Point Cloud Library (PCL)  1.14.0-dev
octree_ram_container.h
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39 
40 #pragma once
41 
42 // C++
43 #include <mutex>
44 #include <random>
45 
46 #include <pcl/outofcore/octree_abstract_node_container.h>
47 
48 namespace pcl
49 {
50  namespace outofcore
51  {
52  /** \class OutofcoreOctreeRamContainer
53  * \brief Storage container class which the outofcore octree base is templated against
54  * \note Code was adapted from the Urban Robotics out of core octree implementation.
55  * Contact Jacob Schloss <jacob.schloss@urbanrobotics.net> with any questions.
56  * http://www.urbanrobotics.net/
57  *
58  * \ingroup outofcore
59  * \author Jacob Schloss (jacob.scloss@urbanrobotics.net)
60  */
61  template<typename PointT>
63  {
64  public:
66 
67  /** \brief empty constructor (with a path parameter?)
68  */
69  OutofcoreOctreeRamContainer (const boost::filesystem::path&) : container_ () { }
70 
71  /** \brief inserts count number of points into container; uses the container_ type's insert function
72  * \param[in] start - address of first point in array
73  * \param[in] count - the maximum offset from start of points inserted
74  */
75  void
76  insertRange (const PointT* start, const std::uint64_t count);
77 
78  /** \brief inserts count points into container
79  * \param[in] start - address of first point in array
80  * \param[in] count - the maximum offset from start of points inserted
81  */
82  void
83  insertRange (const PointT* const * start, const std::uint64_t count);
84 
85  void
87  {
88  PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n");
89  //insertRange (&(p.begin ()), p.size ());
90  }
91 
92  void
94  {
95  PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n");
96  }
97 
98  /** \brief
99  * \param[in] start Index of first point to return from container
100  * \param[in] count Offset (start + count) of the last point to return from container
101  * \param[out] v Array of points read from the input range
102  */
103  void
104  readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &v);
105 
106  /** \brief grab percent*count random points. points are NOT
107  * guaranteed to be unique (could have multiple identical points!)
108  *
109  * \param[in] start Index of first point in range to subsample
110  * \param[in] count Offset (start+count) of last point in range to subsample
111  * \param[in] percent Percentage of range to return
112  * \param[out] v Vector with percent*count uniformly random sampled
113  * points from given input rangerange
114  */
115  void
116  readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &v);
117 
118  /** \brief returns the size of the vector of points stored in this class */
119  inline std::uint64_t
120  size () const
121  {
122  return container_.size ();
123  }
124 
125  inline bool
126  empty () const
127  {
128  return container_.empty ();
129  }
130 
131 
132  /** \brief clears the vector of points in this class */
133  inline void
134  clear ()
135  {
136  //clear the elements in the vector of points
137  container_.clear ();
138  }
139 
140  /** \brief Writes ascii x,y,z point data to path.string().c_str()
141  * \param path The path/filename destination of the ascii xyz data
142  */
143  void
144  convertToXYZ (const boost::filesystem::path &path);
145 
146  inline PointT
147  operator[] (std::uint64_t index) const
148  {
149  assert ( index < container_.size () );
150  return ( container_[index] );
151  }
152 
153 
154  protected:
155  //no copy construction
157 
160 
161  //the actual container
162  //std::deque<PointT> container;
163 
164  /** \brief linear container to hold the points */
166 
167  static std::mutex rng_mutex_;
168  static std::mt19937 rng_;
169  };
170  }
171 }
std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
Storage container class which the outofcore octree base is templated against.
std::uint64_t size() const
returns the size of the vector of points stored in this class
OutofcoreOctreeRamContainer(const OutofcoreOctreeRamContainer &)
OutofcoreOctreeRamContainer(const boost::filesystem::path &)
empty constructor (with a path parameter?)
void readRange(const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &v)
AlignedPointTVector container_
linear container to hold the points
void convertToXYZ(const boost::filesystem::path &path)
Writes ascii x,y,z point data to path.string().c_str()
void readRangeSubSample(const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &v)
grab percent*count random points.
void insertRange(const PointT *start, const std::uint64_t count)
inserts count number of points into container; uses the container_ type's insert function
void insertRange(const AlignedPointTVector &)
PointT operator[](std::uint64_t index) const
typename OutofcoreAbstractNodeContainer< PointT >::AlignedPointTVector AlignedPointTVector
OutofcoreOctreeRamContainer & operator=(const OutofcoreOctreeRamContainer &)
void clear()
clears the vector of points in this class
A point structure representing Euclidean xyz coordinates, and the RGB color.