outofcore_breadth_first_iterator.hpp

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 * $Id: outofcore_depth_first_iterator.hpp 7938 2012-11-14 06:27:39Z jrosen $
 */
 
#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_
 
namespace pcl
{
  namespace outofcore
  {
 
    template<typename PointT, typename ContainerT> 
    OutofcoreBreadthFirstIterator<PointT, ContainerT>::OutofcoreBreadthFirstIterator (OutofcoreOctreeBase<ContainerT, PointT>& octree_arg)
    : OutofcoreIteratorBase<PointT, ContainerT> (octree_arg)
    {
      reset();
    }
 
    ////////////////////////////////////////////////////////////////////////////////
 
    template<typename PointT, typename ContainerT> 
    OutofcoreBreadthFirstIterator<PointT, ContainerT>::~OutofcoreBreadthFirstIterator ()
    {
    }
 
    ////////////////////////////////////////////////////////////////////////////////
 
    template<typename PointT, typename ContainerT>
    OutofcoreBreadthFirstIterator<PointT, ContainerT>&
    OutofcoreBreadthFirstIterator<PointT, ContainerT>::operator++ ()
    {
      if (!FIFO_.empty ())
      {
        // Get the first entry from the FIFO queue
        OctreeDiskNode *node = FIFO_.front ();
        FIFO_.pop_front ();
 
        // If not skipping children, not at the max specified depth and we're a branch then iterate over children
        if (!skip_child_voxels_ && node->getDepth () < this->max_depth_ && node->getNodeType () == pcl::octree::BRANCH_NODE)
        {
          // Get the branch node
          BranchNode* branch = static_cast<BranchNode*> (node);
          OctreeDiskNode* child = nullptr;
 
          // Iterate over the branches children
          for (unsigned char child_idx = 0; child_idx < 8 ; child_idx++)
          {
            // If child/index exists add it to FIFO queue
            child = this->octree_.getBranchChildPtr (*branch, child_idx);
            if (child)
            {
              FIFO_.push_back (child);
            }
          }
        }
      }
 
      // Reset skipped children
      skip_child_voxels_ = false;
 
      // If there's a queue, set the current node to the first entry
      if (!FIFO_.empty ())
      {
        this->currentNode_ = FIFO_.front ();
      }
      else
      {
        this->currentNode_ = nullptr;
      }
 
      return (*this);
    }
 
    ////////////////////////////////////////////////////////////////////////////////
 
  }//namesapce pcl
}//namespace outofcore
 
#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_IMPL_H_