Point Cloud Library (PCL)
1.7.0
|
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 * $Id$ 00038 */ 00039 00040 #ifndef PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_ 00041 #define PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_ 00042 00043 // C++ 00044 #include <vector> 00045 00046 #include <pcl/outofcore/boost.h> 00047 #include <pcl/outofcore/octree_abstract_node_container.h> 00048 00049 namespace pcl 00050 { 00051 namespace outofcore 00052 { 00053 /** \class OutofcoreOctreeRamContainer 00054 * \brief Storage container class which the outofcore octree base is templated against 00055 * \note Code was adapted from the Urban Robotics out of core octree implementation. 00056 * Contact Jacob Schloss <jacob.schloss@urbanrobotics.net> with any questions. 00057 * http://www.urbanrobotics.net/ 00058 * 00059 * \ingroup outofcore 00060 * \author Jacob Schloss (jacob.scloss@urbanrobotics.net) 00061 */ 00062 template<typename PointT> 00063 class OutofcoreOctreeRamContainer : public OutofcoreAbstractNodeContainer<PointT> 00064 { 00065 public: 00066 typedef typename OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector AlignedPointTVector; 00067 00068 /** \brief empty contructor (with a path parameter?) 00069 */ 00070 OutofcoreOctreeRamContainer (const boost::filesystem::path&) : container_ () { } 00071 00072 /** \brief inserts count number of points into container; uses the container_ type's insert function 00073 * \param[in] start - address of first point in array 00074 * \param[in] count - the maximum offset from start of points inserted 00075 */ 00076 void 00077 insertRange (const PointT* start, const uint64_t count); 00078 00079 /** \brief inserts count points into container 00080 * \param[in] start - address of first point in array 00081 * \param[in] count - the maximum offset from start of points inserted 00082 */ 00083 void 00084 insertRange (const PointT* const * start, const uint64_t count); 00085 00086 void 00087 insertRange (AlignedPointTVector &p) 00088 { 00089 PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n"); 00090 //insertRange (&(p.begin ()), p.size ()); 00091 } 00092 00093 void 00094 insertRange (const AlignedPointTVector &p) 00095 { 00096 PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n"); 00097 } 00098 00099 /** \brief 00100 * \param[in] start Index of first point to return from container 00101 * \param[in] count Offset (start + count) of the last point to return from container 00102 * \param[out] v Array of points read from the input range 00103 */ 00104 void 00105 readRange (const uint64_t start, const uint64_t count, AlignedPointTVector &v); 00106 00107 /** \brief grab percent*count random points. points are NOT 00108 * guaranteed to be unique (could have multiple identical points!) 00109 * 00110 * \param[in] start Index of first point in range to subsample 00111 * \param[in] count Offset (start+count) of last point in range to subsample 00112 * \param[in] percent Percentage of range to return 00113 * \param[out] v Vector with percent*count uniformly random sampled 00114 * points from given input rangerange 00115 */ 00116 void 00117 readRangeSubSample (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector &v); 00118 00119 /** \brief returns the size of the vector of points stored in this class */ 00120 inline uint64_t 00121 size () const 00122 { 00123 return container_.size (); 00124 } 00125 00126 inline bool 00127 empty () const 00128 { 00129 return container_.empty (); 00130 } 00131 00132 00133 /** \brief clears the vector of points in this class */ 00134 inline void 00135 clear () 00136 { 00137 //clear the elements in the vector of points 00138 container_.clear (); 00139 } 00140 00141 /** \brief Writes ascii x,y,z point data to path.string().c_str() 00142 * \param path The path/filename destination of the ascii xyz data 00143 */ 00144 void 00145 convertToXYZ (const boost::filesystem::path &path); 00146 00147 inline PointT 00148 operator[] (uint64_t index) const 00149 { 00150 assert ( index < container_.size () ); 00151 return ( container_[index] ); 00152 } 00153 00154 00155 protected: 00156 //no copy construction 00157 OutofcoreOctreeRamContainer (const OutofcoreOctreeRamContainer &rval) { } 00158 00159 OutofcoreOctreeRamContainer& 00160 operator= (const OutofcoreOctreeRamContainer& rval) { } 00161 00162 //the actual container 00163 //std::deque<PointT> container; 00164 00165 /** \brief linear container to hold the points */ 00166 AlignedPointTVector container_; 00167 00168 static boost::mutex rng_mutex_; 00169 static boost::mt19937 rand_gen_; 00170 }; 00171 } 00172 } 00173 00174 #endif //PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_