pcl::io::OrganizedPointCloudCompression< PointT > Class Template Reference

#include <pcl/compression/organized_pointcloud_compression.h>

Public Types
using	PointCloud = pcl::PointCloud< PointT >
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Member Functions
	OrganizedPointCloudCompression ()=default
	Empty Constructor. More...
virtual	~OrganizedPointCloudCompression ()=default
	Empty deconstructor. More...
void	encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1)
	Encode point cloud to output stream. More...
void	encodeRawDisparityMapWithColorImage (std::vector< std::uint16_t > &disparityMap_arg, std::vector< std::uint8_t > &colorImage_arg, std::uint32_t width_arg, std::uint32_t height_arg, std::ostream &compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1, float focalLength_arg=525.0f, float disparityShift_arg=174.825f, float disparityScale_arg=-0.161175f)
	Encode raw disparity map and color image. More...
bool	decodePointCloud (std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
	Decode point cloud from input stream. More...

Protected Member Functions
void	analyzeOrganizedCloud (PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const
	Analyze input point cloud and calculate the maximum depth and focal length. More...

Detailed Description

template<typename PointT>
class pcl::io::OrganizedPointCloudCompression< PointT >

Author

Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 55 of file organized_pointcloud_compression.h.

Member Typedef Documentation

PointCloud

template<typename PointT >

using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 58 of file organized_pointcloud_compression.h.

PointCloudConstPtr

template<typename PointT >

using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 60 of file organized_pointcloud_compression.h.

PointCloudPtr

template<typename PointT >

using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 59 of file organized_pointcloud_compression.h.

Constructor & Destructor Documentation

OrganizedPointCloudCompression()

template<typename PointT >

pcl::io::OrganizedPointCloudCompression< PointT >::OrganizedPointCloudCompression ( )

default

Empty Constructor.

~OrganizedPointCloudCompression()

template<typename PointT >

virtual pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression ( )

virtualdefault

Empty deconstructor.

Member Function Documentation

analyzeOrganizedCloud()

template<typename PointT >

void pcl::io::OrganizedPointCloudCompression< PointT >::analyzeOrganizedCloud ( PointCloudConstPtr  cloud_arg, float &  maxDepth_arg, float &  focalLength_arg  ) const

protected

Analyze input point cloud and calculate the maximum depth and focal length.

Parameters

[in]	cloud_arg	input point cloud
[out]	maxDepth_arg	calculated maximum depth
[out]	focalLength_arg	estimated focal length

Definition at line 400 of file organized_pointcloud_compression.hpp.

References pcl::isFinite().

decodePointCloud()

template<typename PointT >

bool pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud	(	std::istream &	compressedDataIn_arg,
		PointCloudPtr &	cloud_arg,
		bool	bShowStatistics_arg = true
	)

Decode point cloud from input stream.

Parameters

[in]	compressedDataIn_arg	binary input stream containing compressed data
[out]	cloud_arg	reference to decoded point cloud
[in]	bShowStatistics_arg	show compression statistics during decoding

Returns

false if an I/O error occurred.

Definition at line 269 of file organized_pointcloud_compression.hpp.

References pcl::io::decodePNGToImage().

encodePointCloud()

template<typename PointT >

void pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud	(	const PointCloudConstPtr &	cloud_arg,
		std::ostream &	compressedDataOut_arg,
		bool	doColorEncoding = false,
		bool	convertToMono = false,
		bool	bShowStatistics_arg = true,
		int	pngLevel_arg = -1
	)

Encode point cloud to output stream.

Parameters

[in]	cloud_arg	point cloud to be compressed
[out]	compressedDataOut_arg	binary output stream containing compressed data
[in]	doColorEncoding	encode color information (if available)
[in]	convertToMono	convert rgb to mono
[in]	pngLevel_arg	png compression level (default compression: -1)
[in]	bShowStatistics_arg	show statistics

Definition at line 58 of file organized_pointcloud_compression.hpp.

References pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().

encodeRawDisparityMapWithColorImage()

template<typename PointT >

void pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage	(	std::vector< std::uint16_t > &	disparityMap_arg,
		std::vector< std::uint8_t > &	colorImage_arg,
		std::uint32_t	width_arg,
		std::uint32_t	height_arg,
		std::ostream &	compressedDataOut_arg,
		bool	doColorEncoding = false,
		bool	convertToMono = false,
		bool	bShowStatistics_arg = true,
		int	pngLevel_arg = -1,
		float	focalLength_arg = 525.0f,
		float	disparityShift_arg = 174.825f,
		float	disparityScale_arg = -0.161175f
	)

Encode raw disparity map and color image.

Note

Default values are configured according to the kinect/asus device specifications

Parameters

[in]	disparityMap_arg	pointer to raw 16-bit disparity map
[in]	colorImage_arg	pointer to raw 8-bit rgb color image
[in]	width_arg	width of disparity map/color image
[in]	height_arg	height of disparity map/color image
[out]	compressedDataOut_arg	binary output stream containing compressed data
[in]	doColorEncoding	encode color information (if available)
[in]	convertToMono	convert rgb to mono
[in]	pngLevel_arg	png compression level (default compression: -1)
[in]	bShowStatistics_arg	show statistics
[in]	focalLength_arg	focal length
[in]	disparityShift_arg	disparity shift
[in]	disparityScale_arg	disparity scaling

Definition at line 152 of file organized_pointcloud_compression.hpp.

References pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().

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

• pcl/compression/organized_pointcloud_compression.h
• pcl/compression/impl/organized_pointcloud_compression.hpp