Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012, Urban Robotics, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of Willow Garage, Inc. nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id: octree_ram_container.hpp 6927 2012-08-23 02:34:54Z stfox88 $ 00038 */ 00039 00040 #ifndef PCL_OUTOFCORE_RAM_CONTAINER_IMPL_H_ 00041 #define PCL_OUTOFCORE_RAM_CONTAINER_IMPL_H_ 00042 00043 // C++ 00044 #include <sstream> 00045 00046 // PCL (Urban Robotics) 00047 #include <pcl/outofcore/octree_ram_container.h> 00048 00049 namespace pcl 00050 { 00051 namespace outofcore 00052 { 00053 00054 template<typename PointT> 00055 boost::mutex OutofcoreOctreeRamContainer<PointT>::rng_mutex_; 00056 00057 template<typename PointT> 00058 boost::mt19937 OutofcoreOctreeRamContainer<PointT>::rand_gen_ (static_cast<unsigned int>(std::time( NULL))); 00059 00060 template<typename PointT> void 00061 OutofcoreOctreeRamContainer<PointT>::convertToXYZ (const boost::filesystem::path& path) 00062 { 00063 if (!container_.empty ()) 00064 { 00065 FILE* fxyz = fopen (path.string ().c_str (), "w"); 00066 00067 boost::uint64_t num = size (); 00068 for (boost::uint64_t i = 0; i < num; i++) 00069 { 00070 const PointT& p = container_[i]; 00071 00072 std::stringstream ss; 00073 ss << std::fixed; 00074 ss.precision (16); 00075 ss << p.x << "\t" << p.y << "\t" << p.z << "\n"; 00076 00077 fwrite (ss.str ().c_str (), 1, ss.str ().size (), fxyz); 00078 } 00079 00080 assert ( fclose (fxyz) == 0 ); 00081 } 00082 } 00083 00084 //////////////////////////////////////////////////////////////////////////////// 00085 00086 template<typename PointT> void 00087 OutofcoreOctreeRamContainer<PointT>::insertRange (const PointT* start, const boost::uint64_t count) 00088 { 00089 container_.insert (container_.end (), start, start + count); 00090 } 00091 00092 //////////////////////////////////////////////////////////////////////////////// 00093 00094 template<typename PointT> void 00095 OutofcoreOctreeRamContainer<PointT>::insertRange (const PointT* const * start, const boost::uint64_t count) 00096 { 00097 AlignedPointTVector temp; 00098 temp.resize (count); 00099 for (boost::uint64_t i = 0; i < count; i++) 00100 { 00101 temp[i] = *start[i]; 00102 } 00103 container_.insert (container_.end (), temp.begin (), temp.end ()); 00104 } 00105 00106 //////////////////////////////////////////////////////////////////////////////// 00107 00108 template<typename PointT> void 00109 OutofcoreOctreeRamContainer<PointT>::readRange (const boost::uint64_t start, const boost::uint64_t count, 00110 AlignedPointTVector& v) 00111 { 00112 v.resize (count); 00113 memcpy (v.data (), container_.data () + start, count * sizeof(PointT)); 00114 } 00115 00116 //////////////////////////////////////////////////////////////////////////////// 00117 00118 template<typename PointT> void 00119 OutofcoreOctreeRamContainer<PointT>::readRangeSubSample (const boost::uint64_t start, 00120 const boost::uint64_t count, 00121 const double percent, 00122 AlignedPointTVector& v) 00123 { 00124 boost::uint64_t samplesize = static_cast<boost::uint64_t> (percent * static_cast<double> (count)); 00125 00126 boost::mutex::scoped_lock lock (rng_mutex_); 00127 00128 boost::uniform_int < boost::uint64_t > buffdist (start, start + count); 00129 boost::variate_generator<boost::mt19937&, boost::uniform_int<boost::uint64_t> > buffdie (rand_gen_, buffdist); 00130 00131 for (boost::uint64_t i = 0; i < samplesize; i++) 00132 { 00133 boost::uint64_t buffstart = buffdie (); 00134 v.push_back (container_[buffstart]); 00135 } 00136 } 00137 00138 //////////////////////////////////////////////////////////////////////////////// 00139 00140 }//namespace outofcore 00141 }//namespace pcl 00142 00143 #endif //PCL_OUTOFCORE_RAM_CONTAINER_IMPL_H_