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

#include <pcl/io/lzf_image_io.h>

Inheritance diagram for pcl::io::LZFDepth16ImageReader:

Collaboration diagram for pcl::io::LZFDepth16ImageReader:

Public Member Functions
	LZFDepth16ImageReader ()=default
	Empty constructor. More...

	~LZFDepth16ImageReader () 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 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...

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...

Protected Attributes
double	z_multiplication_factor_ {0.001}
	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
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...

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...

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 186 of file lzf_image_io.h.

Constructor & Destructor Documentation

◆ LZFDepth16ImageReader()

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

default

Empty constructor.

◆ ~LZFDepth16ImageReader()

pcl::io::LZFDepth16ImageReader::~LZFDepth16ImageReader ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ read()

template<typename PointT >

bool pcl::io::LZFDepth16ImageReader::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.

Parameters

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

Definition at line 61 of file lzf_image_io.hpp.

References pcl::io::LZFImageReader::decompress(), pcl::io::CameraParameters::focal_length_x, pcl::io::CameraParameters::focal_length_y, pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::io::LZFImageReader::loadImageBlob(), pcl::io::LZFImageReader::parameters_, pcl::io::CameraParameters::principal_point_x, pcl::io::CameraParameters::principal_point_y, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::width, and z_multiplication_factor_.

◆ readOMP()

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]	filename	the file name to read the data from
[in]	num_threads	The number of threads to use. 0 indicates OpenMP is free to choose.
[out]	cloud	the resultant output point cloud

Definition at line 126 of file lzf_image_io.hpp.

References pcl::io::LZFImageReader::decompress(), pcl::io::CameraParameters::focal_length_x, pcl::io::CameraParameters::focal_length_y, pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::PointCloud< PointT >::is_dense, pcl::io::LZFImageReader::loadImageBlob(), pcl::io::LZFImageReader::parameters_, pcl::io::CameraParameters::principal_point_x, pcl::io::CameraParameters::principal_point_y, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and z_multiplication_factor_.

◆ 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 141 of file lzf_image_io.h.

◆ readParameters() [3/3]

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

overridevirtual

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

◆ z_multiplication_factor_

double pcl::io::LZFDepth16ImageReader::z_multiplication_factor_ {0.001}

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 224 of file lzf_image_io.h.

Referenced by read(), and readOMP().

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

pcl/io/lzf_image_io.h
pcl/io/impl/lzf_image_io.hpp

Public Member Functions

Protected Attributes

Additional Inherited Members