diff options
Diffstat (limited to 'octree/include/pcl/octree/impl/octree2buf_base.hpp')
| -rw-r--r-- | octree/include/pcl/octree/impl/octree2buf_base.hpp | 70 |
1 files changed, 34 insertions, 36 deletions
diff --git a/octree/include/pcl/octree/impl/octree2buf_base.hpp b/octree/include/pcl/octree/impl/octree2buf_base.hpp index edaea812..67628df6 100644 --- a/octree/include/pcl/octree/impl/octree2buf_base.hpp +++ b/octree/include/pcl/octree/impl/octree2buf_base.hpp @@ -67,17 +67,17 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::~Octree2BufBase() template <typename LeafContainerT, typename BranchContainerT> void Octree2BufBase<LeafContainerT, BranchContainerT>::setMaxVoxelIndex( - unsigned int max_voxel_index_arg) + uindex_t max_voxel_index_arg) { - unsigned int treeDepth; + uindex_t treeDepth; assert(max_voxel_index_arg > 0); // tree depth == amount of bits of maxVoxels - treeDepth = std::max( - (std::min(static_cast<unsigned int>(OctreeKey::maxDepth), - static_cast<unsigned int>(std::ceil(std::log2(max_voxel_index_arg))))), - static_cast<unsigned int>(0)); + treeDepth = + std::max<uindex_t>(std::min<uindex_t>(OctreeKey::maxDepth, + std::ceil(std::log2(max_voxel_index_arg))), + 0); // define depthMask_ by setting a single bit to 1 at bit position == tree depth depth_mask_ = (1 << (treeDepth - 1)); @@ -86,7 +86,7 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::setMaxVoxelIndex( ////////////////////////////////////////////////////////////////////////////////////////////// template <typename LeafContainerT, typename BranchContainerT> void -Octree2BufBase<LeafContainerT, BranchContainerT>::setTreeDepth(unsigned int depth_arg) +Octree2BufBase<LeafContainerT, BranchContainerT>::setTreeDepth(uindex_t depth_arg) { assert(depth_arg > 0); @@ -103,9 +103,9 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::setTreeDepth(unsigned int dept ////////////////////////////////////////////////////////////////////////////////////////////// template <typename LeafContainerT, typename BranchContainerT> LeafContainerT* -Octree2BufBase<LeafContainerT, BranchContainerT>::findLeaf(unsigned int idx_x_arg, - unsigned int idx_y_arg, - unsigned int idx_z_arg) +Octree2BufBase<LeafContainerT, BranchContainerT>::findLeaf(uindex_t idx_x_arg, + uindex_t idx_y_arg, + uindex_t idx_z_arg) { // generate key OctreeKey key(idx_x_arg, idx_y_arg, idx_z_arg); @@ -117,9 +117,9 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::findLeaf(unsigned int idx_x_ar ////////////////////////////////////////////////////////////////////////////////////////////// template <typename LeafContainerT, typename BranchContainerT> LeafContainerT* -Octree2BufBase<LeafContainerT, BranchContainerT>::createLeaf(unsigned int idx_x_arg, - unsigned int idx_y_arg, - unsigned int idx_z_arg) +Octree2BufBase<LeafContainerT, BranchContainerT>::createLeaf(uindex_t idx_x_arg, + uindex_t idx_y_arg, + uindex_t idx_z_arg) { // generate key OctreeKey key(idx_x_arg, idx_y_arg, idx_z_arg); @@ -131,8 +131,9 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::createLeaf(unsigned int idx_x_ ////////////////////////////////////////////////////////////////////////////////////////////// template <typename LeafContainerT, typename BranchContainerT> bool -Octree2BufBase<LeafContainerT, BranchContainerT>::existLeaf( - unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const +Octree2BufBase<LeafContainerT, BranchContainerT>::existLeaf(uindex_t idx_x_arg, + uindex_t idx_y_arg, + uindex_t idx_z_arg) const { // generate key OctreeKey key(idx_x_arg, idx_y_arg, idx_z_arg); @@ -144,9 +145,9 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::existLeaf( ////////////////////////////////////////////////////////////////////////////////////////////// template <typename LeafContainerT, typename BranchContainerT> void -Octree2BufBase<LeafContainerT, BranchContainerT>::removeLeaf(unsigned int idx_x_arg, - unsigned int idx_y_arg, - unsigned int idx_z_arg) +Octree2BufBase<LeafContainerT, BranchContainerT>::removeLeaf(uindex_t idx_x_arg, + uindex_t idx_y_arg, + uindex_t idx_z_arg) { // generate key OctreeKey key(idx_x_arg, idx_y_arg, idx_z_arg); @@ -352,10 +353,10 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::serializeNewLeafs( ////////////////////////////////////////////////////////////////////////////////////////////// template <typename LeafContainerT, typename BranchContainerT> -unsigned int +uindex_t Octree2BufBase<LeafContainerT, BranchContainerT>::createLeafRecursive( const OctreeKey& key_arg, - unsigned int depth_mask_arg, + uindex_t depth_mask_arg, BranchNode* branch_arg, LeafNode*& return_leaf_arg, BranchNode*& parent_of_leaf_arg, @@ -431,6 +432,7 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::createLeafRecursive( OctreeNode* child_node = branch_arg->getChildPtr(!buffer_selector_, child_idx); if (child_node->getNodeType() == LEAF_NODE) { child_leaf = static_cast<LeafNode*>(child_node); + child_leaf->getContainer() = LeafContainer(); // Clear contents of leaf branch_arg->setChildPtr(buffer_selector_, child_idx, child_node); } else { @@ -465,7 +467,7 @@ template <typename LeafContainerT, typename BranchContainerT> void Octree2BufBase<LeafContainerT, BranchContainerT>::findLeafRecursive( const OctreeKey& key_arg, - unsigned int depth_mask_arg, + uindex_t depth_mask_arg, BranchNode* branch_arg, LeafContainerT*& result_arg) const { @@ -500,7 +502,7 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::findLeafRecursive( template <typename LeafContainerT, typename BranchContainerT> bool Octree2BufBase<LeafContainerT, BranchContainerT>::deleteLeafRecursive( - const OctreeKey& key_arg, unsigned int depth_mask_arg, BranchNode* branch_arg) + const OctreeKey& key_arg, uindex_t depth_mask_arg, BranchNode* branch_arg) { // index to branch child unsigned char child_idx; @@ -559,21 +561,17 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::serializeTreeRecursive( bool do_XOR_encoding_arg, bool new_leafs_filter_arg) { - // bit pattern - char branch_bit_pattern_curr_buffer; - char branch_bit_pattern_prev_buffer; - char node_XOR_bit_pattern; - - // occupancy bit patterns of branch node (current and previous octree buffer) - branch_bit_pattern_curr_buffer = getBranchBitPattern(*branch_arg, buffer_selector_); - branch_bit_pattern_prev_buffer = getBranchBitPattern(*branch_arg, !buffer_selector_); - - // XOR of current and previous occupancy bit patterns - node_XOR_bit_pattern = - branch_bit_pattern_curr_buffer ^ branch_bit_pattern_prev_buffer; - if (binary_tree_out_arg) { + // occupancy bit patterns of branch node (current octree buffer) + const char branch_bit_pattern_curr_buffer = + getBranchBitPattern(*branch_arg, buffer_selector_); if (do_XOR_encoding_arg) { + // occupancy bit patterns of branch node (previous octree buffer) + const char branch_bit_pattern_prev_buffer = + getBranchBitPattern(*branch_arg, !buffer_selector_); + // XOR of current and previous occupancy bit patterns + const char node_XOR_bit_pattern = + branch_bit_pattern_curr_buffer ^ branch_bit_pattern_prev_buffer; // write XOR bit pattern to output vector binary_tree_out_arg->push_back(node_XOR_bit_pattern); } @@ -642,7 +640,7 @@ template <typename LeafContainerT, typename BranchContainerT> void Octree2BufBase<LeafContainerT, BranchContainerT>::deserializeTreeRecursive( BranchNode* branch_arg, - unsigned int depth_mask_arg, + uindex_t depth_mask_arg, OctreeKey& key_arg, typename std::vector<char>::const_iterator& binaryTreeIT_arg, typename std::vector<char>::const_iterator& binaryTreeIT_End_arg, |