priority_octree_iterator.hpp
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef PCL_GPU_OCTREE_PRIORITY_ITERATOR
#define PCL_GPU_OCTREE_PRIORITY_ITERATOR
namespace pcl
{
namespace device
{
struct OctreePriorityIteratorDevice
{
int level;
int node_idx;
int lenght;
const OctreeGlobalWithBox& octree;
__device__ __forceinline__ OctreePriorityIteratorDevice(const OctreeGlobalWithBox& octree_arg) : octree(octree_arg)
{
node_idx = 0;
level = 0;
lenght = 1;
}
__device__ __forceinline__ void gotoNextLevel(int first, int len)
{
node_idx = first;
lenght = len;
++level;
}
__device__ __forceinline__ int operator*() const
{
return node_idx;
}
__device__ __forceinline__ void operator++()
{
#if 1
while(level >= 0)
{
if (lenght > 1)
{
lenght--;
node_idx++;
break;
}
if (node_idx == 0)
{
level = -1;
return;
}
node_idx = octree.parent[node_idx];
--level;
if (node_idx == 0)
{
level = -1;
return;
}
int parent = octree.nodes[octree.parent[node_idx]];
int parent_first = parent >> 8;
int parent_len = __popc(parent & 0xFF);
int pos = node_idx - parent_first;
lenght = parent_len - pos;
}
#endif
}
};
}
}
#endif /* PCL_GPU_OCTREE_PRIORITY_ITERATOR */
pcl::device::OctreePriorityIteratorDevice::node_idx
int node_idx
Definition: priority_octree_iterator.hpp:47
pcl::device::OctreePriorityIteratorDevice::octree
const OctreeGlobalWithBox & octree
Definition: priority_octree_iterator.hpp:49
pcl::device::OctreeGlobalWithBox
Definition: internal.hpp:62
pcl
Definition: convolution.h:45
pcl::device::OctreePriorityIteratorDevice
Definition: priority_octree_iterator.hpp:44
pcl::device::OctreePriorityIteratorDevice::level
int level
Definition: priority_octree_iterator.hpp:46
pcl::device::OctreePriorityIteratorDevice::gotoNextLevel
__device__ __forceinline__ void gotoNextLevel(int first, int len)
Definition: priority_octree_iterator.hpp:58
pcl::device::OctreeGlobal::nodes
int * nodes
Definition: internal.hpp:50
pcl::device::OctreePriorityIteratorDevice::operator++
__device__ __forceinline__ void operator++()
Definition: priority_octree_iterator.hpp:70
pcl::device::OctreePriorityIteratorDevice::OctreePriorityIteratorDevice
__device__ __forceinline__ OctreePriorityIteratorDevice(const OctreeGlobalWithBox &octree_arg)
Definition: priority_octree_iterator.hpp:51
pcl::device::OctreePriorityIteratorDevice::lenght
int lenght
Definition: priority_octree_iterator.hpp:48
pcl::device::OctreePriorityIteratorDevice::operator*
__device__ __forceinline__ int operator*() const
Definition: priority_octree_iterator.hpp:65
pcl::device::OctreeGlobal::parent
int * parent
Definition: internal.hpp:57