Point Cloud Library (PCL)
1.10.1
pcl
octree
octree_node_pool.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <vector>
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#include <
pcl/pcl_macros.h
>
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namespace
pcl
{
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namespace
octree {
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Octree node pool
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* \note Used to reduce memory allocation and class instantiation events when generating
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* octrees at high rate
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* \author Julius Kammerl (julius@kammerl.de)
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*/
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template
<
typename
NodeT>
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class
OctreeNodePool
{
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public
:
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/** \brief Empty constructor. */
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OctreeNodePool
() :
nodePool_
() {}
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/** \brief Empty deconstructor. */
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virtual
~OctreeNodePool
() {
deletePool
(); }
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/** \brief Push node to pool
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* \param node_arg: add this node to the pool
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* */
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inline
void
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pushNode
(NodeT* node_arg)
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{
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nodePool_
.push_back(node_arg);
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}
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/** \brief Pop node from pool - Allocates new nodes if pool is empty
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* \return Pointer to octree node
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* */
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inline
NodeT*
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popNode
()
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{
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NodeT* newLeafNode;
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if
(!
nodePool_
.size()) {
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// leaf pool is empty
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// we need to create a new octree leaf class
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newLeafNode =
new
NodeT();
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}
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else
{
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// reuse leaf node from branch pool
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newLeafNode =
nodePool_
.back();
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nodePool_
.pop_back();
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newLeafNode->reset();
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}
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return
newLeafNode;
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}
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/** \brief Delete all nodes in pool
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* */
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void
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deletePool
()
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{
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// delete all branch instances from branch pool
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while
(!
nodePool_
.empty()) {
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delete
(
nodePool_
.back());
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nodePool_
.pop_back();
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}
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}
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protected
:
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std::vector<NodeT*>
nodePool_
;
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};
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}
// namespace octree
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}
// namespace pcl
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
pcl::octree::OctreeNodePool::~OctreeNodePool
virtual ~OctreeNodePool()
Empty deconstructor.
Definition:
octree_node_pool.h:60
pcl::octree::OctreeNodePool
Octree node pool
Definition:
octree_node_pool.h:54
pcl::octree::OctreeNodePool::pushNode
void pushNode(NodeT *node_arg)
Push node to pool.
Definition:
octree_node_pool.h:66
pcl::octree::OctreeNodePool::nodePool_
std::vector< NodeT * > nodePool_
Definition:
octree_node_pool.h:108
pcl::octree::OctreeNodePool::deletePool
void deletePool()
Delete all nodes in pool.
Definition:
octree_node_pool.h:98
pcl::octree::OctreeNodePool::OctreeNodePool
OctreeNodePool()
Empty constructor.
Definition:
octree_node_pool.h:57
pcl::octree::OctreeNodePool::popNode
NodeT * popNode()
Pop node from pool - Allocates new nodes if pool is empty.
Definition:
octree_node_pool.h:75