added the depth first iterator for outofcore octree

added examples after the depth first iterator was written

modified the example to add data only to leaves; added octants.pcd for testing

refactoring: don't use num_children_ in outofcore --> getNumChildren ()

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@7346 a9d63959-f2ad-4865-b262-bf0e56cfafb6

examples/outofcore/CMakeLists.txt

@@ -0,0 +1,9 @@
+if (BUILD_outofcore)
+
+  PCL_SUBSYS_DEPEND (build ${SUBSYS_NAME} DEPS outofcore io common octree filters)
+
+  PCL_ADD_EXAMPLE (pcl_example_outofcore_with_lod FILES pcl_example_outofcore_with_lod.cpp LINK_WITH pcl_outofcore pcl_common pcl_io pcl_octree pcl_filters)
+
+  PCL_ADD_EXAMPLE (pcl_example_outofcore FILES pcl_example_outofcore.cpp LINK_WITH pcl_outofcore pcl_common pcl_io pcl_octree pcl_filters)
+
+endif (BUILD_outofcore)

examples/outofcore/pcl_example_outofcore.cpp

@@ -0,0 +1,89 @@
+/*
+ * 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.
+ *
+ *  $Id$
+ */
+
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+
+#include <pcl/outofcore/outofcore.h>
+#include <pcl/outofcore/outofcore_impl.h>
+
+#include <pcl/outofcore/OutofcoreIteratorBase.h>
+
+#include <pcl/outofcore/OutofcoreDepthFirstIterator.h>
+#include <pcl/outofcore/impl/OutofcoreDepthFirstIterator.hpp>
+
+using namespace pcl::outofcore;
+
+typedef OutofcoreOctreeBase<OutofcoreOctreeDiskContainer<pcl::PointXYZ>, pcl::PointXYZ> OctreeDisk;
+typedef OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer<pcl::PointXY>, pcl::PointXYZ> OctreeDiskNode;
+
+int main (int argc, char** argv)
+{
+//  pcl::console::setVerbosityLevel (pcl::console::L_VERBOSE);
+
+  int depth = 3;
+  Eigen::Vector3d min (-10.0, -10.0, -10.0);
+  Eigen::Vector3d max (10.0, 10.0, 10.0);
+  boost::filesystem::path file_location ("tree/tree.oct_idx");
+
+  OctreeDisk* octree;
+
+  octree = new OctreeDisk (depth, min, max, file_location, "ECEF");
+
+  sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2 ());
+
+  pcl::io::loadPCDFile (argv[1], *cloud);
+
+  octree->addPointCloud (cloud, false);
+
+  delete octree;
+
+  OctreeDisk octree2 (file_location, true);
+
+  //iterate over the octree, depth first
+  OutofcoreDepthFirstIterator<pcl::PointXYZ, pcl::outofcore::OutofcoreOctreeDiskContainer<pcl::PointXYZ> > it (octree2);
+  OctreeDisk::Iterator myit (octree2);
+
+  while ( *myit !=0 )
+  {
+    octree2.printBoundingBox (**myit);
+    myit++;
+  }
+
+  return (0);
+}

examples/outofcore/pcl_example_outofcore_with_lod.cpp

@@ -0,0 +1,49 @@
+/*
+ * 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.
+ *
+ *  $Id$
+ */
+
+int main (int argc, char** argv)
+{
+
+  //Find all PCD files located in argv[1] directory
+
+  //
+
+
+
+  return (0);
+}

outofcore/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(SUBSYS_NAME outofcore)
 set(SUBSYS_DESC "Point cloud outofcore library")
-set(SUBSYS_DEPS common io visualization filters)
+set(SUBSYS_DEPS common io filters visualization octree)
 
 set(build TRUE)
 PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
@@ -12,11 +12,16 @@ if(build)
     set(srcs
         src/cJSON.cpp
 	src/outofcore_node_data.cpp
+	src/outofcore_base_data.cpp
         )
 
     set(incs
-	include/pcl/${SUBSYS_NAME}/boost.h
+        include/pcl/${SUBSYS_NAME}/metadata.h
+	include/pcl/${SUBSYS_NAME}/outofcore_base_data.h
 	include/pcl/${SUBSYS_NAME}/outofcore_node_data.h
+	include/pcl/${SUBSYS_NAME}/OutofcoreIteratorBase.h
+	include/pcl/${SUBSYS_NAME}/OutofcoreDepthFirstIterator.h
+	include/pcl/${SUBSYS_NAME}/boost.h
         include/pcl/${SUBSYS_NAME}/cJSON.h
         include/pcl/${SUBSYS_NAME}/octree_base.h
         include/pcl/${SUBSYS_NAME}/octree_base_node.h
@@ -26,6 +31,7 @@ if(build)
         )
 
     set(impl_incs
+	include/pcl/${SUBSYS_NAME}/impl/OutofcoreDepthFirstIterator.hpp
         include/pcl/${SUBSYS_NAME}/impl/octree_base.hpp
         include/pcl/${SUBSYS_NAME}/impl/octree_base_node.hpp
         include/pcl/${SUBSYS_NAME}/impl/octree_disk_container.hpp

outofcore/include/pcl/outofcore/OutofcoreBreadthFirstIterator.h

@@ -0,0 +1,69 @@
+/*
+ * 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.
+ *
+ * $Id: OutofcoreBreadthFirstIterator.h -1M 2012-08-24 19:37:13Z (local) $
+ */
+
+#ifndef PCL_OUTOFCORE_BFS_ITERATOR_BASE_H_
+#define PCL_OUTOFCORE_ITERATOR_BASE_H_
+
+#include <pcl/outofcore/OutofcoreIteratorBase.h>
+
+namespace pcl
+{
+  namespace outofcore
+  {
+    class OutofcoreBFSIterator : public OutofcoreIteratorBase
+    {
+      public:
+        OutofcoreBFSIterator (OutofcoreOctreeBase& outofcore_octree_arg) :
+           OutofcoreIteratorBase (outofcore_octree_arg)
+        {
+        }
+
+        ~OutofcoreBFSIteratorBase ()
+        {
+        }
+
+        OutofcoreBFSIterator& 
+        operator++(const OutofcoreBFSIterator &src);
+
+    };
+  }
+}
+
+
+
+

outofcore/include/pcl/outofcore/OutofcoreDepthFirstIterator.h

@@ -0,0 +1,84 @@
+/*
+ * 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.
+ *
+ * $Id$
+ */
+
+#ifndef PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
+#define PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_
+
+#include <pcl/outofcore/OutofcoreIteratorBase.h>
+namespace pcl
+{
+  namespace outofcore
+  {
+    template<typename PointT, typename ContainerT>
+    class OutofcoreDepthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
+    {
+      public:
+        typedef typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT> OctreeDisk;
+        typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> OctreeDiskNode;
+
+        typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> LeafNode;
+        typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> BranchNode;
+
+        explicit
+        OutofcoreDepthFirstIterator (OctreeDisk& octree_arg);
+
+        virtual
+        ~OutofcoreDepthFirstIterator ();
+
+        OutofcoreDepthFirstIterator&
+        operator++ ();
+
+        inline OutofcoreDepthFirstIterator
+        operator++ (int)
+        {
+          OutofcoreDepthFirstIterator _Tmp = *this;
+          ++*this;
+          return (_Tmp);
+        }
+
+        void
+        skipChildVoxels ();
+
+      protected:
+        unsigned char currentChildIdx_;
+        std::vector<std::pair<OctreeDiskNode*, unsigned char> > stack_;
+    };
+  }
+}
+
+#endif //PCL_OUTOFCORE_DEPTH_FIRST_ITERATOR_H_