Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Member Functions | Protected Attributes
pcl::io::LZFDepth16ImageWriter Class Reference

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]datathe array holding the depth image
[in]widththe with of the data array
[in]heightthe height of the data array
[in]filenamethe 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]parametersthe camera parameters
[in]filenamethe 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: