PCL-LZF image format reader. More...

#include <pcl/io/lzf_image_io.h>

Inheritance diagram for pcl::io::LZFImageReader:

Collaboration diagram for pcl::io::LZFImageReader:

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

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
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 image format reader.

The PCL-LZF image format is nothing else but a LZF-modified compression over an existing file type (e.g., PNG). However, in certain situations, like RGB data for example, an [RGBRGB...RGB] array will be first reordered into [RR...RGG...GBB...B] in order to ensure better compression.

The current list of compressors/decompressors include:

LZF compressed 24-bit [RR...RGG...GBB...B] data
LZF compressed 8-bit Bayer data
LZF compressed 16-bit YUV422 data
LZF compressed 16-bit depth data

Please note that files found using the above mentioned extensions will be treated as such. Inherit from this class and overwrite the I/O methods if you plan to change this behavior.

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 85 of file lzf_image_io.h.

Constructor & Destructor Documentation

◆ LZFImageReader()

pcl::io::LZFImageReader::LZFImageReader ( )

Empty constructor.

◆ ~LZFImageReader()

virtual pcl::io::LZFImageReader::~LZFImageReader ( )

virtualdefault

Empty destructor.

Member Function Documentation

◆ decompress()

bool pcl::io::LZFImageReader::decompress	(	const std::vector< char > &	input,
		std::vector< char > &	output
	)

protected

Realtime LZF decompression.

Parameters

[in]	input	the array to decompress
[out]	output	the decompressed array

Returns: true if operation successful, false otherwise

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

◆ getHeight()

std::uint32_t pcl::io::LZFImageReader::getHeight ( ) const

inline

Get the image height as read from disk.

Definition at line 124 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

◆ getImageType()

std::string pcl::io::LZFImageReader::getImageType ( ) const

inline

Get the type of the image read from disk.

Definition at line 131 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

◆ getParameters()

CameraParameters pcl::io::LZFImageReader::getParameters ( ) const

inline

Get the camera parameters currently being used returns a CameraParameters struct.

Definition at line 110 of file lzf_image_io.h.

◆ getWidth()

std::uint32_t pcl::io::LZFImageReader::getWidth ( ) const

inline

Get the image width as read from disk.

Definition at line 117 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

◆ loadImageBlob()

bool pcl::io::LZFImageReader::loadImageBlob	(	const std::string &	filename,
		std::vector< char > &	data,
		std::uint32_t &	uncompressed_size
	)

protected

Load a compressed image array from disk.

Parameters

[in]	filename	the file name to load the data from
[out]	data	the size of the data
	uncompressed_size

Returns: an array filled with the data loaded from disk, NULL if error

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

◆ readParameters() [1/2]

bool pcl::io::LZFImageReader::readParameters ( const std::string & filename )

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

Returns: true if operation successful, false otherwise

◆ readParameters() [2/2]

virtual bool pcl::io::LZFImageReader::readParameters ( std::istream & )

inlineprotectedvirtual

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

Returns: true if operation successful, false otherwise

Reimplemented in pcl::io::LZFRGB24ImageReader, and pcl::io::LZFDepth16ImageReader.

Definition at line 141 of file lzf_image_io.h.

◆ setParameters()

void pcl::io::LZFImageReader::setParameters ( const CameraParameters & parameters )

inline

Read the parameters from a struct instead.

Parameters

[in] parameters Camera parameters to use

Definition at line 102 of file lzf_image_io.h.

Member Data Documentation

◆ height_

std::uint32_t pcl::io::LZFImageReader::height_ {0}

protected

The image height, as read from the file.

Definition at line 167 of file lzf_image_io.h.

◆ image_type_identifier_

std::string pcl::io::LZFImageReader::image_type_identifier_

protected

The image type string, as read from the file.

Definition at line 170 of file lzf_image_io.h.

◆ parameters_

CameraParameters pcl::io::LZFImageReader::parameters_

protected

Internal set of camera parameters.

Definition at line 173 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), and pcl::io::LZFDepth16ImageReader::readOMP().

◆ width_

std::uint32_t pcl::io::LZFImageReader::width_ {0}

protected

The image width, as read from the file.

Definition at line 164 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 Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LZFImageReader()

◆ ~LZFImageReader()

Member Function Documentation

◆ decompress()

◆ getHeight()

◆ getImageType()

◆ getParameters()

◆ getWidth()

◆ loadImageBlob()

◆ readParameters() [1/2]

◆ readParameters() [2/2]

◆ setParameters()

Member Data Documentation

◆ height_

◆ image_type_identifier_

◆ parameters_

◆ width_