1 /* 2 * Software License Agreement (BSD License) 3 * 4 * Point Cloud Library (PCL) - www.pointclouds.org 5 * Copyright (c) 2010-2012, Willow Garage, Inc. 6 * 7 * All rights reserved. 8 * 9 * Redistribution and use in source and binary forms, with or without 10 * modification, are permitted provided that the following conditions 11 * are met: 12 * 13 * * Redistributions of source code must retain the above copyright 14 * notice, this list of conditions and the following disclaimer. 15 * * Redistributions in binary form must reproduce the above 16 * copyright notice, this list of conditions and the following 17 * disclaimer in the documentation and/or other materials provided 18 * with the distribution. 19 * * Neither the name of Willow Garage, Inc. nor the names of its 20 * contributors may be used to endorse or promote products derived 21 * from this software without specific prior written permission. 22 * 23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 34 * POSSIBILITY OF SUCH DAMAGE. 35 * 36 */ 37 38 #pragma once 39 40 #include <cstdint> 41 #include <cstring> // for memcpy 42 43 namespace pcl { 44 namespace octree { 45 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 46 /** \brief @b Octree key class 47 * \note Octree keys contain integer indices for each coordinate axis in order to 48 * address an octree leaf node. 49 * \author Julius Kammerl (julius@kammerl.de) 50 */ 51 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 52 class OctreeKey { 53 public: 54 /** \brief Empty constructor. */ OctreeKey()55 OctreeKey() : x(0), y(0), z(0) {} 56 57 /** \brief Constructor for key initialization. */ OctreeKey(uindex_t keyX,uindex_t keyY,uindex_t keyZ)58 OctreeKey(uindex_t keyX, uindex_t keyY, uindex_t keyZ) : x(keyX), y(keyY), z(keyZ) {} 59 60 /** \brief Copy constructor. */ OctreeKey(const OctreeKey & source)61 OctreeKey(const OctreeKey& source) { std::memcpy(key_, source.key_, sizeof(key_)); } 62 63 OctreeKey& 64 operator=(const OctreeKey&) = default; 65 66 /** \brief Operator== for comparing octree keys with each other. 67 * \return "true" if leaf node indices are identical; "false" otherwise. 68 * */ 69 bool 70 operator==(const OctreeKey& b) const 71 { 72 return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z)); 73 } 74 75 /** \brief Inequal comparison operator 76 * \param[in] other OctreeIteratorBase to compare with 77 * \return "true" if the current and other iterators are different ; "false" 78 * otherwise. 79 */ 80 bool 81 operator!=(const OctreeKey& other) const 82 { 83 return !operator==(other); 84 } 85 86 /** \brief Operator<= for comparing octree keys with each other. 87 * \return "true" if key indices are not greater than the key indices of b ; "false" 88 * otherwise. 89 * */ 90 bool 91 operator<=(const OctreeKey& b) const 92 { 93 return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z)); 94 } 95 96 /** \brief Operator>= for comparing octree keys with each other. 97 * \return "true" if key indices are not smaller than the key indices of b ; "false" 98 * otherwise. 99 * */ 100 bool 101 operator>=(const OctreeKey& b) const 102 { 103 return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z)); 104 } 105 106 /** \brief push a child node to the octree key 107 * \param[in] childIndex index of child node to be added (0-7) 108 * */ 109 inline void pushBranch(unsigned char childIndex)110 pushBranch(unsigned char childIndex) 111 { 112 this->x = (this->x << 1) | (!!(childIndex & (1 << 2))); 113 this->y = (this->y << 1) | (!!(childIndex & (1 << 1))); 114 this->z = (this->z << 1) | (!!(childIndex & (1 << 0))); 115 } 116 117 /** \brief pop child node from octree key 118 * */ 119 inline void popBranch()120 popBranch() 121 { 122 this->x >>= 1; 123 this->y >>= 1; 124 this->z >>= 1; 125 } 126 127 /** \brief get child node index using depthMask 128 * \param[in] depthMask bit mask with single bit set at query depth 129 * \return child node index 130 * */ 131 inline unsigned char getChildIdxWithDepthMask(uindex_t depthMask)132 getChildIdxWithDepthMask(uindex_t depthMask) const 133 { 134 return static_cast<unsigned char>(((!!(this->x & depthMask)) << 2) | 135 ((!!(this->y & depthMask)) << 1) | 136 (!!(this->z & depthMask))); 137 } 138 139 /* \brief maximum depth that can be addressed */ 140 static const unsigned char maxDepth = 141 static_cast<unsigned char>(sizeof(uindex_t) * 8); 142 143 // Indices addressing a voxel at (X, Y, Z) 144 145 union { 146 struct { 147 uindex_t x; 148 uindex_t y; 149 uindex_t z; 150 }; 151 uindex_t key_[3]; 152 }; 153 }; 154 } // namespace octree 155 } // namespace pcl 156