Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Static Public Member Functions
pcl::outofcore::OutofcoreOctreeDiskContainer< PointT > Class Template Reference

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

#include <pcl/outofcore/octree_disk_container.h>

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

Public Types

typedef OutofcoreAbstractNodeContainer< PointT >::AlignedPointTVector AlignedPointTVector
 
- Public Types inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
typedef std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
 

Public Member Functions

 OutofcoreOctreeDiskContainer ()
 Empty constructor creates disk container and sets filename from random uuid string. More...
 
 OutofcoreOctreeDiskContainer (const boost::filesystem::path &dir)
 Creates uuid named file or loads existing file. More...
 
 ~OutofcoreOctreeDiskContainer ()
 flushes write buffer, then frees memory More...
 
PointT operator[] (uint64_t idx) const
 provides random access to points based on a linear index More...
 
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. More...
 
void insertRange (const AlignedPointTVector &src)
 Inserts a vector of points into the disk data structure. More...
 
void insertRange (const pcl::PCLPointCloud2::Ptr &input_cloud)
 Inserts a PCLPointCloud2 object directly into the disk container. More...
 
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. More...
 
void readRange (const uint64_t start, const uint64_t count, AlignedPointTVector &dst)
 Reads count points into memory from the disk container. More...
 
void readRange (const uint64_t, const uint64_t, pcl::PCLPointCloud2::Ptr &dst)
 
int read (pcl::PCLPointCloud2::Ptr &output_cloud)
 Reads the entire point contents from disk into output_cloud. More...
 
void readRangeSubSample (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector &dst)
 grab percent*count random points. More...
 
void readRangeSubSample_bernoulli (const uint64_t start, const uint64_t count, const double percent, AlignedPointTVector &dst)
 Use bernoulli trials to select points. More...
 
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. More...
 
bool empty () const
 STL-like empty test. More...
 
void flush (const bool force_cache_dealloc)
 Exposed functionality for manually flushing the write buffer during tree creation. More...
 
std::string & path ()
 Returns this objects path name. More...
 
void clear ()
 
void convertToXYZ (const boost::filesystem::path &path)
 write points to disk as ascii More...
 
boost::uint64_t getDataSize () const
 Returns the number of points in the PCD file by reading the PCD header. More...
 
- Public Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
 OutofcoreAbstractNodeContainer ()
 
 OutofcoreAbstractNodeContainer (const boost::filesystem::path &)
 
virtual ~OutofcoreAbstractNodeContainer ()
 

Static Public Member Functions

static void getRandomUUIDString (std::string &s)
 Generate a universally unique identifier (UUID) More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
 OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer &rval)
 
- Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
AlignedPointTVector container_
 
- Static Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< PointT >
static boost::mutex rng_mutex_
 
static boost::mt19937 rand_gen_
 

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.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/
Author
Jacob Schloss (jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net)

Definition at line 72 of file octree_disk_container.h.

Member Typedef Documentation

Definition at line 76 of file octree_disk_container.h.

Constructor & Destructor Documentation

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

Definition at line 100 of file octree_disk_container.hpp.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString().

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ().

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]dirPath 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.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString(), pcl::PCLPointCloud2::height, pcl::PCDReader::readHeader(), and pcl::PCLPointCloud2::width.

Member Function Documentation

template<typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::clear ( )
inlinevirtual
template<typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ ( const boost::filesystem::path &  path)
inlinevirtual
template<typename PointT = pcl::PointXYZ>
bool pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::empty ( ) const
inlinevirtual

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 184 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 191 of file octree_disk_container.h.

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.

References pcl::PCLPointCloud2::height, pcl::PCDReader::readHeader(), and pcl::PCLPointCloud2::width.

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ().

template<typename PointT >
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString ( std::string &  s)
static
template<typename PointT >
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange ( const AlignedPointTVector src)
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.

References pcl::concatenatePointCloud(), pcl::PCDReader::read(), and pcl::PCDWriter::writeBinaryCompressed().

template<typename PointT >
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange ( const PointT *const *  start,
const uint64_t  count 
)
virtual
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]startaddress of the first point to insert
[in]countoffset from start of the last point to insert

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

Definition at line 629 of file octree_disk_container.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PCDReader::read(), pcl::PointCloud< PointT >::width, and pcl::PCDWriter::writeBinaryCompressed().

template<typename PointT >
PointT pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::operator[] ( uint64_t  idx) const
inlinevirtual

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 198 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.

References pcl::concatenatePointCloud(), and pcl::io::loadPCDFile().

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]startindex of first point to read from disk
[in]countoffset of last point to read from disk
[out]dststd::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.

References pcl::PointCloud< PointT >::points, pcl::PCDReader::read(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size().

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.

References pcl::PCDReader::read().

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]startThe starting index of points to select
[in]countThe length of the range of points from which to randomly sample (i.e. from start to start+count)
[in]percentThe percentage of count that is enough points to make up this random sample
[out]dststd::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.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample_bernoulli(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size().

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

Definition at line 266 of file octree_disk_container.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample().

template<typename PointT = pcl::PointXYZ>
uint64_t pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size ( ) const
inlinevirtual

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 176 of file octree_disk_container.h.

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample().


The documentation for this class was generated from the following files: