Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Member Functions | Protected Attributes
pcl::io::LZFDepth16ImageReader Class Reference

PCL-LZF 16-bit depth image format reader. More...

#include <pcl/io/lzf_image_io.h>

+ Inheritance diagram for pcl::io::LZFDepth16ImageReader:

Public Member Functions

 LZFDepth16ImageReader ()
 Empty constructor. More...
 
virtual ~LZFDepth16ImageReader ()
 Empty destructor. More...
 
template<typename PointT >
bool read (const std::string &filename, pcl::PointCloud< PointT > &cloud)
 Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type. More...
 
template<typename PointT >
bool readOMP (const std::string &filename, pcl::PointCloud< PointT > &cloud, unsigned int num_threads=0)
 Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type. More...
 
virtual bool readParameters (std::istream &is)
 Read camera parameters from a given stream and store them internally. More...
 
- Public Member Functions inherited from pcl::io::LZFImageReader
 LZFImageReader ()
 Empty constructor. More...
 
virtual ~LZFImageReader ()
 Empty destructor. More...
 
bool readParameters (const std::string &filename)
 Read camera parameters from a given file and store them internally. More...
 
void setParameters (const CameraParameters &parameters)
 Read the parameters from a struct instead. More...
 
CameraParameters getParameters () const
 Get the camera parameters currently being used returns a CameraParameters struct. More...
 
uint32_t getWidth () const
 Get the image width as read from disk. More...
 
uint32_t getHeight () const
 Get the image height as read from disk. More...
 
std::string getImageType () const
 Get the type of the image read from disk. More...
 

Protected Attributes

double z_multiplication_factor_
 Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m], we need to multiply with 0.001) More...
 
- Protected Attributes inherited from pcl::io::LZFImageReader
uint32_t width_
 The image width, as read from the file. More...
 
uint32_t height_
 The image height, as read from the file. More...
 
std::string image_type_identifier_
 The image type string, as read from the file. More...
 
CameraParameters parameters_
 Internal set of camera parameters. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::io::LZFImageReader
bool loadImageBlob (const std::string &filename, std::vector< char > &data, uint32_t &uncompressed_size)
 Load a compressed image array from disk. More...
 
bool decompress (const std::vector< char > &input, std::vector< char > &output)
 Realtime LZF decompression. More...
 

Detailed Description

PCL-LZF 16-bit depth image format reader.

The main advantage of using the PCL-LZF image I/O routines is a very good file size versus I/O speed ratio. Tests performed using LZF, Snappy, ZIP, GZ2, BZIP2, as well as PNG, JPEG, and TIFF compression have shown that the internal PCL LZF methods provide the best score for the types of applications PCL is suited for.

Author
Radu B. Rusu

Definition at line 187 of file lzf_image_io.h.

Constructor & Destructor Documentation

pcl::io::LZFDepth16ImageReader::LZFDepth16ImageReader ( )
inline

Empty constructor.

Definition at line 193 of file lzf_image_io.h.

virtual pcl::io::LZFDepth16ImageReader::~LZFDepth16ImageReader ( )
inlinevirtual

Empty destructor.

Definition at line 199 of file lzf_image_io.h.

Member Function Documentation

template<typename PointT >
bool pcl::io::LZFDepth16ImageReader::read ( const std::string &  filename,
pcl::PointCloud< PointT > &  cloud 
)
template<typename PointT >
bool pcl::io::LZFDepth16ImageReader::readOMP ( const std::string &  filename,
pcl::PointCloud< PointT > &  cloud,
unsigned int  num_threads = 0 
)

Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.

Parameters
[in]filenamethe file name to read the data from
[in]num_threadsThe number of threads to use. 0 indicates OpenMP is free to choose.
[out]cloudthe resultant output point cloud

Definition at line 113 of file lzf_image_io.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::points, pcl::PointCloud< T >::resize(), pcl::PointCloud< T >::sensor_orientation_, pcl::PointCloud< T >::sensor_origin_, pcl::PointCloud< T >::size(), and pcl::PointCloud< T >::width.

virtual bool pcl::io::LZFDepth16ImageReader::readParameters ( std::istream &  is)
virtual

Read camera parameters from a given stream and store them internally.

The parameters will be read from the <depth> ... </depth> tag.

Returns
true if operation successful, false otherwise

Reimplemented from pcl::io::LZFImageReader.

Member Data Documentation

double pcl::io::LZFDepth16ImageReader::z_multiplication_factor_
protected

Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m], we need to multiply with 0.001)

Definition at line 228 of file lzf_image_io.h.

Referenced by read().


The documentation for this class was generated from the following files: