Point Cloud Library (PCL) 1.13.0
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octree_abstract_node_container.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * $Id: octree_abstract_node_container.h 6802M 2012-08-25 00:11:05Z (local) $
37 */
38
39#pragma once
40
41#include <boost/filesystem.hpp>
42
43#include <mutex>
44#include <vector>
45
46namespace pcl
47{
48 namespace outofcore
49 {
50 template<typename PointT>
52 {
53
54 public:
55 using AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >;
56
60
61 OutofcoreAbstractNodeContainer (const boost::filesystem::path&) {}
62
63 virtual
65
66 virtual void
67 insertRange (const PointT* start, const std::uint64_t count)=0;
68
69 virtual void
70 insertRange (const PointT* const* start, const std::uint64_t count)=0;
71
72 virtual void
73 readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector& v)=0;
74
75 virtual void
76 readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector& v) =0;
77
78 virtual bool
79 empty () const=0;
80
81 virtual std::uint64_t
82 size () const =0;
83
84 virtual void
85 clear ()=0;
86
87 virtual void
88 convertToXYZ (const boost::filesystem::path& path)=0;
89
90 virtual PointT
91 operator[] (std::uint64_t idx) const=0;
92
93 protected:
95
97
98 static std::mutex rng_mutex_;
99 };
100 }//namespace outofcore
101}//namespace pcl
virtual void insertRange(const PointT *start, const std::uint64_t count)=0
virtual void convertToXYZ(const boost::filesystem::path &path)=0
virtual void readRange(const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &v)=0
virtual void readRangeSubSample(const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &v)=0
OutofcoreAbstractNodeContainer(const OutofcoreAbstractNodeContainer &rval)
virtual std::uint64_t size() const =0
virtual void insertRange(const PointT *const *start, const std::uint64_t count)=0
std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
virtual PointT operator[](std::uint64_t idx) const =0
A point structure representing Euclidean xyz coordinates, and the RGB color.