octree_ram_container.h

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#ifndef PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_
#define PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_

// C++
#include <vector>

#include <pcl/outofcore/boost.h>
#include <pcl/outofcore/octree_abstract_node_container.h>

namespace pcl
{
  namespace outofcore
  {
    template<typename PointT>
    class OutofcoreOctreeRamContainer : public OutofcoreAbstractNodeContainer<PointT>
    {
      public:
        typedef typename OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector AlignedPointTVector;

        OutofcoreOctreeRamContainer (const boost::filesystem::path&) : container_ () { }
        
        void
        insertRange (const PointT* start, const uint64_t count);

        void
        insertRange (const PointT* const * start, const uint64_t count);

        void
        insertRange (AlignedPointTVector &p)
        {
          PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n");
          //insertRange (&(p.begin ()), p.size ());
        }

        void
        insertRange (const AlignedPointTVector &p)
        {
          PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n");
        }
        
        void
        readRange (const uint64_t start, const uint64_t count, AlignedPointTVector &v);

        void
        readRangeSubSample (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector &v);

        inline uint64_t
        size () const
        {
          return container_.size ();
        }

        inline bool
        empty () const
        {
          return container_.empty ();
        }
        

        inline void
        clear ()
        {
          //clear the elements in the vector of points
          container_.clear ();
        }

        void
        convertToXYZ (const boost::filesystem::path &path);

        inline PointT
        operator[] (uint64_t index) const
        {
          assert ( index < container_.size () );
          return ( container_[index] );
        }
        

      protected:
        //no copy construction
        OutofcoreOctreeRamContainer (const OutofcoreOctreeRamContainer &rval) { }

        OutofcoreOctreeRamContainer&
        operator= (const OutofcoreOctreeRamContainer& rval) { }

        //the actual container
        //std::deque<PointT> container;

        AlignedPointTVector container_;

        static boost::mutex rng_mutex_;
        static boost::mt19937 rand_gen_;
    };
  }
}

#endif //PCL_OUTOFCORE_OCTREE_RAM_CONTAINER_H_