Class responsible for serialization and deserialization of out of core point data. More...

#include <octree_disk_container.h>

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

Public Types
typedef OutofcoreAbstractNodeContainer < PointT > ::AlignedPointTVector	AlignedPointTVector
Public Member Functions
void	clear ()
void	convertToXYZ (const boost::filesystem::path &path)
	write points to disk as ascii
bool	empty () const
	STL-like empty test.
void	flush (const bool force_cache_dealloc)
	Exposed functionality for manually flushing the write buffer during tree creation.
boost::uint64_t	getDataSize () const
	Returns the number of points in the PCD file by reading the PCD header.
void	insertRange (const AlignedPointTVector &src)
	Inserts a vector of points into the disk data structure.
void	insertRange (const pcl::PCLPointCloud2::Ptr &input_cloud)
	Inserts a PCLPointCloud2 object directly into the disk container.
void	insertRange (const PointT const start, const uint64_t count)
void	insertRange (const PointT *start, const uint64_t count)
	This is the primary method for serialization of blocks of point data. This is called by the outofcore octree interface, opens the binary file for appending data, and writes it to disk.
PointT	operator[] (uint64_t idx) const
	provides random access to points based on a linear index
	OutofcoreOctreeDiskContainer ()
	Empty constructor creates disk container and sets filename from random uuid string.
	OutofcoreOctreeDiskContainer (const boost::filesystem::path &dir)
	Creates uuid named file or loads existing file.
std::string &	path ()
	Returns this objects path name.
void	push_back (const PointT &p)
	Adds a single point to the buffer to be written to disk when the buffer grows sufficiently large, the object is destroyed, or the write buffer is manually flushed.
int	read (pcl::PCLPointCloud2::Ptr &output_cloud)
	Reads the entire point contents from disk into output_cloud.
void	readRange (const uint64_t start, const uint64_t count, AlignedPointTVector &dst)
	Reads count points into memory from the disk container.
void	readRange (const uint64_t, const uint64_t, pcl::PCLPointCloud2::Ptr &dst)
void	readRangeSubSample (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector &dst)
	grab percentcount random points. points are not* guaranteed to be unique (could have multiple identical points!)
void	readRangeSubSample_bernoulli (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector &dst)
	Use bernoulli trials to select points. All points selected will be unique.
uint64_t	size () const
	Returns the total number of points for which this container is responsible, filelen_ + points in writebuff_ that have not yet been flushed to the disk.
	~OutofcoreOctreeDiskContainer ()
	flushes write buffer, then frees memory
Static Public Member Functions
static void	getRandomUUIDString (std::string &s)
	Generate a universally unique identifier (UUID)
Private Member Functions
void	flushWritebuff (const bool force_cache_dealloc)
OutofcoreOctreeDiskContainer &	operator= (const OutofcoreOctreeDiskContainer &rval)
	OutofcoreOctreeDiskContainer (const OutofcoreOctreeDiskContainer &rval)
Private Attributes
boost::shared_ptr< std::string >	disk_storage_filename_
	Name of the storage file on disk (i.e., the PCD file)
uint64_t	filelen_
AlignedPointTVector	writebuff_
	elements [0,...,size()-1] map to [filelen, ..., filelen + size()-1]
Static Private Attributes
static boost::mt19937	rand_gen_
static const uint64_t	READ_BLOCK_SIZE_ = static_cast<uint64_t> (2e12)
static boost::mutex	rng_mutex_
static boost::uuids::random_generator	uuid_gen_
static const uint64_t	WRITE_BUFF_MAX_ = static_cast<uint64_t> (2e12)

Detailed Description

template<typename PointT = pcl::PointXYZ>
class pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >

Class responsible for serialization and deserialization of out of core point data.

Note:: Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss <jacob.schloss@urbanrobotics.net> with any questions. http://www.urbanrobotics.net/

Author:: Jacob Schloss (jacob.schloss@urbanrobotics.net)

Definition at line 73 of file octree_disk_container.h.

Member Typedef Documentation

template<typename PointT = pcl::PointXYZ>

typedef OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::AlignedPointTVector

Reimplemented from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >.

Definition at line 77 of file octree_disk_container.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer ( )

Empty constructor creates disk container and sets filename from random uuid string.

Definition at line 100 of file octree_disk_container.hpp.

template<typename PointT >

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

Creates uuid named file or loads existing file.

If dir is a directory, this constructor will create a new uuid named file; if dir is an existing file, it will load the file metadata for accessing the tree.

Parameters:

[in] dir Path to the tree. If it is a directory, it will create the metadata. If it is a file, it will load the metadata into memory.

Definition at line 113 of file octree_disk_container.hpp.

template<typename PointT >

pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::~OutofcoreOctreeDiskContainer ( )

flushes write buffer, then frees memory

Definition at line 160 of file octree_disk_container.hpp.

template<typename PointT = pcl::PointXYZ>

pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer ( const OutofcoreOctreeDiskContainer< PointT > & rval ) [inline, private]

Definition at line 273 of file octree_disk_container.h.

Member Function Documentation

template<typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::clear ( ) [inline, virtual]

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

Definition at line 205 of file octree_disk_container.h.

template<typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ ( const boost::filesystem::path & path ) [inline, virtual]

write points to disk as ascii

Parameters:

[in] path

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

Definition at line 221 of file octree_disk_container.h.

template<typename PointT = pcl::PointXYZ>

bool pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::empty ( ) const [inline, virtual]

STL-like empty test.

Returns:: true if container has no data on disk or waiting to be written in writebuff_

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

Definition at line 185 of file octree_disk_container.h.

template<typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::flush ( const bool force_cache_dealloc ) [inline]

Exposed functionality for manually flushing the write buffer during tree creation.

Definition at line 192 of file octree_disk_container.h.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::flushWritebuff ( const bool force_cache_dealloc ) [private]

Definition at line 167 of file octree_disk_container.hpp.

template<typename PointT >

boost::uint64_t pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize ( ) const

Returns the number of points in the PCD file by reading the PCD header.

Definition at line 673 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString ( std::string & s ) [static]

Generate a universally unique identifier (UUID)

A mutex lock happens to ensure uniquness

Definition at line 85 of file octree_disk_container.hpp.

template<typename PointT >

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

Inserts a vector of points into the disk data structure.

Definition at line 467 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange ( const pcl::PCLPointCloud2::Ptr & input_cloud )

Inserts a PCLPointCloud2 object directly into the disk container.

Definition at line 512 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange	(	const PointT const	start,
		const uint64_t	count
	)		`[virtual]`

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

Definition at line 610 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange	(	const PointT *	start,
		const uint64_t	count
	)		`[virtual]`

This is the primary method for serialization of blocks of point data. This is called by the outofcore octree interface, opens the binary file for appending data, and writes it to disk.

Parameters:

[in]	start	address of the first point to insert
[in]	count	offset from start of the last point to insert

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

Definition at line 629 of file octree_disk_container.hpp.

template<typename PointT = pcl::PointXYZ>

OutofcoreOctreeDiskContainer& pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::operator= ( const OutofcoreOctreeDiskContainer< PointT > & rval ) [inline, private]

Definition at line 277 of file octree_disk_container.h.

template<typename PointT >

PointT pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::operator[] ( uint64_t idx ) const [inline, virtual]

provides random access to points based on a linear index

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

Definition at line 198 of file octree_disk_container.hpp.

template<typename PointT = pcl::PointXYZ>

std::string& pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::path ( ) [inline]

Returns this objects path name.

Definition at line 199 of file octree_disk_container.h.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::push_back ( const PointT & p ) [inline]

Adds a single point to the buffer to be written to disk when the buffer grows sufficiently large, the object is destroyed, or the write buffer is manually flushed.

Definition at line 456 of file octree_disk_container.hpp.

template<typename PointT >

int pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::read ( pcl::PCLPointCloud2::Ptr & output_cloud )

Reads the entire point contents from disk into output_cloud.

Parameters:

[out] output_cloud

Definition at line 577 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange	(	const uint64_t	start,
		const uint64_t	count,
		AlignedPointTVector &	dst
	)		`[virtual]`

Reads count points into memory from the disk container.

Reads count points into memory from the disk container, reading at most 2 million elements at a time

Parameters:

[in]	start	index of first point to read from disk
[in]	count	offset of last point to read from disk
[out]	v	std::vector as destination for points read from disk into memory

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

Definition at line 239 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange	(	const uint64_t	,
		const uint64_t	,
		pcl::PCLPointCloud2::Ptr &	dst
	)

Definition at line 553 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample	(	const uint64_t	start,
		const uint64_t	count,
		const double	percent,
		AlignedPointTVector &	dst
	)		`[virtual]`

grab percent*count random points. points are not guaranteed to be unique (could have multiple identical points!)

Parameters:

[in]	start	The starting index of points to select
	count[in]	The length of the range of points from which to randomly sample (i.e. from start to start+count)
	percent[in]	The percentage of count that is enough points to make up this random sample
	dst[out]	std::vector as destination for randomly sampled points; size will be percentage*count

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

Definition at line 359 of file octree_disk_container.hpp.

template<typename PointT >

void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample_bernoulli	(	const uint64_t	start,
		const uint64_t	count,
		const double	percent,
		AlignedPointTVector &	dst
	)

Use bernoulli trials to select points. All points selected will be unique.

Parameters:

[in]	start	The starting index of points to select
[in]	count	The length of the range of points from which to randomly sample (i.e. from start to start+count)
[in]	percent	The percentage of count that is enough points to make up this random sample
[out]	dst	std::vector as destination for randomly sampled points; size will be percentage*count

Definition at line 266 of file octree_disk_container.hpp.

template<typename PointT = pcl::PointXYZ>

uint64_t pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size ( ) const [inline, virtual]

Returns the total number of points for which this container is responsible, filelen_ + points in writebuff_ that have not yet been flushed to the disk.

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

Definition at line 177 of file octree_disk_container.h.