octree_node_pool.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
#include <vector>
#include <pcl/pcl_macros.h>
namespace pcl
{
namespace octree
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree node pool
* \note Used to reduce memory allocation and class instantiation events when generating octrees at high rate
* \author Julius Kammerl (julius@kammerl.de)
*/
template<typename NodeT>
class OctreeNodePool
{
public:
/** \brief Empty constructor. */
OctreeNodePool () :
nodePool_ ()
{
}
/** \brief Empty deconstructor. */
virtual
~OctreeNodePool ()
{
deletePool ();
}
/** \brief Push node to pool
* \param node_arg: add this node to the pool
* */
inline
void
pushNode (NodeT* node_arg)
{
nodePool_.push_back (node_arg);
}
/** \brief Pop node from pool - Allocates new nodes if pool is empty
* \return Pointer to octree node
* */
inline NodeT*
popNode ()
{
NodeT* newLeafNode;
if (!nodePool_.size ())
{
// leaf pool is empty
// we need to create a new octree leaf class
newLeafNode = new NodeT ();
}
else
{
// reuse leaf node from branch pool
newLeafNode = nodePool_.back ();
nodePool_.pop_back ();
newLeafNode->reset ();
}
return newLeafNode;
}
/** \brief Delete all nodes in pool
* */
void
deletePool ()
{
// delete all branch instances from branch pool
while (!nodePool_.empty ())
{
delete (nodePool_.back ());
nodePool_.pop_back ();
}
}
protected:
std::vector<NodeT*> nodePool_;
};
}
}
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:66
pcl::octree::OctreeNodePool
Octree node pool
Definition: octree_node_pool.h:55
pcl::octree::OctreeNodePool::pushNode
void pushNode(NodeT *node_arg)
Push node to pool.
Definition: octree_node_pool.h:76
pcl::octree::OctreeNodePool::nodePool_
std::vector< NodeT * > nodePool_
Definition: octree_node_pool.h:122
pcl::octree::OctreeNodePool::deletePool
void deletePool()
Delete all nodes in pool.
Definition: octree_node_pool.h:111
pcl::octree::OctreeNodePool::OctreeNodePool
OctreeNodePool()
Empty constructor.
Definition: octree_node_pool.h:59
pcl::octree::OctreeNodePool::popNode
NodeT * popNode()
Pop node from pool - Allocates new nodes if pool is empty.
Definition: octree_node_pool.h:85