Storage container class which the outofcore octree base is templated against. More...

#include <pcl/outofcore/octree_ram_container.h>

Inheritance diagram for pcl::outofcore::OutofcoreOctreeRamContainer< PointT >:

Public Types
using	AlignedPointTVector = typename OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector
Public Types inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
using	AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >

Public Member Functions
	OutofcoreOctreeRamContainer (const boost::filesystem::path &)
	empty constructor (with a path parameter?)
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 PointT const start, const std::uint64_t count)
	inserts count points into container
void	insertRange (AlignedPointTVector &)
void	insertRange (const AlignedPointTVector &)
void	readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &v)
void	readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &v)
	grab percent*count random points.
std::uint64_t	size () const
	returns the size of the vector of points stored in this class
bool	empty () const
void	clear ()
	clears the vector of points in this class
void	convertToXYZ (const boost::filesystem::path &path)
	Writes ascii x,y,z point data to path.string().c_str().
PointT	operator[] (std::uint64_t index) const
Public Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
	OutofcoreAbstractNodeContainer ()
	OutofcoreAbstractNodeContainer (const boost::filesystem::path &)
virtual	~OutofcoreAbstractNodeContainer ()=default

Protected Member Functions
	OutofcoreOctreeRamContainer (const OutofcoreOctreeRamContainer &)
OutofcoreOctreeRamContainer &	operator= (const OutofcoreOctreeRamContainer &)
Protected Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
	OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer &rval)

Protected Attributes
AlignedPointTVector	container_
	linear container to hold the points
Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
AlignedPointTVector	container_

Static Protected Attributes
static std::mutex	rng_mutex_
static std::mt19937	rng_
Static Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
static std::mutex	rng_mutex_

Detailed Description

template<typename PointT>
class pcl::outofcore::OutofcoreOctreeRamContainer< PointT >

Storage container class which the outofcore octree base is templated against.

Note: Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/

Author: Jacob Schloss (jacob.nosp@m..scl.nosp@m.oss@u.nosp@m.rban.nosp@m.robot.nosp@m.ics..nosp@m.net)

Definition at line 62 of file octree_ram_container.h.

Member Typedef Documentation

◆ AlignedPointTVector

template<typename PointT>

using pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::AlignedPointTVector = typename OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector

Definition at line 65 of file octree_ram_container.h.

Constructor & Destructor Documentation

◆ OutofcoreOctreeRamContainer() [1/2]

template<typename PointT>

pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::OutofcoreOctreeRamContainer ( const boost::filesystem::path & )

inline

empty constructor (with a path parameter?)

Definition at line 69 of file octree_ram_container.h.

References container_.

Referenced by operator=(), and OutofcoreOctreeRamContainer().

◆ OutofcoreOctreeRamContainer() [2/2]

template<typename PointT>

pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::OutofcoreOctreeRamContainer ( const OutofcoreOctreeRamContainer< PointT > & )

inlineprotected

Definition at line 156 of file octree_ram_container.h.

References OutofcoreOctreeRamContainer().

Member Function Documentation

◆ clear()

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::clear ( )

inlinevirtual

clears the vector of points in this class

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 134 of file octree_ram_container.h.

References container_.

◆ convertToXYZ()

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::convertToXYZ ( const boost::filesystem::path & path )

virtual

Writes ascii x,y,z point data to path.string().c_str().

Parameters

path	The path/filename destination of the ascii xyz data

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 60 of file octree_ram_container.hpp.

References container_, and size().

◆ empty()

template<typename PointT>

bool pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::empty ( ) const

inlinevirtual

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 126 of file octree_ram_container.h.

References container_.

◆ insertRange() [1/4]

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::insertRange ( AlignedPointTVector & )

inline

Definition at line 86 of file octree_ram_container.h.

◆ insertRange() [2/4]

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::insertRange ( const AlignedPointTVector & )

inline

Definition at line 93 of file octree_ram_container.h.

◆ insertRange() [3/4]

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::insertRange	(	const PointT const	start,
		const std::uint64_t	count )

virtual

inserts count points into container

Parameters

[in]	start	- address of first point in array
[in]	count	- the maximum offset from start of points inserted

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 94 of file octree_ram_container.hpp.

References container_.

◆ insertRange() [4/4]

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::insertRange	(	const PointT *	start,
		const std::uint64_t	count )

virtual

inserts count number of points into container; uses the container_ type's insert function

Parameters

[in]	start	- address of first point in array
[in]	count	- the maximum offset from start of points inserted

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 86 of file octree_ram_container.hpp.

References container_.

◆ operator=()

template<typename PointT>

OutofcoreOctreeRamContainer & pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::operator= ( const OutofcoreOctreeRamContainer< PointT > & )

inlineprotected

Definition at line 159 of file octree_ram_container.h.

References OutofcoreOctreeRamContainer().

◆ operator[]()

template<typename PointT>

PointT pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::operator[] ( std::uint64_t index ) const

inlinevirtual

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 147 of file octree_ram_container.h.

References container_.

◆ readRange()

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::readRange	(	const std::uint64_t	start,
		const std::uint64_t	count,
		AlignedPointTVector &	v )

virtual

Parameters

[in]	start	Index of first point to return from container
[in]	count	Offset (start + count) of the last point to return from container
[out]	v	Array of points read from the input range

Implements pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 108 of file octree_ram_container.hpp.

References container_.

◆ readRangeSubSample()

template<typename PointT>

void pcl::outofcore::OutofcoreOctreeRamContainer< PointT >::readRangeSubSample	(	const std::uint64_t	start,
		const std::uint64_t	count,
		const double	percent,
		AlignedPointTVector &	v )

virtual

grab percent*count random points.

points are NOT guaranteed to be unique (could have multiple identical points!)

Parameters

[in]	start	Index of first point in range to subsample
[in]	count	Offset (start+count) of last point in range to subsample
[in]	percent	Percentage of range to return
[out]	v	Vector with percent*count uniformly random sampled points from given input rangerange