octree_abstract_node_container.h

/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 *  $Id: octree_abstract_node_container.h 6802M 2012-08-25 00:11:05Z (local) $
 */
 
#pragma once
 
#include <boost/filesystem.hpp>
 
#include <mutex>
#include <vector>
 
namespace pcl
{
  namespace outofcore
  {
    template<typename PointT>
    class OutofcoreAbstractNodeContainer 
    {
 
      public:
        using AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >;
 
        OutofcoreAbstractNodeContainer () 
          : container_ ()
        {}
 
        OutofcoreAbstractNodeContainer (const boost::filesystem::path&) {}
 
        virtual 
        ~OutofcoreAbstractNodeContainer () = default;        
 
        virtual void
        insertRange (const PointT* start, const std::uint64_t count)=0;
        
        virtual void
        insertRange (const PointT* 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;
        
        virtual void
        clear ()=0;
 
        virtual void
        convertToXYZ (const boost::filesystem::path& path)=0;
 
        virtual PointT
        operator[] (std::uint64_t idx) const=0;
 
      protected:
        OutofcoreAbstractNodeContainer (const OutofcoreAbstractNodeContainer& rval);
 
        AlignedPointTVector container_;
        
        static std::mutex rng_mutex_;
    };
  }//namespace outofcore
}//namespace pcl