Point Cloud Library (PCL)  1.9.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Modules Pages
outofcore_depth_first_iterator.h
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  * $Id$
37  */
38 
39 #ifndef PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
40 #define PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
41 
42 #include <pcl/outofcore/outofcore_iterator_base.h>
43 namespace pcl
44 {
45  namespace outofcore
46  {
47  /** \class OutofcoreDepthFirstIterator
48  *
49  * \ingroup outofcore
50  * \author Stephen Fox (foxstephend@gmail.com)
51  * \note Code adapted from \ref octree_iterator.h in Module \ref pcl::octree written by Julius Kammerl
52  */
53  template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
54  class OutofcoreDepthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
55  {
56  public:
59 
62 
63  explicit
64  OutofcoreDepthFirstIterator (OctreeDisk& octree_arg);
65 
66  virtual
68 
70  operator++ ();
71 
74  {
75  OutofcoreDepthFirstIterator _Tmp = *this;
76  ++*this;
77  return (_Tmp);
78  }
79 
80  void
81  skipChildVoxels ();
82 
83  protected:
84  unsigned char currentChildIdx_;
85  std::vector<std::pair<OctreeDiskNode*, unsigned char> > stack_;
86  };
87  }
88 }
89 
90 #endif //PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT > BranchNode
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.
std::vector< std::pair< OctreeDiskNode *, unsigned char > > stack_
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT > OctreeDisk
pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT > OctreeDiskNode
Abstract octree iterator class.
This code defines the octree used for point storage at Urban Robotics.
Definition: octree_base.h:149
pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT > LeafNode