Point Cloud Library (PCL) 1.15.0
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octree_key.h
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37
38#pragma once
39
40#include <pcl/types.h> // for uindex_t
41
42#include <cstdint>
43#include <cstring> // for memcpy
44
45namespace pcl {
46namespace octree {
47//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
48/** \brief @b Octree key class
49 * \note Octree keys contain integer indices for each coordinate axis in order to
50 * address an octree leaf node.
51 * \author Julius Kammerl (julius@kammerl.de)
52 */
53//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
54class OctreeKey {
55public:
56 /** \brief Empty constructor. */
57 OctreeKey() : x(0), y(0), z(0) {}
58
59 /** \brief Constructor for key initialization. */
60 OctreeKey(uindex_t keyX, uindex_t keyY, uindex_t keyZ) : x(keyX), y(keyY), z(keyZ) {}
61
62 /** \brief Copy constructor. */
63 OctreeKey(const OctreeKey& source) { std::memcpy(key_, source.key_, sizeof(key_)); }
64
66 operator=(const OctreeKey&) = default;
67
68 /** \brief Operator== for comparing octree keys with each other.
69 * \return "true" if leaf node indices are identical; "false" otherwise.
70 * */
71 bool
72 operator==(const OctreeKey& b) const
73 {
74 return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
75 }
76
77 /** \brief Inequal comparison operator
78 * \param[in] other OctreeIteratorBase to compare with
79 * \return "true" if the current and other iterators are different ; "false"
80 * otherwise.
81 */
82 bool
83 operator!=(const OctreeKey& other) const
84 {
85 return !operator==(other);
86 }
87
88 /** \brief Operator<= for comparing octree keys with each other.
89 * \return "true" if key indices are not greater than the key indices of b ; "false"
90 * otherwise.
91 * */
92 bool
93 operator<=(const OctreeKey& b) const
94 {
95 return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
96 }
97
98 /** \brief Operator>= for comparing octree keys with each other.
99 * \return "true" if key indices are not smaller than the key indices of b ; "false"
100 * otherwise.
101 * */
102 bool
103 operator>=(const OctreeKey& b) const
104 {
105 return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
106 }
107
108 /** \brief push a child node to the octree key
109 * \param[in] childIndex index of child node to be added (0-7)
110 * */
111 inline void
112 pushBranch(unsigned char childIndex)
113 {
114 this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
115 this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
116 this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
117 }
118
119 /** \brief pop child node from octree key
120 * */
121 inline void
123 {
124 this->x >>= 1;
125 this->y >>= 1;
126 this->z >>= 1;
127 }
128
129 /** \brief get child node index using depthMask
130 * \param[in] depthMask bit mask with single bit set at query depth
131 * \return child node index
132 * */
133 inline unsigned char
135 {
136 return static_cast<unsigned char>(((!!(this->x & depthMask)) << 2) |
137 ((!!(this->y & depthMask)) << 1) |
138 (!!(this->z & depthMask)));
139 }
140
141 /* \brief maximum depth that can be addressed */
142 static const unsigned char maxDepth =
143 static_cast<unsigned char>(sizeof(uindex_t) * 8);
144
145 // Indices addressing a voxel at (X, Y, Z)
146 // NOLINTBEGIN(modernize-use-default-member-init)
147 union {
148 struct {
152 };
154 };
155 // NOLINTEND(modernize-use-default-member-init)
156};
157} // namespace octree
158} // namespace pcl
Octree key class
Definition octree_key.h:54
void popBranch()
pop child node from octree key
Definition octree_key.h:122
bool operator==(const OctreeKey &b) const
Operator== for comparing octree keys with each other.
Definition octree_key.h:72
OctreeKey(uindex_t keyX, uindex_t keyY, uindex_t keyZ)
Constructor for key initialization.
Definition octree_key.h:60
bool operator!=(const OctreeKey &other) const
Inequal comparison operator.
Definition octree_key.h:83
bool operator<=(const OctreeKey &b) const
Operator<= for comparing octree keys with each other.
Definition octree_key.h:93
OctreeKey(const OctreeKey &source)
Copy constructor.
Definition octree_key.h:63
bool operator>=(const OctreeKey &b) const
Operator>= for comparing octree keys with each other.
Definition octree_key.h:103
static const unsigned char maxDepth
Definition octree_key.h:142
OctreeKey()
Empty constructor.
Definition octree_key.h:57
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition octree_key.h:112
OctreeKey & operator=(const OctreeKey &)=default
unsigned char getChildIdxWithDepthMask(uindex_t depthMask) const
get child node index using depthMask
Definition octree_key.h:134
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120
Defines basic non-point types used by PCL.