An Optimization Technique of the 3D Indoor Map Data Based on an Improved Octree Structure

Algorithm 2

Octree Map Target Data Retrieval.

	Input: objectID, nodeCoding
	Output: target data
	Begin: target = root
	While (objectID in CurNode and nodeCoding<>targetNode. nodeCoding) do
	targetNode = CurNode.children[the i-th bit of the nodeCoding]
	While length of node objectNum > 0 do
/∗ objectNum is array, does not reach the segmentation threshold ∗/
	collect objectData from targetNode
	if collect objectData = targetObjectData then
	call function OctreeMapNeighborDataRetrieval method
	end while
	End