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

#include <pcl/io/lzf_image_io.h>

Inheritance diagram for pcl::io::LZFDepth16ImageWriter:

Collaboration diagram for pcl::io::LZFDepth16ImageWriter:

Public Member Functions
	LZFDepth16ImageWriter ()=default
	Empty constructor. More...

	~LZFDepth16ImageWriter () override=default
	Empty destructor. More...

bool	write (const char *data, std::uint32_t width, std::uint32_t height, const std::string &filename) override
	Save a 16-bit depth image into PCL-LZF format. More...

bool	writeParameters (const CameraParameters &parameters, const std::string &filename) override
	Write camera parameters to disk. More...

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

virtual	~LZFImageWriter ()=default
	Empty destructor. More...

virtual bool	write (const char *data, std::uint32_t width, std::uint32_t height, const CameraParameters &parameters, const std::string &filename_data, const std::string &filename_xml)
	Save an image and its camera parameters into PCL-LZF format. More...

bool	writeParameter (const double &parameter, const std::string &tag, const std::string &filename)
	Write a single image/camera parameter to file, given an XML tag. 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...

Additional Inherited Members
Protected Member Functions inherited from pcl::io::LZFImageWriter
bool	saveImageBlob (const char *data, std::size_t data_size, const std::string &filename)
	Save a compressed image array to disk. More...

std::uint32_t	compress (const char input, std::uint32_t input_size, std::uint32_t width, std::uint32_t height, const std::string &image_type, char output)
	Realtime LZF compression. More...

Detailed Description

PCL-LZF 16-bit depth image format writer.

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 477 of file lzf_image_io.h.

Constructor & Destructor Documentation

◆ LZFDepth16ImageWriter()

pcl::io::LZFDepth16ImageWriter::LZFDepth16ImageWriter ( )

default

Empty constructor.

◆ ~LZFDepth16ImageWriter()

pcl::io::LZFDepth16ImageWriter::~LZFDepth16ImageWriter ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ write()

bool pcl::io::LZFDepth16ImageWriter::write	(	const char *	data,
		std::uint32_t	width,
		std::uint32_t	height,
		const std::string &	filename
	)

overridevirtual

Save a 16-bit depth image into PCL-LZF format.

Parameters

[in]	data	the array holding the depth image
[in]	width	the with of the data array
[in]	height	the height of the data array
[in]	filename	the file name to write (preferred extension: .pclzf)

Returns: true if operation successful, false otherwise

Implements pcl::io::LZFImageWriter.

◆ writeParameters()

bool pcl::io::LZFDepth16ImageWriter::writeParameters	(	const CameraParameters &	parameters,
		const std::string &	filename
	)

overridevirtual

Write camera parameters to disk.

Parameters

[in]	parameters	the camera parameters
[in]	filename	the file name to write

Returns: true if operation successful, false otherwise This overwrites the following parameters in the xml file, under the <depth> tag: <focal_length_x>...</focal_length_x> <focal_length_y>...</focal_length_y> <principal_point_x>...</principal_point_x> <principal_point_y>...</principal_point_y> <z_multiplication_factor>...</z_multiplication_factor>

Implements pcl::io::LZFImageWriter.

Member Data Documentation

◆ z_multiplication_factor_

double pcl::io::LZFDepth16ImageWriter::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 518 of file lzf_image_io.h.

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

pcl/io/lzf_image_io.h

Public Member Functions

Protected Attributes

Additional Inherited Members