Point Cloud Library (PCL)  1.7.1
octree_abstract_node_container.h
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36  * $Id: octree_abstract_node_container.h 6802M 2012-08-25 00:11:05Z (local) $
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38 
39 #ifndef PCL_OUTOFCORE_OCTREE_ABSTRACT_NODE_CONTAINER_H_
40 #define PCL_OUTOFCORE_OCTREE_ABSTRACT_NODE_CONTAINER_H_
41 
42 #include <vector>
43 #include <string>
44 
45 #include <pcl/outofcore/boost.h>
46 
47 namespace pcl
48 {
49  namespace outofcore
50  {
51  template<typename PointT>
52  class OutofcoreAbstractNodeContainer
53  {
54 
55  public:
56  typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > AlignedPointTVector;
57 
58  OutofcoreAbstractNodeContainer ()
59  : container_ ()
60  {}
61 
62  OutofcoreAbstractNodeContainer (const boost::filesystem::path&) {}
63 
64  virtual
65  ~OutofcoreAbstractNodeContainer () {}
66 
67  virtual void
68  insertRange (const PointT* start, const uint64_t count)=0;
69 
70  virtual void
71  insertRange (const PointT* const* start, const uint64_t count)=0;
72 
73  virtual void
74  readRange (const uint64_t start, const uint64_t count, AlignedPointTVector& v)=0;
75 
76  virtual void
77  readRangeSubSample (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector& v) =0;
78 
79  virtual bool
80  empty () const=0;
81 
82  virtual uint64_t
83  size () const =0;
84 
85  virtual void
86  clear ()=0;
87 
88  virtual void
89  convertToXYZ (const boost::filesystem::path& path)=0;
90 
91  virtual PointT
92  operator[] (uint64_t idx) const=0;
93 
94  protected:
95  OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer& rval);
96 
97  AlignedPointTVector container_;
98 
99  static boost::mutex rng_mutex_;
100  static boost::mt19937 rand_gen_;
101  };
102  }//namespace outofcore
103 }//namespace pcl
104 
105 #endif //PCL_OUTOFCORE_OCTREE_ABSTRACT_CONTAINER_H_