Point Cloud Library (PCL) 1.14.0
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outofcore_breadth_first_iterator.hpp
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36 * $Id: outofcore_depth_first_iterator.hpp 7938 2012-11-14 06:27:39Z jrosen $
37 */
38
39#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
40#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
41
42namespace pcl
43{
44 namespace outofcore
45 {
46
47 template<typename PointT, typename ContainerT>
53
54 ////////////////////////////////////////////////////////////////////////////////
55
56 template<typename PointT, typename ContainerT>
58
59 ////////////////////////////////////////////////////////////////////////////////
60
61 template<typename PointT, typename ContainerT>
64 {
65 if (!FIFO_.empty ())
66 {
67 // Get the first entry from the FIFO queue
68 OctreeDiskNode *node = FIFO_.front ();
69 FIFO_.pop_front ();
70
71 // If not skipping children, not at the max specified depth and we're a branch then iterate over children
72 if (!skip_child_voxels_ && node->getDepth () < this->max_depth_ && node->getNodeType () == pcl::octree::BRANCH_NODE)
73 {
74 // Get the branch node
75 auto* branch = static_cast<BranchNode*> (node);
76 OctreeDiskNode* child = nullptr;
77
78 // Iterate over the branches children
79 for (unsigned char child_idx = 0; child_idx < 8 ; child_idx++)
80 {
81 // If child/index exists add it to FIFO queue
82 child = this->octree_.getBranchChildPtr (*branch, child_idx);
83 if (child)
84 {
85 FIFO_.push_back (child);
86 }
87 }
88 }
89 }
90
91 // Reset skipped children
92 skip_child_voxels_ = false;
93
94 // If there's a queue, set the current node to the first entry
95 if (!FIFO_.empty ())
96 {
97 this->currentNode_ = FIFO_.front ();
98 }
99 else
100 {
101 this->currentNode_ = nullptr;
102 }
103
104 return (*this);
105 }
106
107 ////////////////////////////////////////////////////////////////////////////////
108
109 }//namespace pcl
110}//namespace outofcore
111
112#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
113
This code defines the octree used for point storage at Urban Robotics.
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...
node_type_t getNodeType() const override
Pure virtual method for retrieving the type of octree node (branch or leaf)
A point structure representing Euclidean xyz coordinates, and the RGB color.