Point Cloud Library (PCL)  1.13.0-dev
octree_node_pool.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 
42 #include <vector>
43 
44 namespace pcl {
45 namespace octree {
46 
47 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
48 /** \brief @b Octree node pool
49  * \note Used to reduce memory allocation and class instantiation events when generating
50  * octrees at high rate
51  * \author Julius Kammerl (julius@kammerl.de)
52  */
53 template <typename NodeT>
55 public:
56  /** \brief Empty constructor. */
58 
59  /** \brief Empty deconstructor. */
60  virtual ~OctreeNodePool() { deletePool(); }
61 
62  /** \brief Push node to pool
63  * \param node_arg: add this node to the pool
64  * */
65  inline void
66  pushNode(NodeT* node_arg)
67  {
68  nodePool_.push_back(node_arg);
69  }
70 
71  /** \brief Pop node from pool - Allocates new nodes if pool is empty
72  * \return Pointer to octree node
73  * */
74  inline NodeT*
76  {
77 
78  NodeT* newLeafNode;
79 
80  if (!nodePool_.size()) {
81  // leaf pool is empty
82  // we need to create a new octree leaf class
83  newLeafNode = new NodeT();
84  }
85  else {
86  // reuse leaf node from branch pool
87  newLeafNode = nodePool_.back();
88  nodePool_.pop_back();
89  newLeafNode->reset();
90  }
91 
92  return newLeafNode;
93  }
94 
95  /** \brief Delete all nodes in pool
96  * */
97  void
99  {
100  // delete all branch instances from branch pool
101  while (!nodePool_.empty()) {
102  delete (nodePool_.back());
103  nodePool_.pop_back();
104  }
105  }
106 
107 protected:
108  std::vector<NodeT*> nodePool_;
109 };
110 
111 } // namespace octree
112 } // namespace pcl
std::vector< NodeT * > nodePool_
NodeT * popNode()
Pop node from pool - Allocates new nodes if pool is empty.
void pushNode(NodeT *node_arg)
Push node to pool.
void deletePool()
Delete all nodes in pool.
virtual ~OctreeNodePool()
Empty deconstructor.
OctreeNodePool()
Empty constructor.
Defines all the PCL and non-PCL macros used.