Class responsible for serialization and deserialization of out of core point data. More...

#include <pcl/outofcore/octree_disk_container.h>

Inheritance diagram for pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >:

Collaboration diagram for pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >:

Public Types
using	AlignedPointTVector = typename OutofcoreAbstractNodeContainer< PointT >::AlignedPointTVector

Public Types inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >
using	AlignedPointTVector = std::vector< pcl::PointXYZ, Eigen::aligned_allocator< pcl::PointXYZ > >

Public Member Functions
	OutofcoreOctreeDiskContainer ()
	Empty constructor creates disk container and sets filename from random uuid string. More...

	OutofcoreOctreeDiskContainer (const boost::filesystem::path &dir)
	Creates uuid named file or loads existing file. More...

	~OutofcoreOctreeDiskContainer () override
	flushes write buffer, then frees memory More...

PointT	operator[] (std::uint64_t idx) const override
	provides random access to points based on a linear index More...

void	push_back (const PointT &p)
	Adds a single point to the buffer to be written to disk when the buffer grows sufficiently large, the object is destroyed, or the write buffer is manually flushed. More...

void	insertRange (const AlignedPointTVector &src)
	Inserts a vector of points into the disk data structure. More...

void	insertRange (const pcl::PCLPointCloud2::Ptr &input_cloud)
	Inserts a PCLPointCloud2 object directly into the disk container. More...

void	insertRange (const PointT const start, const std::uint64_t count) override

void	insertRange (const PointT *start, const std::uint64_t count) override
	This is the primary method for serialization of blocks of point data. More...

void	readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &dst) override
	Reads count points into memory from the disk container. More...

void	readRange (const std::uint64_t, const std::uint64_t, pcl::PCLPointCloud2::Ptr &dst)

int	read (pcl::PCLPointCloud2::Ptr &output_cloud)
	Reads the entire point contents from disk into `output_cloud`. More...

void	readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &dst) override
	grab percent*count random points. More...

void	readRangeSubSample_bernoulli (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &dst)
	Use bernoulli trials to select points. More...

std::uint64_t	size () const override
	Returns the total number of points for which this container is responsible, `filelen_` + points in `writebuff_` that have not yet been flushed to the disk. More...

bool	empty () const override
	STL-like empty test. More...

void	flush (const bool force_cache_dealloc)
	Exposed functionality for manually flushing the write buffer during tree creation. More...

std::string &	path ()
	Returns this objects path name. More...

void	clear () override

void	convertToXYZ (const boost::filesystem::path &path) override
	write points to disk as ascii More...

std::uint64_t	getDataSize () const
	Returns the number of points in the PCD file by reading the PCD header. More...

Public Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >
	OutofcoreAbstractNodeContainer ()

	OutofcoreAbstractNodeContainer (const boost::filesystem::path &)

virtual	~OutofcoreAbstractNodeContainer ()=default

virtual void	insertRange (const pcl::PointXYZ *start, const std::uint64_t count)=0

virtual void	insertRange (const pcl::PointXYZ const start, const std::uint64_t count)=0

virtual void	readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &v)=0

virtual void	readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &v)=0

Static Public Member Functions
static void	getRandomUUIDString (std::string &s)
	Generate a universally unique identifier (UUID) More...

Additional Inherited Members
Protected Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >
	OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer &rval)

Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >
AlignedPointTVector	container_

Static Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >
static std::mutex	rng_mutex_

Detailed Description

template<typename PointT = pcl::PointXYZ>
class pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >

Class responsible for serialization and deserialization of out of core point data.

Note: Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/

Author: Jacob Schloss (jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net)

Definition at line 76 of file octree_disk_container.h.

Member Typedef Documentation

◆ AlignedPointTVector

template<typename PointT = pcl::PointXYZ>

using pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::AlignedPointTVector = typename OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector

Definition at line 80 of file octree_disk_container.h.

Constructor & Destructor Documentation

◆ OutofcoreOctreeDiskContainer() [1/2]

template<typename PointT >

pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer

Empty constructor creates disk container and sets filename from random uuid string.

Definition at line 104 of file octree_disk_container.hpp.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString().

◆ OutofcoreOctreeDiskContainer() [2/2]

template<typename PointT >

pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer ( const boost::filesystem::path & dir )

Creates uuid named file or loads existing file.

If dir is a directory, this constructor will create a new uuid named file; if dir is an existing file, it will load the file metadata for accessing the tree.

Parameters

[in] dir Path to the tree. If it is a directory, it will create the metadata. If it is a file, it will load the metadata into memory.

Definition at line 114 of file octree_disk_container.hpp.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString(), pcl::PCLPointCloud2::height, pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::path(), pcl::PCDReader::readHeader(), and pcl::PCLPointCloud2::width.

◆ ~OutofcoreOctreeDiskContainer()

template<typename PointT >

pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::~OutofcoreOctreeDiskContainer

override

flushes write buffer, then frees memory

Definition at line 160 of file octree_disk_container.hpp.

Member Function Documentation

◆ clear()

template<typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::clear ( )

inlineoverridevirtual

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.

Definition at line 208 of file octree_disk_container.h.

◆ convertToXYZ()

template<typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ ( const boost::filesystem::path & path )

inlineoverridevirtual

write points to disk as ascii

Parameters

[in] path

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.

Definition at line 224 of file octree_disk_container.h.

References pcl::utils::ignore(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::path(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size().

◆ empty()

template<typename PointT = pcl::PointXYZ>

bool pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::empty ( ) const

inlineoverridevirtual

STL-like empty test.

Returns: true if container has no data on disk or waiting to be written in writebuff_

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.

Definition at line 188 of file octree_disk_container.h.

◆ flush()

template<typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::flush ( const bool force_cache_dealloc )

inline

Exposed functionality for manually flushing the write buffer during tree creation.

Definition at line 195 of file octree_disk_container.h.

◆ getDataSize()

template<typename PointT >

std::uint64_t pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize

Returns the number of points in the PCD file by reading the PCD header.

Definition at line 672 of file octree_disk_container.hpp.

References pcl::PCLPointCloud2::height, pcl::PCDReader::readHeader(), and pcl::PCLPointCloud2::width.

◆ getRandomUUIDString()

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString ( std::string & s )

static

Generate a universally unique identifier (UUID)

A mutex lock happens to ensure uniqueness

Definition at line 89 of file octree_disk_container.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::init_root_node(), pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::OutofcoreOctreeBaseNode(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer().

◆ insertRange() [1/4]

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange ( const AlignedPointTVector & src )

Inserts a vector of points into the disk data structure.

Definition at line 466 of file octree_disk_container.hpp.

References pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::PointCloud< PointT >::push_back(), pcl::PCDReader::read(), pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and pcl::PCDWriter::writeBinaryCompressed().

◆ insertRange() [2/4]

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange ( const pcl::PCLPointCloud2::Ptr & input_cloud )

Inserts a PCLPointCloud2 object directly into the disk container.

Definition at line 511 of file octree_disk_container.hpp.

References pcl::concatenate(), pcl::utils::ignore(), pcl::PCDReader::read(), and pcl::PCDWriter::writeBinaryCompressed().

◆ insertRange() [3/4]

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange	(	const PointT const	start,
		const std::uint64_t	count
	)

override

Definition at line 609 of file octree_disk_container.hpp.

◆ insertRange() [4/4]

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange	(	const PointT *	start,
		const std::uint64_t	count
	)

override

This is the primary method for serialization of blocks of point data.

This is called by the outofcore octree interface, opens the binary file for appending data, and writes it to disk.

Parameters

[in]	start	address of the first point to insert
[in]	count	offset from start of the last point to insert

Definition at line 628 of file octree_disk_container.hpp.

References pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::PointCloud< PointT >::push_back(), pcl::PCDReader::read(), pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and pcl::PCDWriter::writeBinaryCompressed().

◆ operator[]()

template<typename PointT >

PointT pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::operator[] ( std::uint64_t idx ) const

inlineoverridevirtual

provides random access to points based on a linear index

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.

Definition at line 198 of file octree_disk_container.hpp.

References pcl::utils::ignore().

◆ path()

template<typename PointT = pcl::PointXYZ>

std::string& pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::path ( )

inline

Returns this objects path name.

Definition at line 202 of file octree_disk_container.h.

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer().

◆ push_back()

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::push_back ( const PointT & p )

inline

Adds a single point to the buffer to be written to disk when the buffer grows sufficiently large, the object is destroyed, or the write buffer is manually flushed.

Definition at line 455 of file octree_disk_container.hpp.

◆ read()

template<typename PointT >

int pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::read ( pcl::PCLPointCloud2::Ptr & output_cloud )

Reads the entire point contents from disk into output_cloud.

Parameters

[out] output_cloud

Definition at line 576 of file octree_disk_container.hpp.

References pcl::concatenate(), pcl::utils::ignore(), and pcl::io::loadPCDFile().

◆ readRange() [1/2]

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange	(	const std::uint64_t	start,
		const std::uint64_t	count,
		AlignedPointTVector &	dst
	)

override

Reads count points into memory from the disk container.

Reads count points into memory from the disk container, reading at most 2 million elements at a time

Parameters

[in]	start	index of first point to read from disk
[in]	count	offset of last point to read from disk
[out]	dst	std::vector as destination for points read from disk into memory

Definition at line 239 of file octree_disk_container.hpp.

References pcl::PointCloud< PointT >::cbegin(), pcl::PointCloud< PointT >::cend(), pcl::utils::ignore(), and pcl::PCDReader::read().

◆ readRange() [2/2]

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange	(	const std::uint64_t	,
		const std::uint64_t	,
		pcl::PCLPointCloud2::Ptr &	dst
	)

Definition at line 552 of file octree_disk_container.hpp.

References pcl::utils::ignore(), and pcl::PCDReader::read().

◆ readRangeSubSample()

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample	(	const std::uint64_t	start,
		const std::uint64_t	count,
		const double	percent,
		AlignedPointTVector &	dst
	)

override

grab percent*count random points.

points are not guaranteed to be unique (could have multiple identical points!)

Parameters

[in]	start	The starting index of points to select
[in]	count	The length of the range of points from which to randomly sample (i.e. from start to start+count)
[in]	percent	The percentage of count that is enough points to make up this random sample
[out]	dst	std::vector as destination for randomly sampled points; size will be percentage*count

Definition at line 358 of file octree_disk_container.hpp.

References pcl::utils::ignore(), and pcl::outofcore::rand_gen_.

◆ readRangeSubSample_bernoulli()

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample_bernoulli	(	const std::uint64_t	start,
		const std::uint64_t	count,
		const double	percent,
		AlignedPointTVector &	dst
	)

Use bernoulli trials to select points.

All points selected will be unique.

Parameters

[in]	start	The starting index of points to select
[in]	count	The length of the range of points from which to randomly sample (i.e. from start to start+count)
[in]	percent	The percentage of count that is enough points to make up this random sample
[out]	dst	std::vector as destination for randomly sampled points; size will be percentage*count

Definition at line 265 of file octree_disk_container.hpp.

References pcl::utils::ignore(), and pcl::outofcore::rand_gen_.

◆ size()

template<typename PointT = pcl::PointXYZ>

std::uint64_t pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size ( ) const

inlineoverridevirtual

Returns the total number of points for which this container is responsible, filelen_ + points in writebuff_ that have not yet been flushed to the disk.

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.

Definition at line 180 of file octree_disk_container.h.

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ().

The documentation for this class was generated from the following files:

pcl/outofcore/octree_disk_container.h
pcl/outofcore/impl/octree_disk_container.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT = pcl::PointXYZ> class pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >

Member Typedef Documentation

◆ AlignedPointTVector

Constructor & Destructor Documentation

◆ OutofcoreOctreeDiskContainer() [1/2]

◆ OutofcoreOctreeDiskContainer() [2/2]

◆ ~OutofcoreOctreeDiskContainer()

Member Function Documentation

◆ clear()

◆ convertToXYZ()

◆ empty()

◆ flush()

◆ getDataSize()

◆ getRandomUUIDString()

◆ insertRange() [1/4]

◆ insertRange() [2/4]

◆ insertRange() [3/4]

◆ insertRange() [4/4]

◆ operator[]()

◆ path()

◆ push_back()

◆ read()

◆ readRange() [1/2]

◆ readRange() [2/2]

◆ readRangeSubSample()

◆ readRangeSubSample_bernoulli()

◆ size()

template<typename PointT = pcl::PointXYZ>
class pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >