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 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: octree_abstract_node_container.h 6802M 2012-08-25 00:11:05Z (local) $ 00037 */ 00038 00039 #ifndef PCL_OUTOFCORE_OCTREE_ABSTRACT_NODE_CONTAINER_H_ 00040 #define PCL_OUTOFCORE_OCTREE_ABSTRACT_NODE_CONTAINER_H_ 00041 00042 #include <vector> 00043 #include <string> 00044 00045 #include <pcl/outofcore/boost.h> 00046 00047 namespace pcl 00048 { 00049 namespace outofcore 00050 { 00051 template<typename PointT> 00052 class OutofcoreAbstractNodeContainer 00053 { 00054 00055 public: 00056 typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > AlignedPointTVector; 00057 00058 OutofcoreAbstractNodeContainer () 00059 : container_ () 00060 {} 00061 00062 OutofcoreAbstractNodeContainer (const boost::filesystem::path&) {} 00063 00064 virtual 00065 ~OutofcoreAbstractNodeContainer () {} 00066 00067 virtual void 00068 insertRange (const PointT* start, const uint64_t count)=0; 00069 00070 virtual void 00071 insertRange (const PointT* const* start, const uint64_t count)=0; 00072 00073 virtual void 00074 readRange (const uint64_t start, const uint64_t count, AlignedPointTVector& v)=0; 00075 00076 virtual void 00077 readRangeSubSample (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector& v) =0; 00078 00079 virtual bool 00080 empty () const=0; 00081 00082 virtual uint64_t 00083 size () const =0; 00084 00085 virtual void 00086 clear ()=0; 00087 00088 virtual void 00089 convertToXYZ (const boost::filesystem::path& path)=0; 00090 00091 virtual PointT 00092 operator[] (uint64_t idx) const=0; 00093 00094 protected: 00095 OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer& rval); 00096 00097 AlignedPointTVector container_; 00098 00099 static boost::mutex rng_mutex_; 00100 static boost::mt19937 rand_gen_; 00101 }; 00102 }//namespace outofcore 00103 }//namespace pcl 00104 00105 #endif //PCL_OUTOFCORE_OCTREE_ABSTRACT_CONTAINER_H_