octree_node_pool.h

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#pragma once
 
#include <pcl/pcl_macros.h>
 
#include <vector>
 
namespace pcl {
namespace octree {
 
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree node pool
 * \note Used to reduce memory allocation and class instantiation events when generating
 * octrees at high rate
 * \author Julius Kammerl (julius@kammerl.de)
 */
template <typename NodeT>
class OctreeNodePool {
public:
  /** \brief Empty constructor. */
  OctreeNodePool() : nodePool_() {}
 
  /** \brief Empty deconstructor. */
  virtual ~OctreeNodePool() { deletePool(); }
 
  /** \brief Push node to pool
   *  \param node_arg: add this node to the pool
   *  */
  inline void
  pushNode(NodeT* node_arg)
  {
    nodePool_.push_back(node_arg);
  }
 
  /** \brief Pop node from pool - Allocates new nodes if pool is empty
   *  \return Pointer to octree node
   *  */
  inline NodeT*
  popNode()
  {
 
    NodeT* newLeafNode;
 
    if (!nodePool_.size()) {
      // leaf pool is empty
      // we need to create a new octree leaf class
      newLeafNode = new NodeT();
    }
    else {
      // reuse leaf node from branch pool
      newLeafNode = nodePool_.back();
      nodePool_.pop_back();
      newLeafNode->reset();
    }
 
    return newLeafNode;
  }
 
  /** \brief Delete all nodes in pool
   *  */
  void
  deletePool()
  {
    // delete all branch instances from branch pool
    while (!nodePool_.empty()) {
      delete (nodePool_.back());
      nodePool_.pop_back();
    }
  }
 
protected:
  std::vector<NodeT*> nodePool_;
};
 
} // namespace octree
} // namespace pcl