Point Cloud Library (PCL) 1.13.0
octree_node_pool.h
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37
38#pragma once
39
40#include <pcl/pcl_macros.h>
41
42#include <vector>
43
44namespace pcl {
45namespace octree {
46
47//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
48/** \brief @b Octree node pool
49 * \note Used to reduce memory allocation and class instantiation events when generating
50 * octrees at high rate
51 * \author Julius Kammerl (julius@kammerl.de)
52 */
53template <typename NodeT>
55public:
56 /** \brief Empty constructor. */
58
59 /** \brief Empty deconstructor. */
60 virtual ~OctreeNodePool() { deletePool(); }
61
62 /** \brief Push node to pool
63 * \param node_arg: add this node to the pool
64 * */
65 inline void
66 pushNode(NodeT* node_arg)
67 {
68 nodePool_.push_back(node_arg);
69 }
70
71 /** \brief Pop node from pool - Allocates new nodes if pool is empty
72 * \return Pointer to octree node
73 * */
74 inline NodeT*
76 {
77
78 NodeT* newLeafNode;
79
80 if (!nodePool_.size()) {
81 // leaf pool is empty
82 // we need to create a new octree leaf class
83 newLeafNode = new NodeT();
84 }
85 else {
86 // reuse leaf node from branch pool
87 newLeafNode = nodePool_.back();
88 nodePool_.pop_back();
89 newLeafNode->reset();
90 }
91
92 return newLeafNode;
93 }
94
95 /** \brief Delete all nodes in pool
96 * */
97 void
99 {
100 // delete all branch instances from branch pool
101 while (!nodePool_.empty()) {
102 delete (nodePool_.back());
103 nodePool_.pop_back();
104 }
105 }
106
107protected:
108 std::vector<NodeT*> nodePool_;
109};
110
111} // namespace octree
112} // namespace pcl
NodeT * popNode()
Pop node from pool - Allocates new nodes if pool is empty.
std::vector< NodeT * > nodePool_
void pushNode(NodeT *node_arg)
Push node to pool.
void deletePool()
Delete all nodes in pool.
virtual ~OctreeNodePool()
Empty deconstructor.
OctreeNodePool()
Empty constructor.
Defines all the PCL and non-PCL macros used.