Point Cloud Library (PCL)  1.10.0
octree_node_pool.h
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37 
38 #pragma once
39 
40 #include <vector>
41 
42 #include <pcl/pcl_macros.h>
43 
44 namespace pcl
45 {
46  namespace octree
47  {
48 
49  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
50  /** \brief @b Octree node pool
51  * \note Used to reduce memory allocation and class instantiation events when generating octrees at high rate
52  * \author Julius Kammerl (julius@kammerl.de)
53  */
54  template<typename NodeT>
56  {
57  public:
58  /** \brief Empty constructor. */
60  nodePool_ ()
61  {
62  }
63 
64  /** \brief Empty deconstructor. */
65  virtual
67  {
68  deletePool ();
69  }
70 
71  /** \brief Push node to pool
72  * \param node_arg: add this node to the pool
73  * */
74  inline
75  void
76  pushNode (NodeT* node_arg)
77  {
78  nodePool_.push_back (node_arg);
79  }
80 
81  /** \brief Pop node from pool - Allocates new nodes if pool is empty
82  * \return Pointer to octree node
83  * */
84  inline NodeT*
86  {
87 
88  NodeT* newLeafNode;
89 
90  if (!nodePool_.size ())
91  {
92  // leaf pool is empty
93  // we need to create a new octree leaf class
94  newLeafNode = new NodeT ();
95  }
96  else
97  {
98  // reuse leaf node from branch pool
99  newLeafNode = nodePool_.back ();
100  nodePool_.pop_back ();
101  newLeafNode->reset ();
102  }
103 
104  return newLeafNode;
105  }
106 
107 
108  /** \brief Delete all nodes in pool
109  * */
110  void
112  {
113  // delete all branch instances from branch pool
114  while (!nodePool_.empty ())
115  {
116  delete (nodePool_.back ());
117  nodePool_.pop_back ();
118  }
119  }
120 
121  protected:
122  std::vector<NodeT*> nodePool_;
123  };
124 
125  }
126 }
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