Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: octree_nodes.h 3017 2011-11-01 03:24:04Z rusu $ 00037 */ 00038 00039 #ifndef OCTREE_NODE_H 00040 #define OCTREE_NODE_H 00041 00042 // maximum depth of octree as we are using "unsigned int" octree keys / bit masks 00043 #define OCT_MAXTREEDEPTH ( sizeof(unsigned int) * 8 ) 00044 00045 #include <pcl/pcl_macros.h> 00046 00047 namespace pcl 00048 { 00049 namespace octree 00050 { 00051 00052 // enum of node types within the octree 00053 enum node_type_t 00054 { 00055 BRANCH_NODE, LEAF_NODE 00056 }; 00057 00059 00063 class PCL_EXPORTS OctreeNode 00064 { 00065 public: 00066 00068 virtual node_type_t 00069 getNodeType () const = 0; 00070 }; 00071 00073 00077 template<typename DataT> 00078 class OctreeLeafAbstract : public OctreeNode 00079 { 00080 public: 00081 00082 typedef DataT leaf_data_t; 00083 00085 OctreeLeafAbstract () 00086 { 00087 } 00089 ~OctreeLeafAbstract () 00090 { 00091 } 00092 00094 virtual node_type_t 00095 getNodeType () const 00096 { 00097 return LEAF_NODE; 00098 } 00099 00103 virtual void 00104 setData (const leaf_data_t& data_arg) = 0; 00105 00109 virtual void 00110 getData (const DataT*& data_arg) const = 0; 00111 00115 virtual void 00116 getData (std::vector<leaf_data_t>& dataVector_arg) const = 0; 00117 00119 virtual void 00120 reset () = 0; 00121 00122 }; 00123 00125 00129 template<typename DataT> 00130 class OctreeLeafEmpty : public OctreeLeafAbstract<DataT> 00131 { 00132 public: 00134 OctreeLeafEmpty () 00135 { 00136 } 00137 00139 ~OctreeLeafEmpty () 00140 { 00141 } 00142 00147 virtual void 00148 setData (const DataT& data_arg) 00149 { 00150 } 00151 00155 virtual void 00156 getData (const DataT*& data_arg) const 00157 { 00158 data_arg = 0; 00159 } 00160 00164 virtual void 00165 getData (std::vector<DataT>& dataVector_arg) const 00166 { 00167 } 00168 00170 virtual void 00171 reset () 00172 { 00173 } 00174 }; 00175 00177 00181 template<typename DataT> 00182 class OctreeLeafDataT : public OctreeLeafAbstract<DataT> 00183 { 00184 public: 00185 00187 OctreeLeafDataT () 00188 { 00189 } 00190 00192 ~OctreeLeafDataT () 00193 { 00194 } 00195 00199 virtual void 00200 setData (const DataT& data_arg) 00201 { 00202 this->data_ = data_arg; 00203 } 00204 00208 virtual void 00209 getData (const DataT*& data_arg) const 00210 { 00211 data_arg = &data_; 00212 } 00213 00217 virtual void 00218 getData (std::vector<DataT>& dataVector_arg) const 00219 { 00220 dataVector_arg.push_back (this->data_); 00221 } 00222 00224 virtual void 00225 reset () 00226 { 00227 memset (&data_, 0, sizeof(data_)); 00228 } 00229 00230 protected: 00232 DataT data_; 00233 00234 }; 00235 00237 00241 template<typename DataT> 00242 class OctreeLeafDataTVector : public OctreeLeafAbstract<DataT> 00243 { 00244 00245 public: 00247 OctreeLeafDataTVector () 00248 { 00249 } 00251 ~OctreeLeafDataTVector () 00252 { 00253 } 00254 00258 virtual void 00259 setData (const DataT& data_arg) 00260 { 00261 leafDataTVector_.push_back (data_arg); 00262 } 00263 00267 virtual void 00268 getData (const DataT*& data_arg) const 00269 { 00270 DataT* result = 0; 00271 00272 if (leafDataTVector_.size () > 0) 00273 result = (DataT*)&leafDataTVector_.back (); 00274 00275 data_arg = result; 00276 00277 } 00278 00282 virtual void 00283 getData (std::vector<DataT>& dataVector_arg) const 00284 { 00285 00286 dataVector_arg.insert (dataVector_arg.end (), leafDataTVector_.begin (), leafDataTVector_.end ()); 00287 } 00288 00292 virtual const std::vector<DataT>& 00293 getIdxVector () 00294 { 00295 return leafDataTVector_; 00296 } 00297 00299 virtual void 00300 reset () 00301 { 00302 leafDataTVector_.clear (); 00303 } 00304 00305 protected: 00307 std::vector<DataT> leafDataTVector_; 00308 00309 }; 00310 } 00311 } 00312 00313 #endif