outofcore_node_data.h

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 *  $Id: outofcore_node_data.h 6915 2012-08-22 10:54:21Z stfox88 $
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#ifndef PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_
#define PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_

#include <pcl/pcl_macros.h>
#include <pcl/outofcore/boost.h>
#include <pcl/outofcore/cJSON.h>

#include <pcl/common/eigen.h>

#include <ostream>

namespace pcl
{
  namespace outofcore
  {
    class PCL_EXPORTS OutofcoreOctreeNodeMetadata
    {

      public:
        //public typedefs
        typedef boost::shared_ptr<OutofcoreOctreeNodeMetadata> Ptr;
        typedef boost::shared_ptr<const OutofcoreOctreeNodeMetadata> ConstPtr;
  
        OutofcoreOctreeNodeMetadata ();
        ~OutofcoreOctreeNodeMetadata ();

        OutofcoreOctreeNodeMetadata (const OutofcoreOctreeNodeMetadata& orig);
        
        const Eigen::Vector3d&
        getBoundingBoxMin () const;
        void 
        setBoundingBoxMin (const Eigen::Vector3d& min_bb);
        const Eigen::Vector3d&
        getBoundingBoxMax () const;
        void 
        setBoundingBoxMax (const Eigen::Vector3d& max_bb);

        void 
        getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const;
        void 
        setBoundingBox (const Eigen::Vector3d& min_bb, const Eigen::Vector3d& max_bb);
        
        const boost::filesystem::path&
        getDirectoryPathname () const;
        void 
        setDirectoryPathname (const boost::filesystem::path& directory_pathname);

        const boost::filesystem::path&
        getPCDFilename () const;
        void 
        setPCDFilename (const boost::filesystem::path& point_filename);

        int 
        getOutofcoreVersion () const;
        void 
        setOutofcoreVersion (const int version);

        const boost::filesystem::path&
        getMetadataFilename () const;
        void 
        setMetadataFilename (const boost::filesystem::path& path_to_metadata);
        
        const Eigen::Vector3d&
        getVoxelCenter () const;
        
        void 
        serializeMetadataToDisk ();

        int 
        loadMetadataFromDisk ();
        int 
        loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata);

        friend
        std::ostream& operator<<(std::ostream& os, const OutofcoreOctreeNodeMetadata& metadata_arg);
        
      protected:
        Eigen::Vector3d min_bb_;
        Eigen::Vector3d max_bb_;
        boost::filesystem::path binary_point_filename_;
        Eigen::Vector3d midpoint_xyz_;
        boost::filesystem::path directory_;
        boost::filesystem::path metadata_filename_;
        int outofcore_version_;

        inline void 
        updateVoxelCenter ()
        {
          midpoint_xyz_ = (this->max_bb_ + this->min_bb_)/static_cast<double>(2.0);
        }
    };
  }//namespace outofcore
}//namespace pcl
  
#endif // PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_