PCL-LZF image format writer. More...

#include <pcl/io/lzf_image_io.h>

Inheritance diagram for pcl::io::LZFImageWriter:

Public Member Functions
	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 std::string &filename)=0
	Save an image into PCL-LZF format. More...

virtual bool	writeParameters (const CameraParameters &parameters, const std::string &filename)=0
	Write camera parameters to disk. 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 Member Functions
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 image format writer.

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 374 of file lzf_image_io.h.

Constructor & Destructor Documentation

◆ LZFImageWriter()

pcl::io::LZFImageWriter::LZFImageWriter ( )

default

Empty constructor.

◆ ~LZFImageWriter()

virtual pcl::io::LZFImageWriter::~LZFImageWriter ( )

virtualdefault

Empty destructor.

Member Function Documentation

◆ compress()

std::uint32_t pcl::io::LZFImageWriter::compress	(	const char *	input,
		std::uint32_t	input_size,
		std::uint32_t	width,
		std::uint32_t	height,
		const std::string &	image_type,
		char *	output
	)

protected

Realtime LZF compression.

Parameters

[in]	input	the array to compress
[in]	input_size	the size of the array to compress
[in]	width	the with of the data array
[in]	height	the height of the data array
[in]	image_type	the type of the image to save. This should be an up to 16 characters string describing the data type. Examples are: "bayer8", "rgb24", "yuv422", "depth16".
[out]	output	the compressed output array (must be pre-allocated!)

Returns: the number of bytes in the output array

◆ saveImageBlob()

bool pcl::io::LZFImageWriter::saveImageBlob	(	const char *	data,
		std::size_t	data_size,
		const std::string &	filename
	)

protected

Save a compressed image array to disk.

Parameters

[in]	data	the data to save
[in]	data_size	the size of the data
[in]	filename	the file name to write the data to

Returns: true if operation successful, false otherwise

◆ write() [1/2]

virtual bool pcl::io::LZFImageWriter::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
	)

inlinevirtual

Save an image and its camera parameters into PCL-LZF format.

Parameters

[in]	data	the array holding the image
[in]	width	the with of the data array
[in]	height	the height of the data array
[in]	parameters	the camera parameters
[in]	filename_data	the file name to write the data to
[in]	filename_xml	the file name to write the parameters to

Returns: true if operation successful, false otherwise

Definition at line 413 of file lzf_image_io.h.

References pcl::write().

◆ write() [2/2]

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

pure virtual

Save an image into PCL-LZF format.

Virtual.

Parameters

[in]	data	the array holding the image
[in]	width	the with of the data array
[in]	height	the height of the data array
[in]	filename	the file name to write

Returns: true if operation successful, false otherwise

Implemented in pcl::io::LZFBayer8ImageWriter, pcl::io::LZFYUV422ImageWriter, pcl::io::LZFRGB24ImageWriter, and pcl::io::LZFDepth16ImageWriter.

◆ writeParameter()

bool pcl::io::LZFImageWriter::writeParameter	(	const double &	parameter,
		const std::string &	tag,
		const std::string &	filename
	)

Write a single image/camera parameter to file, given an XML tag.

Parameters

[in]	parameter	the value of the parameter to write
[in]	tag	the value of the XML tag
[in]	filename	the file name to write

Returns: true if operation successful, false otherwise Example:
pcl::io::LZFDepthImageWriter w;

w.writeParameter (0.001, "depth.multiplication_factor", "parameters.xml");

◆ writeParameters()

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

pure virtual

Write camera parameters to disk.

Virtual.

Parameters

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

Returns: true if operation successful, false otherwise

Implemented in pcl::io::LZFRGB24ImageWriter, and pcl::io::LZFDepth16ImageWriter.

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

pcl/io/lzf_image_io.h

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LZFImageWriter()

◆ ~LZFImageWriter()

Member Function Documentation

◆ compress()

◆ saveImageBlob()

◆ write() [1/2]

◆ write() [2/2]

◆ writeParameter()

◆ writeParameters()