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merged 2 commits into from
Dec 9, 2017
Merged

OctreeIterators special member revision #2108

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0334783
OctreeIterators special member revision
SergioRAgostinho Dec 1, 2017
ce26217
Octree begin/end iterator revision
SergioRAgostinho Dec 3, 2017
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12 changes: 0 additions & 12 deletions octree/include/pcl/octree/impl/octree_iterator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,12 +61,6 @@ namespace pcl
this->reset ();
}

//////////////////////////////////////////////////////////////////////////////////////////////
template<typename OctreeT>
OctreeDepthFirstIterator<OctreeT>::~OctreeDepthFirstIterator ()
{
}

//////////////////////////////////////////////////////////////////////////////////////////////
template<typename OctreeT>
void OctreeDepthFirstIterator<OctreeT>::reset ()
Expand Down Expand Up @@ -197,12 +191,6 @@ namespace pcl
this->reset ();
}

//////////////////////////////////////////////////////////////////////////////////////////////
template<typename OctreeT>
OctreeBreadthFirstIterator<OctreeT>::~OctreeBreadthFirstIterator ()
{
}

//////////////////////////////////////////////////////////////////////////////////////////////
template<typename OctreeT>
void OctreeBreadthFirstIterator<OctreeT>::reset ()
Expand Down
103 changes: 69 additions & 34 deletions octree/include/pcl/octree/octree_base.h
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Expand Up @@ -61,7 +61,6 @@ namespace pcl
typename BranchContainerT = OctreeContainerEmpty >
class OctreeBase
{

public:

typedef OctreeBase<LeafContainerT, BranchContainerT> OctreeT;
Expand All @@ -72,6 +71,35 @@ namespace pcl
typedef BranchContainerT BranchContainer;
typedef LeafContainerT LeafContainer;

protected:

///////////////////////////////////////////////////////////////////////
// Members
///////////////////////////////////////////////////////////////////////

/** \brief Amount of leaf nodes **/
std::size_t leaf_count_;

/** \brief Amount of branch nodes **/
std::size_t branch_count_;

/** \brief Pointer to root branch node of octree **/
BranchNode* root_node_;

/** \brief Depth mask based on octree depth **/
unsigned int depth_mask_;

/** \brief Octree depth */
unsigned int octree_depth_;

/** \brief Enable dynamic_depth **/
bool dynamic_depth_enabled_;

/** \brief key range */
OctreeKey max_key_;

public:

// iterators are friends
friend class OctreeIteratorBase<OctreeT> ;
friend class OctreeDepthFirstIterator<OctreeT> ;
Expand All @@ -81,26 +109,58 @@ namespace pcl
// Octree default iterators
typedef OctreeDepthFirstIterator<OctreeT> Iterator;
typedef const OctreeDepthFirstIterator<OctreeT> ConstIterator;
Iterator begin(unsigned int max_depth_arg = 0) {return Iterator(this, max_depth_arg);};
const Iterator end() {return Iterator();};

Iterator begin (unsigned int max_depth_arg = 0u)
{
return Iterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
};

const Iterator end (unsigned int max_depth_arg = 0u)
{
return Iterator (this, max_depth_arg? max_depth_arg : this->octree_depth_ , NULL);
};

// Octree leaf node iterators
typedef OctreeLeafNodeIterator<OctreeT> LeafNodeIterator;
typedef const OctreeLeafNodeIterator<OctreeT> ConstLeafNodeIterator;
LeafNodeIterator leaf_begin(unsigned int max_depth_arg = 0) {return LeafNodeIterator(this, max_depth_arg);};
const LeafNodeIterator leaf_end() {return LeafNodeIterator();};

LeafNodeIterator leaf_begin (unsigned int max_depth_arg = 0u)
{
return LeafNodeIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
};

const LeafNodeIterator leaf_end (unsigned int max_depth_arg = 0u)
{
return LeafNodeIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
};

// Octree depth-first iterators
typedef OctreeDepthFirstIterator<OctreeT> DepthFirstIterator;
typedef const OctreeDepthFirstIterator<OctreeT> ConstDepthFirstIterator;
DepthFirstIterator depth_begin(unsigned int max_depth_arg = 0) {return DepthFirstIterator(this, max_depth_arg);};
const DepthFirstIterator depth_end() {return DepthFirstIterator();};

DepthFirstIterator depth_begin (unsigned int max_depth_arg = 0u)
{
return DepthFirstIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
};

const DepthFirstIterator depth_end (unsigned int max_depth_arg = 0u)
{
return DepthFirstIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
};

// Octree breadth-first iterators
typedef OctreeBreadthFirstIterator<OctreeT> BreadthFirstIterator;
typedef const OctreeBreadthFirstIterator<OctreeT> ConstBreadthFirstIterator;
BreadthFirstIterator breadth_begin(unsigned int max_depth_arg = 0) {return BreadthFirstIterator(this, max_depth_arg);};
const BreadthFirstIterator breadth_end() {return BreadthFirstIterator();};

BreadthFirstIterator breadth_begin (unsigned int max_depth_arg = 0u)
{
return BreadthFirstIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
};

const BreadthFirstIterator breadth_end (unsigned int max_depth_arg = 0u)
{
return BreadthFirstIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
};


/** \brief Empty constructor. */
Expand Down Expand Up @@ -564,31 +624,6 @@ namespace pcl
{
return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Globals
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

/** \brief Amount of leaf nodes **/
std::size_t leaf_count_;

/** \brief Amount of branch nodes **/
std::size_t branch_count_;

/** \brief Pointer to root branch node of octree **/
BranchNode* root_node_;

/** \brief Depth mask based on octree depth **/
unsigned int depth_mask_;

/** \brief Octree depth */
unsigned int octree_depth_;

/** \brief Enable dynamic_depth **/
bool dynamic_depth_enabled_;

/** \brief key range */
OctreeKey max_key_;
};
}
}
Expand Down
130 changes: 91 additions & 39 deletions octree/include/pcl/octree/octree_iterator.h
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Expand Up @@ -103,26 +103,21 @@ namespace pcl
this->reset ();
}

/** \brief Copy constructor.
* \param[in] src the iterator to copy into this
* \param[in] max_depth_arg Depth limitation during traversal
*/
OctreeIteratorBase (const OctreeIteratorBase& src, unsigned int max_depth_arg = 0) :
octree_ (src.octree_), current_state_(0), max_octree_depth_(max_depth_arg)
{
}

/** \brief Copy operator.
* \param[in] src the iterator to copy into this
*/
inline OctreeIteratorBase&
operator = (const OctreeIteratorBase& src)
{
octree_ = src.octree_;
current_state_ = src.current_state_;
max_octree_depth_ = src.max_octree_depth_;
return (*this);
}
/** \brief Constructor.
* \param[in] octree_arg Octree to be iterated. Initially the iterator is set to its root node.
* \param[in] max_depth_arg Depth limitation during traversal
* \param[in] current_state A pointer to the current iterator state
*
* \warning For advanced users only.
*/
explicit
OctreeIteratorBase (OctreeT* octree_arg,
unsigned int max_depth_arg,
IteratorState* current_state)
: octree_(octree_arg)
, current_state_ (current_state)
, max_octree_depth_ (max_depth_arg)
{}

/** \brief Empty deconstructor. */
virtual
Expand All @@ -135,19 +130,20 @@ namespace pcl
*/
bool operator==(const OctreeIteratorBase& other) const
{
return (( octree_ ==other.octree_) &&
( current_state_ == other.current_state_) &&
( max_octree_depth_ == other.max_octree_depth_) );
return (this == &other) ||
((octree_ == other.octree_) &&
(max_octree_depth_ == other.max_octree_depth_) &&
((current_state_ == other.current_state_) || // end state case
(current_state_ && other.current_state_ && // null dereference protection
(current_state_->key_ == other.current_state_->key_))));
}

/** \brief Inequal comparison operator
* \param[in] other OctreeIteratorBase to compare with
*/
bool operator!=(const OctreeIteratorBase& other) const
{
return (( octree_ !=other.octree_) &&
( current_state_ != other.current_state_) &&
( max_octree_depth_ != other.max_octree_depth_) );
return !operator== (other);
}

/** \brief Reset iterator */
Expand Down Expand Up @@ -384,11 +380,33 @@ namespace pcl
explicit
OctreeDepthFirstIterator (OctreeT* octree_arg, unsigned int max_depth_arg = 0);

/** \brief Empty deconstructor. */
virtual
~OctreeDepthFirstIterator ();
/** \brief Constructor.
* \param[in] octree_arg Octree to be iterated. Initially the iterator is set to its root node.
* \param[in] max_depth_arg Depth limitation during traversal
* \param[in] current_state A pointer to the current iterator state
*
* \warning For advanced users only.
*/
explicit
OctreeDepthFirstIterator (OctreeT* octree_arg,
unsigned int max_depth_arg,
IteratorState* current_state,
const std::vector<IteratorState>& stack = std::vector<IteratorState> ())
: OctreeIteratorBase<OctreeT> (octree_arg, max_depth_arg, current_state)
, stack_ (stack)
{}

/** \brief Copy Constructor.
* \param[in] other Another OctreeDepthFirstIterator to copy from
*/
OctreeDepthFirstIterator (const OctreeDepthFirstIterator& other)
: OctreeIteratorBase<OctreeT> (other)
, stack_ (other.stack_)
{
this->current_state_ = stack_.size ()? &stack_.back () : NULL;
}

/** \brief Copy operator.
/** \brief Copy assignment
* \param[in] src the iterator to copy into this
*/
inline OctreeDepthFirstIterator&
Expand All @@ -401,7 +419,7 @@ namespace pcl

if (stack_.size())
{
this->current_state_ = &stack_.back();
this->current_state_ = &stack_.back ();
} else
{
this->current_state_ = 0;
Expand Down Expand Up @@ -470,9 +488,31 @@ namespace pcl
explicit
OctreeBreadthFirstIterator (OctreeT* octree_arg, unsigned int max_depth_arg = 0);

/** \brief Empty deconstructor. */
virtual
~OctreeBreadthFirstIterator ();
/** \brief Constructor.
* \param[in] octree_arg Octree to be iterated. Initially the iterator is set to its root node.
* \param[in] max_depth_arg Depth limitation during traversal
* \param[in] current_state A pointer to the current iterator state
*
* \warning For advanced users only.
*/
explicit
OctreeBreadthFirstIterator (OctreeT* octree_arg,
unsigned int max_depth_arg,
IteratorState* current_state,
const std::deque<IteratorState>& fifo = std::deque<IteratorState> ())
: OctreeIteratorBase<OctreeT> (octree_arg, max_depth_arg, current_state)
, FIFO_ (fifo)
{}

/** \brief Copy Constructor.
* \param[in] other Another OctreeBreadthFirstIterator to copy from
*/
OctreeBreadthFirstIterator (const OctreeBreadthFirstIterator& other)
: OctreeIteratorBase<OctreeT> (other)
, FIFO_ (other.FIFO_)
{
this->current_state_ = FIFO_.size ()? &FIFO_.front () : NULL;
}

/** \brief Copy operator.
* \param[in] src the iterator to copy into this
Expand Down Expand Up @@ -558,11 +598,23 @@ namespace pcl
reset ();
}

/** \brief Empty deconstructor. */
virtual
~OctreeLeafNodeIterator ()
{
}
/** \brief Constructor.
* \param[in] octree_arg Octree to be iterated. Initially the iterator is set to its root node.
* \param[in] max_depth_arg Depth limitation during traversal
* \param[in] current_state A pointer to the current iterator state
*
* \warning For advanced users only.
*/
explicit
OctreeLeafNodeIterator (OctreeT* octree_arg,
unsigned int max_depth_arg,
IteratorState* current_state,
const std::vector<IteratorState>& stack = std::vector<IteratorState> ())
: OctreeDepthFirstIterator<OctreeT> (octree_arg,
max_depth_arg,
current_state,
stack)
{}

/** \brief Reset the iterator to the root node of the octree
*/
Expand Down
22 changes: 18 additions & 4 deletions octree/include/pcl/octree/octree_pointcloud_adjacency.h
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Expand Up @@ -105,15 +105,29 @@ namespace pcl
typedef OctreeDepthFirstIterator<OctreeAdjacencyT> Iterator;
typedef const OctreeDepthFirstIterator<OctreeAdjacencyT> ConstIterator;

Iterator depth_begin (unsigned int max_depth_arg = 0) { return Iterator (this, max_depth_arg); }
const Iterator depth_end () { return Iterator (); }
Iterator depth_begin (unsigned int max_depth_arg = 0)
{
return Iterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
}

const Iterator depth_end (unsigned int max_depth_arg = 0)
{
return Iterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
}

// Octree leaf node iterators
typedef OctreeLeafNodeIterator<OctreeAdjacencyT> LeafNodeIterator;
typedef const OctreeLeafNodeIterator<OctreeAdjacencyT> ConstLeafNodeIterator;

LeafNodeIterator leaf_begin (unsigned int max_depth_arg = 0) { return LeafNodeIterator (this, max_depth_arg); }
const LeafNodeIterator leaf_end () { return LeafNodeIterator (); }
LeafNodeIterator leaf_begin (unsigned int max_depth_arg = 0)
{
return LeafNodeIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
}

const LeafNodeIterator leaf_end (unsigned int max_depth_arg = 0)
{
return LeafNodeIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
}

// BGL graph
typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> VoxelAdjacencyList;
Expand Down
3 changes: 3 additions & 0 deletions test/octree/CMakeLists.txt
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Expand Up @@ -11,4 +11,7 @@ if (build)
PCL_ADD_TEST(a_octree_test test_octree
FILES test_octree.cpp
LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(a_octree_iterator_test test_octree_iterator
FILES test_octree_iterator.cpp
LINK_WITH pcl_gtest pcl_common pcl_octree)
endif (build)
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