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Octree Iterator begin/end method and added tests #2174

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Jan 27, 2018
Merged

Octree Iterator begin/end method and added tests #2174

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a8d10d2
[OCTREE] Delete iterator definition from OctreePointCloud and OctreeP…
frozar Jan 3, 2018
d352b15
[TEST] Add iterator test for 'OctreePointCloudAdjacency'
frozar Jan 3, 2018
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22 changes: 0 additions & 22 deletions octree/include/pcl/octree/octree_pointcloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,34 +72,12 @@ namespace pcl

class OctreePointCloud : public OctreeT
{
// iterators are friends
friend class OctreeIteratorBase<OctreeT> ;
friend class OctreeDepthFirstIterator<OctreeT> ;
friend class OctreeBreadthFirstIterator<OctreeT> ;
friend class OctreeLeafNodeIterator<OctreeT> ;

public:
typedef OctreeT Base;

typedef typename OctreeT::LeafNode LeafNode;
typedef typename OctreeT::BranchNode BranchNode;

// Octree default iterators
typedef OctreeDepthFirstIterator<OctreeT> Iterator;
typedef const OctreeDepthFirstIterator<OctreeT> ConstIterator;

// Octree leaf node iterators
typedef OctreeLeafNodeIterator<OctreeT> LeafNodeIterator;
typedef const OctreeLeafNodeIterator<OctreeT> ConstLeafNodeIterator;

// Octree depth-first iterators
typedef OctreeDepthFirstIterator<OctreeT> DepthFirstIterator;
typedef const OctreeDepthFirstIterator<OctreeT> ConstDepthFirstIterator;

// Octree breadth-first iterators
typedef OctreeBreadthFirstIterator<OctreeT> BreadthFirstIterator;
typedef const OctreeBreadthFirstIterator<OctreeT> ConstBreadthFirstIterator;

/** \brief Octree pointcloud constructor.
* \param[in] resolution_arg octree resolution at lowest octree level
*/
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34 changes: 0 additions & 34 deletions octree/include/pcl/octree/octree_pointcloud_adjacency.h
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Expand Up @@ -95,40 +95,6 @@ namespace pcl
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

// Iterators are friends
friend class OctreeIteratorBase<OctreeAdjacencyT>;
friend class OctreeDepthFirstIterator<OctreeAdjacencyT>;
friend class OctreeBreadthFirstIterator<OctreeAdjacencyT>;
friend class OctreeLeafNodeIterator<OctreeAdjacencyT>;

// Octree default iterators
typedef OctreeDepthFirstIterator<OctreeAdjacencyT> Iterator;
typedef const OctreeDepthFirstIterator<OctreeAdjacencyT> ConstIterator;

Iterator depth_begin (unsigned int max_depth_arg = 0)
{
return Iterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
}

const Iterator depth_end (unsigned int max_depth_arg = 0)
{
return Iterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
}

// Octree leaf node iterators
typedef OctreeLeafNodeIterator<OctreeAdjacencyT> LeafNodeIterator;
typedef const OctreeLeafNodeIterator<OctreeAdjacencyT> ConstLeafNodeIterator;

LeafNodeIterator leaf_begin (unsigned int max_depth_arg = 0)
{
return LeafNodeIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_);
}

const LeafNodeIterator leaf_end (unsigned int max_depth_arg = 0)
{
return LeafNodeIterator (this, max_depth_arg? max_depth_arg : this->octree_depth_, NULL);
}

// BGL graph
typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> VoxelAdjacencyList;
typedef typename VoxelAdjacencyList::vertex_descriptor VoxelID;
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72 changes: 56 additions & 16 deletions test/octree/test_octree_iterator.cpp
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Expand Up @@ -690,10 +690,50 @@ struct OctreePointCloudAdjacencyBeginEndIteratorsTest
OctreeT oct_a_, oct_b_;
};

TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, LeafBegin)
{
// Useful types
typedef typename OctreeT::LeafNodeIterator IteratorT;

// Default initialization
IteratorT it_a_1 = oct_a_.leaf_begin ();
IteratorT it_a_2 = oct_a_.leaf_begin ();
IteratorT it_b = oct_b_.leaf_begin ();

EXPECT_EQ (it_a_1, it_a_2);
EXPECT_NE (it_a_1, it_b);
EXPECT_NE (it_a_2, it_b);

// Different max depths are not the same iterators
IteratorT it_m = oct_a_.leaf_begin ();
IteratorT it_m_1 = oct_a_.leaf_begin (1);
IteratorT it_m_md = oct_a_.leaf_begin (oct_a_.getTreeDepth ());
IteratorT it_m_b_1 = oct_b_.leaf_begin (1);

EXPECT_NE (it_m_1, it_m_md);
EXPECT_EQ (it_m_md, it_m); // should default to tree depth
EXPECT_NE (it_m_1, it_m_b_1);
}

TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, LeafEnd)
{
// Useful types
typedef typename OctreeT::LeafNodeIterator IteratorT;

// Default initialization
IteratorT it_a_1 = oct_a_.leaf_end ();
IteratorT it_a_2 = oct_a_.leaf_end ();
IteratorT it_b = oct_b_.leaf_end ();

EXPECT_EQ (it_a_1, it_a_2);
EXPECT_NE (it_a_1, it_b);
EXPECT_NE (it_a_2, it_b);
}

TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, DepthBegin)
{
// Useful types
typedef typename OctreeT::Iterator IteratorT;
typedef typename OctreeT::DepthFirstIterator IteratorT;

// Default initialization
IteratorT it_a_1 = oct_a_.depth_begin ();
Expand All @@ -718,7 +758,7 @@ TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, DepthBegin)
TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, DepthEnd)
{
// Useful types
typedef typename OctreeT::Iterator IteratorT;
typedef typename OctreeT::DepthFirstIterator IteratorT;

// Default initialization
IteratorT it_a_1 = oct_a_.depth_end ();
Expand All @@ -730,40 +770,40 @@ TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, DepthEnd)
EXPECT_NE (it_a_2, it_b);
}

TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, LeafBegin)
TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, BreadthBegin)
{
// Useful types
typedef typename OctreeT::LeafNodeIterator IteratorT;
typedef typename OctreeT::BreadthFirstIterator IteratorT;

// Default initialization
IteratorT it_a_1 = oct_a_.leaf_begin ();
IteratorT it_a_2 = oct_a_.leaf_begin ();
IteratorT it_b = oct_b_.leaf_begin ();
IteratorT it_a_1 = oct_a_.breadth_begin ();
IteratorT it_a_2 = oct_a_.breadth_begin ();
IteratorT it_b = oct_b_.breadth_begin ();

EXPECT_EQ (it_a_1, it_a_2);
EXPECT_NE (it_a_1, it_b);
EXPECT_NE (it_a_2, it_b);

// Different max depths are not the same iterators
IteratorT it_m = oct_a_.leaf_begin ();
IteratorT it_m_1 = oct_a_.leaf_begin (1);
IteratorT it_m_md = oct_a_.leaf_begin (oct_a_.getTreeDepth ());
IteratorT it_m_b_1 = oct_b_.leaf_begin (1);
IteratorT it_m = oct_a_.breadth_begin ();
IteratorT it_m_1 = oct_a_.breadth_begin (1);
IteratorT it_m_md = oct_a_.breadth_begin (oct_a_.getTreeDepth ());
IteratorT it_m_b_1 = oct_b_.breadth_begin (1);

EXPECT_NE (it_m_1, it_m_md);
EXPECT_EQ (it_m_md, it_m); // should default to tree depth
EXPECT_NE (it_m_1, it_m_b_1);
}

TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, LeafEnd)
TEST_F (OctreePointCloudAdjacencyBeginEndIteratorsTest, BreadthEnd)
{
// Useful types
typedef typename OctreeT::LeafNodeIterator IteratorT;
typedef typename OctreeT::BreadthFirstIterator IteratorT;

// Default initialization
IteratorT it_a_1 = oct_a_.leaf_end ();
IteratorT it_a_2 = oct_a_.leaf_end ();
IteratorT it_b = oct_b_.leaf_end ();
IteratorT it_a_1 = oct_a_.breadth_end ();
IteratorT it_a_2 = oct_a_.breadth_end ();
IteratorT it_b = oct_b_.breadth_end ();

EXPECT_EQ (it_a_1, it_a_2);
EXPECT_NE (it_a_1, it_b);
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