Imported Upstream version 1.6.0

1 files changed, 142 insertions, 0 deletions

diff --git a/octree/include/pcl/octree/octree_key.h b/octree/include/pcl/octree/octree_key.h
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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2010-2012, Willow Garage, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef OCTREE_KEY_H
+#define OCTREE_KEY_H
+
+namespace pcl
+{
+  namespace octree
+  {
+    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+    /** \brief @b Octree key class
+     *  \note Octree keys contain integer indices for each coordinate axis in order to address an octree leaf node.
+     *  \author Julius Kammerl (julius@kammerl.de)
+     */
+    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+    class OctreeKey
+    {
+    public:
+
+      /** \brief Empty constructor. */
+      OctreeKey () :
+          x (0), y (0), z (0)
+      {
+      }
+
+      /** \brief Constructor for key initialization. */
+      OctreeKey (unsigned int keyX, unsigned int keyY, unsigned int keyZ) :
+          x (keyX), y (keyY), z (keyZ)
+      {
+      }
+
+      /** \brief Copy constructor. */
+      OctreeKey (const OctreeKey& source) :
+          x (source.x), y (source.y), z (source.z)
+      {
+      }
+
+      /** \brief Operator== for comparing octree keys with each other.
+       *  \return "true" if leaf node indices are identical; "false" otherwise.
+       * */
+      bool
+      operator == (const OctreeKey& b) const
+      {
+        return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
+      }
+
+      /** \brief Operator<= for comparing octree keys with each other.
+       *  \return "true" if key indices are not greater than the key indices of b  ; "false" otherwise.
+       * */
+      bool
+      operator <= (const OctreeKey& b) const
+      {
+        return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
+      }
+
+      /** \brief Operator>= for comparing octree keys with each other.
+       *  \return "true" if key indices are not smaller than the key indices of b  ; "false" otherwise.
+       * */
+      bool
+      operator >= (const OctreeKey& b) const
+      {
+        return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
+      }
+
+      /** \brief push a child node to the octree key
+       *  \param[in] childIndex index of child node to be added (0-7)
+       * */
+      inline void
+      pushBranch (unsigned char childIndex)
+      {
+        this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
+        this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
+        this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
+      }
+
+      /** \brief pop child node from octree key
+       * */
+      inline void
+      popBranch ()
+      {
+        this->x >>= 1;
+        this->y >>= 1;
+        this->z >>= 1;
+      }
+
+      /** \brief get child node index using depthMask
+       *  \param[in] depthMask bit mask with single bit set at query depth
+       *  \return child node index
+       * */
+      inline unsigned char
+      getChildIdxWithDepthMask (unsigned int depthMask) const
+      {
+        return static_cast<unsigned char> (((!!(this->x & depthMask)) << 2)
+                                         | ((!!(this->y & depthMask)) << 1)
+                                         |  (!!(this->z & depthMask)));
+      }
+
+      // Indices addressing a voxel at (X, Y, Z)
+      unsigned int x;
+      unsigned int y;
+      unsigned int z;
+
+    };
+  }
+}
+
+#endif