PCL-LZF 8-bit Bayer image format reader. More...

#include <pcl/io/lzf_image_io.h>

Inheritance diagram for pcl::io::LZFBayer8ImageReader:

Collaboration diagram for pcl::io::LZFBayer8ImageReader:

Public Member Functions
	LZFBayer8ImageReader ()=default
	Empty constructor. More...

	~LZFBayer8ImageReader () override=default
	Empty destructor. More...

template<typename PointT >
bool	read (const std::string &filename, pcl::PointCloud< PointT > &cloud)
	Read the data stored in a PCLZF Bayer 8bit 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 Bayer 8bit file and convert it to a pcl::PointCloud type. More...

bool	readParameters (std::istream &is) override
	Read camera parameters from a given stream and store them internally. More...

bool	readParameters (const std::string &filename)
	Read camera parameters from a given file and store them internally. More...

virtual bool	readParameters (std::istream &)
	Read camera parameters from a given stream and store them internally. More...

Public Member Functions inherited from pcl::io::LZFRGB24ImageReader
	LZFRGB24ImageReader ()=default
	Empty constructor. More...

	~LZFRGB24ImageReader () override=default
	Empty destructor. More...

template<typename PointT >
bool	read (const std::string &filename, pcl::PointCloud< PointT > &cloud)
	Read the data stored in a PCLZF RGB 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 RGB file and convert it to a pcl::PointCloud type. More...

bool	readParameters (std::istream &is) override
	Read camera parameters from a given stream and store them internally. More...

bool	readParameters (const std::string &filename)
	Read camera parameters from a given file and store them internally. More...

virtual bool	readParameters (std::istream &)
	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 ()=default
	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...

std::uint32_t	getWidth () const
	Get the image width as read from disk. More...

std::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...

Additional Inherited Members
Protected Member Functions inherited from pcl::io::LZFImageReader
bool	loadImageBlob (const std::string &filename, std::vector< char > &data, std::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...

Protected Attributes inherited from pcl::io::LZFImageReader
std::uint32_t	width_ {0}
	The image width, as read from the file. More...

std::uint32_t	height_ {0}
	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...

Detailed Description

PCL-LZF 8-bit Bayer 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 322 of file lzf_image_io.h.

Constructor & Destructor Documentation

◆ LZFBayer8ImageReader()

pcl::io::LZFBayer8ImageReader::LZFBayer8ImageReader ( )

default

Empty constructor.

◆ ~LZFBayer8ImageReader()

pcl::io::LZFBayer8ImageReader::~LZFBayer8ImageReader ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ read()

template<typename PointT >

bool pcl::io::LZFBayer8ImageReader::read	(	const std::string &	filename,
		pcl::PointCloud< PointT > &	cloud
	)

Read the data stored in a PCLZF Bayer 8bit file and convert it to a pcl::PointCloud type.

Parameters

[in]	filename	the file name to read the data from
[out]	cloud	the resultant output point cloud

Definition at line 436 of file lzf_image_io.hpp.

References pcl::io::DeBayer::debayerEdgeAware(), pcl::io::LZFImageReader::decompress(), pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::io::LZFImageReader::loadImageBlob(), pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ readOMP()

template<typename PointT >

bool pcl::io::LZFBayer8ImageReader::readOMP	(	const std::string &	filename,
		pcl::PointCloud< PointT > &	cloud,
		unsigned int	num_threads = `0`
	)

Read the data stored in a PCLZF Bayer 8bit file and convert it to a pcl::PointCloud type.

Note that, unless massively multithreaded, this will likely not result in a significant speedup and may even slow performance.

Parameters

[in]	filename	the file name to read the data from
[in]	num_threads	The number of threads to use
[out]	cloud	the resultant output point cloud

Definition at line 486 of file lzf_image_io.hpp.

References pcl::io::DeBayer::debayerEdgeAware(), pcl::io::LZFImageReader::decompress(), pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::io::LZFImageReader::loadImageBlob(), pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ readParameters() [1/3]

bool pcl::io::LZFImageReader::readParameters

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

Returns: true if operation successful, false otherwise

◆ readParameters() [2/3]

virtual bool pcl::io::LZFImageReader::readParameters

inline

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

Returns: true if operation successful, false otherwise

Definition at line 240 of file lzf_image_io.h.

◆ readParameters() [3/3]

bool pcl::io::LZFRGB24ImageReader::readParameters

override