Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::io::OrganizedPointCloudCompression< PointT > Class Template Reference

#include <pcl/compression/organized_pointcloud_compression.h>

Public Types

typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr< PointCloudPointCloudPtr
 
typedef boost::shared_ptr< const PointCloudPointCloudConstPtr
 

Public Member Functions

 OrganizedPointCloudCompression ()
 Empty Constructor. More...
 
virtual ~OrganizedPointCloudCompression ()
 Empty deconstructor. More...
 
void encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1)
 Encode point cloud to output stream. More...
 
void encodeRawDisparityMapWithColorImage (std::vector< uint16_t > &disparityMap_arg, std::vector< uint8_t > &colorImage_arg, uint32_t width_arg, uint32_t height_arg, std::ostream &compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1, float focalLength_arg=525.0f, float disparityShift_arg=174.825f, float disparityScale_arg=-0.161175f)
 Encode raw disparity map and color image. More...
 
bool decodePointCloud (std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
 Decode point cloud from input stream. More...
 

Protected Member Functions

void analyzeOrganizedCloud (PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const
 Analyze input point cloud and calculate the maximum depth and focal length. More...
 

Detailed Description

template<typename PointT>
class pcl::io::OrganizedPointCloudCompression< PointT >

Author
Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 60 of file organized_pointcloud_compression.h.

Member Typedef Documentation

Definition at line 63 of file organized_pointcloud_compression.h.

template<typename PointT >
typedef boost::shared_ptr<const PointCloud> pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudConstPtr

Definition at line 65 of file organized_pointcloud_compression.h.

template<typename PointT >
typedef boost::shared_ptr<PointCloud> pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudPtr

Definition at line 64 of file organized_pointcloud_compression.h.

Constructor & Destructor Documentation

Empty Constructor.

Definition at line 68 of file organized_pointcloud_compression.h.

template<typename PointT >
virtual pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression ( )
inlinevirtual

Member Function Documentation

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::analyzeOrganizedCloud ( PointCloudConstPtr  cloud_arg,
float &  maxDepth_arg,
float &  focalLength_arg 
) const
protected

Analyze input point cloud and calculate the maximum depth and focal length.

Parameters
[in]cloud_arginput point cloud
[out]maxDepth_argcalculated maximum depth
[out]focalLength_argestimated focal length

Definition at line 404 of file organized_pointcloud_compression.hpp.

References pcl::isFinite().

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression().

template<typename PointT >
bool pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud ( std::istream &  compressedDataIn_arg,
PointCloudPtr cloud_arg,
bool  bShowStatistics_arg = true 
)

Decode point cloud from input stream.

Parameters
[in]compressedDataIn_argbinary input stream containing compressed data
[out]cloud_argreference to decoded point cloud
[in]bShowStatistics_argshow compression statistics during decoding
Returns
false if an I/O error occurred.

Definition at line 277 of file organized_pointcloud_compression.hpp.

References pcl::io::decodePNGToImage().

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression().

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud ( const PointCloudConstPtr cloud_arg,
std::ostream &  compressedDataOut_arg,
bool  doColorEncoding = false,
bool  convertToMono = false,
bool  bShowStatistics_arg = true,
int  pngLevel_arg = -1 
)

Encode point cloud to output stream.

Parameters
[in]cloud_argpoint cloud to be compressed
[out]compressedDataOut_argbinary output stream containing compressed data
[in]doColorEncodingencode color information (if available)
[in]convertToMonoconvert rgb to mono
[in]pngLevel_argpng compression level (default compression: -1)
[in]bShowStatistics_argshow statistics

Definition at line 65 of file organized_pointcloud_compression.hpp.

References pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression().

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage ( std::vector< uint16_t > &  disparityMap_arg,
std::vector< uint8_t > &  colorImage_arg,
uint32_t  width_arg,
uint32_t  height_arg,
std::ostream &  compressedDataOut_arg,
bool  doColorEncoding = false,
bool  convertToMono = false,
bool  bShowStatistics_arg = true,
int  pngLevel_arg = -1,
float  focalLength_arg = 525.0f,
float  disparityShift_arg = 174.825f,
float  disparityScale_arg = -0.161175f 
)

Encode raw disparity map and color image.

Note
Default values are configured according to the kinect/asus device specifications
Parameters
[in]disparityMap_argpointer to raw 16-bit disparity map
[in]colorImage_argpointer to raw 8-bit rgb color image
[in]width_argwidth of disparity map/color image
[in]height_argheight of disparity map/color image
[out]compressedDataOut_argbinary output stream containing compressed data
[in]doColorEncodingencode color information (if available)
[in]convertToMonoconvert rgb to mono
[in]pngLevel_argpng compression level (default compression: -1)
[in]bShowStatistics_argshow statistics
[in]focalLength_argfocal length
[in]disparityShift_argdisparity shift
[in]disparityScale_argdisparity scaling

Definition at line 159 of file organized_pointcloud_compression.hpp.

References pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression().


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