skip_child_voxels_
Definition: outofcore_breadth_first_iterator.h:104
pcl::outofcore::OutofcoreBreadthFirstIterator
Definition: outofcore_breadth_first_iterator.h:55
pcl::outofcore::OutofcoreBreadthFirstIterator::OctreeDisk
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT > OctreeDisk
Definition: outofcore_breadth_first_iterator.h:58