Class responsible for serialization and deserialization of out of core point data. More...
#include <pcl/outofcore/octree_disk_container.h>
Public Types |
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using | AlignedPointTVector = typename OutofcoreAbstractNodeContainer< PointT >::AlignedPointTVector |
Public Types inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ > | |
using | AlignedPointTVector = std::vector< pcl::PointXYZ, Eigen::aligned_allocator< pcl::PointXYZ > > |
Public Member Functions |
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OutofcoreOctreeDiskContainer () | |
Empty constructor creates disk container and sets filename from random uuid string. More... |
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OutofcoreOctreeDiskContainer (const boost::filesystem::path &dir) | |
Creates uuid named file or loads existing file. More... |
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~OutofcoreOctreeDiskContainer () | |
flushes write buffer, then frees memory More... |
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PointT | operator[] (std::uint64_t idx) const override |
provides random access to points based on a linear index More... |
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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... |
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void | insertRange (const AlignedPointTVector &src) |
Inserts a vector of points into the disk data structure. More... |
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void | insertRange (const pcl::PCLPointCloud2::Ptr &input_cloud) |
Inserts a PCLPointCloud2 object directly into the disk container. More... |
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void | insertRange (const PointT *const *start, const std::uint64_t count) override |
void | insertRange (const PointT *start, const std::uint64_t count) override |
This is the primary method for serialization of blocks of point data. More... |
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void | readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &dst) override |
Reads count points into memory from the disk container. More... |
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void | readRange (const std::uint64_t, const std::uint64_t, pcl::PCLPointCloud2::Ptr &dst) |
int | read (pcl::PCLPointCloud2::Ptr &output_cloud) |
Reads the entire point contents from disk into output_cloud . More... |
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void | readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &dst) override |
grab percent*count random points. More... |
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void | readRangeSubSample_bernoulli (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &dst) |
Use bernoulli trials to select points. More... |
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std::uint64_t | size () const override |
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... |
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bool | empty () const override |
STL-like empty test. More... |
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void | flush (const bool force_cache_dealloc) |
Exposed functionality for manually flushing the write buffer during tree creation. More... |
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std::string & | path () |
Returns this objects path name. More... |
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void | clear () override |
void | convertToXYZ (const boost::filesystem::path &path) override |
write points to disk as ascii More... |
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std::uint64_t | getDataSize () const |
Returns the number of points in the PCD file by reading the PCD header. More... |
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Public Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ > | |
OutofcoreAbstractNodeContainer () | |
OutofcoreAbstractNodeContainer (const boost::filesystem::path &) | |
virtual | ~OutofcoreAbstractNodeContainer () |
virtual void | insertRange (const pcl::PointXYZ *start, const std::uint64_t count)=0 |
virtual void | insertRange (const pcl::PointXYZ *const *start, const std::uint64_t count)=0 |
virtual void | readRange (const std::uint64_t start, const std::uint64_t count, AlignedPointTVector &v)=0 |
virtual void | readRangeSubSample (const std::uint64_t start, const std::uint64_t count, const double percent, AlignedPointTVector &v)=0 |
virtual bool | empty () const=0 |
virtual std::uint64_t | size () const=0 |
Static Public Member Functions |
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static void | getRandomUUIDString (std::string &s) |
Generate a universally unique identifier (UUID) More... |
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Additional Inherited Members |
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Protected Member Functions inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ > | |
OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer &rval) | |
Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ > | |
AlignedPointTVector | container_ |
Static Protected Attributes inherited from pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ > | |
static std::mutex | rng_mutex_ |
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 with any questions. .sch loss@ urba nrobo tics .nethttp://www.urbanrobotics.net/
Definition at line 76 of file octree_disk_container.h.
Member Typedef Documentation
AlignedPointTVector
using pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::AlignedPointTVector = typename OutofcoreAbstractNodeContainer<PointT>::AlignedPointTVector |
Definition at line 80 of file octree_disk_container.h.
Constructor & Destructor Documentation
OutofcoreOctreeDiskContainer() [1/2]
pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer |
Empty constructor creates disk container and sets filename from random uuid string.
Definition at line 104 of file octree_disk_container.hpp.
References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString().
OutofcoreOctreeDiskContainer() [2/2]
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
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[in] dir Path 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 114 of file octree_disk_container.hpp.
References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString(), pcl::PCLPointCloud2::height, pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::path(), pcl::PCDReader::readHeader(), and pcl::PCLPointCloud2::width.
~OutofcoreOctreeDiskContainer()
pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::~OutofcoreOctreeDiskContainer |
flushes write buffer, then frees memory
Definition at line 160 of file octree_disk_container.hpp.
Member Function Documentation
clear()
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inlineoverridevirtual |
Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.
Definition at line 208 of file octree_disk_container.h.
convertToXYZ()
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inlineoverridevirtual |
write points to disk as ascii
- Parameters
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[in] path
Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.
Definition at line 224 of file octree_disk_container.h.
References pcl::utils::ignore(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::path(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::size().
empty()
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inlineoverride |
STL-like empty test.
- Returns
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true if container has no data on disk or waiting to be written in
writebuff_
Definition at line 188 of file octree_disk_container.h.
flush()
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inline |
Exposed functionality for manually flushing the write buffer during tree creation.
Definition at line 195 of file octree_disk_container.h.
getDataSize()
std::uint64_t pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize |
Returns the number of points in the PCD file by reading the PCD header.
Definition at line 672 of file octree_disk_container.hpp.
References pcl::PCLPointCloud2::height, pcl::PCDReader::readHeader(), and pcl::PCLPointCloud2::width.
getRandomUUIDString()
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static |
Generate a universally unique identifier (UUID)
A mutex lock happens to ensure uniqueness
Definition at line 89 of file octree_disk_container.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBaseNode::init_root_node(), pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer().
insertRange() [1/4]
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange | ( | const AlignedPointTVector & | src | ) |
Inserts a vector of points into the disk data structure.
Definition at line 466 of file octree_disk_container.hpp.
References pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::PointCloud< PointT >::push_back(), pcl::PCDReader::read(), pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and pcl::PCDWriter::writeBinaryCompressed().
insertRange() [2/4]
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange | ( | const pcl::PCLPointCloud2::Ptr & | input_cloud | ) |
Inserts a PCLPointCloud2 object directly into the disk container.
Definition at line 511 of file octree_disk_container.hpp.
References pcl::concatenate(), pcl::utils::ignore(), pcl::PCDReader::read(), and pcl::PCDWriter::writeBinaryCompressed().
insertRange() [3/4]
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override |
Definition at line 609 of file octree_disk_container.hpp.
insertRange() [4/4]
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override |
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
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[in] start address of the first point to insert [in] count offset from start of the last point to insert
Definition at line 628 of file octree_disk_container.hpp.
References pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::PointCloud< PointT >::push_back(), pcl::PCDReader::read(), pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and pcl::PCDWriter::writeBinaryCompressed().
operator[]()
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inlineoverridevirtual |
provides random access to points based on a linear index
Implements pcl::outofcore::OutofcoreAbstractNodeContainer< pcl::PointXYZ >.
Definition at line 198 of file octree_disk_container.hpp.
References pcl::utils::ignore().
path()
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inline |
Returns this objects path name.
Definition at line 202 of file octree_disk_container.h.
Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer().
push_back()
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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 455 of file octree_disk_container.hpp.
read()
int pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::read | ( | pcl::PCLPointCloud2::Ptr & | output_cloud | ) |
Reads the entire point contents from disk into output_cloud
.
- Parameters
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[out] output_cloud
Definition at line 576 of file octree_disk_container.hpp.
References pcl::concatenate(), pcl::utils::ignore(), and pcl::io::loadPCDFile().
readRange() [1/2]
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override |
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
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[in] start index of first point to read from disk [in] count offset of last point to read from disk [out] dst std::vector as destination for points read from disk into memory
Definition at line 239 of file octree_disk_container.hpp.
References pcl::PointCloud< PointT >::cbegin(), pcl::PointCloud< PointT >::cend(), pcl::utils::ignore(), and pcl::PCDReader::read().
readRange() [2/2]
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange | ( | const std::uint64_t | , |
const std::uint64_t | , | ||
pcl::PCLPointCloud2::Ptr & | dst | ||
) |
Definition at line 552 of file octree_disk_container.hpp.
References pcl::utils::ignore(), and pcl::PCDReader::read().
readRangeSubSample()
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override |
grab percent*count random points.
points are not guaranteed to be unique (could have multiple identical points!)
- Parameters
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[in] start The starting index of points to select [in] count The length of the range of points from which to randomly sample (i.e. from start to start+count) [in] percent The percentage of count that is enough points to make up this random sample [out] dst std::vector as destination for randomly sampled points; size will be percentage*count
Definition at line 358 of file octree_disk_container.hpp.
References pcl::utils::ignore(), and pcl::outofcore::rand_gen_.
readRangeSubSample_bernoulli()
void pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRangeSubSample_bernoulli | ( | const std::uint64_t | start, |
const std::uint64_t | count, | ||
const double | percent, | ||
AlignedPointTVector & | dst | ||
) |
Use bernoulli trials to select points.
All points selected will be unique.
- Parameters
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[in] start The starting index of points to select [in] count The length of the range of points from which to randomly sample (i.e. from start to start+count) [in] percent The percentage of count that is enough points to make up this random sample [out] dst std::vector as destination for randomly sampled points; size will be percentage*count
Definition at line 265 of file octree_disk_container.hpp.
References pcl::utils::ignore(), and pcl::outofcore::rand_gen_.
size()
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inlineoverride |
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.
Definition at line 180 of file octree_disk_container.h.
Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::convertToXYZ().
The documentation for this class was generated from the following files:
- pcl/outofcore/octree_disk_container.h
- pcl/outofcore/impl/octree_disk_container.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1outofcore_1_1_outofcore_octree_disk_container.html