Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
outofcore_breadth_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: outofcore_depth_first_iterator.h 7938 2012-11-14 06:27:39Z jrosen $
37 */
38
39#pragma once
40
41#include <pcl/outofcore/outofcore_iterator_base.h>
42
43#include <deque>
44
45namespace pcl
46{
47 namespace outofcore
48 {
49
50 /** \class OutofcoreBreadthFirstIterator
51 *
52 * \ingroup outofcore
53 * \author Justin Rosen (jmylesrosen@gmail.com)
54 * \note Code adapted from \ref octree_iterator.h in Module \ref pcl::octree written by Julius Kammerl
55 */
56 template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
57 class OutofcoreBreadthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
58 {
59 public:
62
65
66
67 explicit
69
70
72
75
78 {
80 ++*this;
81 return (_Tmp);
82 }
83
84 inline void
85 reset () override
86 {
88
89 // Clear the FIFO queue and add the root as the first node
90 FIFO_.clear ();
91 FIFO_.push_back(this->currentNode_);
92
93 // Don't skip children
94 skip_child_voxels_ = false;
95 }
96
97 void
99 {
100 skip_child_voxels_ = true;
101 }
102
103 protected:
104 /** FIFO list */
105 std::deque<OctreeDiskNode*> FIFO_;
107 };
108 }
109}
This code defines the octree used for point storage at Urban Robotics.
OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...