Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the octree root node. More...

#include <pcl/outofcore/outofcore_base_data.h>

Inheritance diagram for pcl::outofcore::OutofcoreOctreeBaseMetadata:

Collaboration diagram for pcl::outofcore::OutofcoreOctreeBaseMetadata:

Public Types
using	Ptr = shared_ptr< OutofcoreOctreeBaseMetadata >

using	ConstPtr = shared_ptr< const OutofcoreOctreeBaseMetadata >

Public Member Functions
	OutofcoreOctreeBaseMetadata ()
	Empty constructor. More...

	OutofcoreOctreeBaseMetadata (const boost::filesystem::path &path_arg)
	Load metadata from disk. More...

	~OutofcoreOctreeBaseMetadata () override
	Default destructor. More...

	OutofcoreOctreeBaseMetadata (const OutofcoreOctreeBaseMetadata &orig)
	Copy constructor. More...

int	getOutofcoreVersion () const
	et the outofcore version read from the "version" field of the JSON object More...

void	setOutofcoreVersion (const int version)
	Set the outofcore version stored in the "version" field of the JSON object. More...

boost::filesystem::path	getMetadataFilename () const
	Gets the name of the JSON file. More...

void	setMetadataFilename (const boost::filesystem::path &path_to_metadata)
	Sets the name of the JSON file. More...

void	serializeMetadataToDisk () override
	Writes the data to a JSON file located at metadata_filename_. More...

virtual int	loadMetadataFromDisk ()
	Loads the data from a JSON file located at metadata_filename_. More...

int	loadMetadataFromDisk (const boost::filesystem::path &path_to_metadata) override
	Loads the data from a JSON file located at metadata_filename_. More...

virtual std::string	getOctreeName ()
	Returns the name of the tree; this is not the same as the filename. More...

virtual void	setOctreeName (const std::string &name_arg)
	Sets the name of the tree. More...

virtual std::string	getPointType ()

virtual void	setPointType (const std::string &point_type_arg)
	Sets a single string identifying the point type of this tree. More...

virtual std::vector< std::uint64_t > &	getLODPoints ()

virtual std::vector< std::uint64_t >	getLODPoints () const

virtual std::uint64_t	getLODPoints (const std::uint64_t &depth_index) const
	Get the number of points at the given depth. More...

virtual void	setLODPoints (const std::uint64_t &depth)
	Initialize the LOD vector with points all 0. More...

virtual void	setLODPoints (std::vector< std::uint64_t > &lod_points_arg)
	Copy a vector of LOD points into this metadata (dangerous!) More...

virtual void	setLODPoints (const std::uint64_t &lod_index_arg, const std::uint64_t &num_points_arg, const bool increment=true)
	Set the number of points at lod_index_arg manually. More...

virtual void	setCoordinateSystem (const std::string &coordinate_system)
	Set information about the coordinate system. More...

virtual const std::string &	getCoordinateSystem () const
	Get metadata information about the coordinate system. More...

virtual void	setDepth (const std::uint64_t &depth_arg)
	Set the depth of the tree corresponding to JSON "lod:number". More...

virtual std::uint64_t	getDepth () const

Public Member Functions inherited from pcl::outofcore::OutofcoreAbstractMetadata
	OutofcoreAbstractMetadata ()=default
	Empty constructor. More...

virtual	~OutofcoreAbstractMetadata ()=default

Protected Member Functions
void	writeMetadataString (std::vector< char > &buf) override
	Writes the JSON metadata to a string. More...

Protected Attributes
boost::filesystem::path	metadata_filename_
	Metadata (JSON) file pathname (octree extension JSON file) More...

int	outofcore_version_
	Outofcore library version identifier; maps to JSON "version":int. More...

std::string	coordinate_system_
	Coordinate system; maps to JSON "coord_sys":string. More...

std::string	tree_name_
	Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":string. More...

std::string	point_type_
	Delineates the point types of the field; maps to JSON "pointtype":string: More...

std::uint64_t	levels_of_depth_
	Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int. More...

std::vector< std::uint64_t >	LOD_num_points_
	Vector of number of points at each LOD. More...

Friends
std::ostream &	operator<< (std::ostream &os, const OutofcoreOctreeBaseMetadata &metadata_arg)
	Provide operator overload to stream ascii file data. More...

Detailed Description

Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the octree root node.

This is global information that is not the same as the metadata for the root node. Inherits OutofcoreAbstractMetadata interface for metadata in pcl_outofcore.

This class encapsulates the outofcore base metadata serialization/deserialization. At the time it was written, this depended on cJSON to write JSON objects to disk. This class can be extended to have arbitrary JSON ascii metadata fields saved to the metadata object file on disk. The class has been encapuslated to abstract the detailso of the on-disk format from the outofcore implementation. For example, the format could be changed to XML/YAML, or any dynamic format at some point.

The JSON file is formatted in the following way:

{
  "name": "nameoftree",
  "version": 3,
  "pointtype": "urp",               #(needs to be changed*)
  "lod": 3,                         #(depth of the tree
  "numpts":  [X0, X1, X2, ..., XD], #total number of points at each LOD
  "coord_system": "ECEF"            #the tree is not affected by this value
}

Any properties not stored in the metadata file are computed when the file is loaded. By convention, and for historical reasons from the original Urban Robotics implementation, the JSON file representing the overall tree is a JSON file named with the ".octree" extension.

Author: Stephen Fox (foxst.nosp@m.ephe.nosp@m.nd@gm.nosp@m.ail..nosp@m.com)

Definition at line 94 of file outofcore_base_data.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::outofcore::OutofcoreOctreeBaseMetadata::ConstPtr = shared_ptr<const OutofcoreOctreeBaseMetadata>

Definition at line 98 of file outofcore_base_data.h.

◆ Ptr

using pcl::outofcore::OutofcoreOctreeBaseMetadata::Ptr = shared_ptr<OutofcoreOctreeBaseMetadata>

Definition at line 97 of file outofcore_base_data.h.

Constructor & Destructor Documentation

◆ OutofcoreOctreeBaseMetadata() [1/3]

pcl::outofcore::OutofcoreOctreeBaseMetadata::OutofcoreOctreeBaseMetadata ( )

Empty constructor.

◆ OutofcoreOctreeBaseMetadata() [2/3]

pcl::outofcore::OutofcoreOctreeBaseMetadata::OutofcoreOctreeBaseMetadata ( const boost::filesystem::path & path_arg )

Load metadata from disk.

Parameters

[in] path_arg Location of JSON metadata file to load from disk

◆ ~OutofcoreOctreeBaseMetadata()

pcl::outofcore::OutofcoreOctreeBaseMetadata::~OutofcoreOctreeBaseMetadata ( )

override

Default destructor.

◆ OutofcoreOctreeBaseMetadata() [3/3]

pcl::outofcore::OutofcoreOctreeBaseMetadata::OutofcoreOctreeBaseMetadata ( const OutofcoreOctreeBaseMetadata & orig )

Copy constructor.

Member Function Documentation

◆ getCoordinateSystem()

virtual const std::string& pcl::outofcore::OutofcoreOctreeBaseMetadata::getCoordinateSystem ( ) const

virtual

Get metadata information about the coordinate system.

◆ getDepth()

virtual std::uint64_t pcl::outofcore::OutofcoreOctreeBaseMetadata::getDepth ( ) const

virtual

◆ getLODPoints() [1/3]

virtual std::vector<std::uint64_t>& pcl::outofcore::OutofcoreOctreeBaseMetadata::getLODPoints ( )

virtual

◆ getLODPoints() [2/3]

virtual std::vector<std::uint64_t> pcl::outofcore::OutofcoreOctreeBaseMetadata::getLODPoints ( ) const

virtual

◆ getLODPoints() [3/3]

virtual std::uint64_t pcl::outofcore::OutofcoreOctreeBaseMetadata::getLODPoints ( const std::uint64_t & depth_index ) const

virtual

Get the number of points at the given depth.

◆ getMetadataFilename()

boost::filesystem::path pcl::outofcore::OutofcoreOctreeBaseMetadata::getMetadataFilename ( ) const

Gets the name of the JSON file.

◆ getOctreeName()

virtual std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::getOctreeName ( )

virtual

Returns the name of the tree; this is not the same as the filename.

◆ getOutofcoreVersion()

int pcl::outofcore::OutofcoreOctreeBaseMetadata::getOutofcoreVersion ( ) const

et the outofcore version read from the "version" field of the JSON object

◆ getPointType()

virtual std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::getPointType ( )

virtual

◆ loadMetadataFromDisk() [1/2]

virtual int pcl::outofcore::OutofcoreOctreeBaseMetadata::loadMetadataFromDisk ( )

virtual

Loads the data from a JSON file located at metadata_filename_.

◆ loadMetadataFromDisk() [2/2]

int pcl::outofcore::OutofcoreOctreeBaseMetadata::loadMetadataFromDisk ( const boost::filesystem::path & path_to_metadata )

overridevirtual

Loads the data from a JSON file located at metadata_filename_.

Implements pcl::outofcore::OutofcoreAbstractMetadata.

◆ serializeMetadataToDisk()

void pcl::outofcore::OutofcoreOctreeBaseMetadata::serializeMetadataToDisk ( )

overridevirtual

Writes the data to a JSON file located at metadata_filename_.

Implements pcl::outofcore::OutofcoreAbstractMetadata.

◆ setCoordinateSystem()

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setCoordinateSystem ( const std::string & coordinate_system )

virtual

Set information about the coordinate system.

◆ setDepth()

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setDepth ( const std::uint64_t & depth_arg )

virtual

Set the depth of the tree corresponding to JSON "lod:number".

This should always be equal to LOD_num_points_.size()-1

◆ setLODPoints() [1/3]

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setLODPoints ( const std::uint64_t & depth )

virtual

Initialize the LOD vector with points all 0.

◆ setLODPoints() [2/3]

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setLODPoints	(	const std::uint64_t &	lod_index_arg,
		const std::uint64_t &	num_points_arg,
		const bool	increment = `true`
	)

virtual

Set the number of points at lod_index_arg manually.

Parameters

[in]	lod_index_arg	the depth at which this increments the number of LOD points
[in]	num_points_arg	The number of points to store at that LOD
[in]	increment	If true, increments the number of points at the LOD rather than overwriting the number of points

◆ setLODPoints() [3/3]

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setLODPoints ( std::vector< std::uint64_t > & lod_points_arg )

virtual

Copy a vector of LOD points into this metadata (dangerous!)

◆ setMetadataFilename()

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setMetadataFilename ( const boost::filesystem::path & path_to_metadata )

Sets the name of the JSON file.

◆ setOctreeName()

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setOctreeName ( const std::string & name_arg )

virtual

Sets the name of the tree.

◆ setOutofcoreVersion()

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setOutofcoreVersion ( const int version )

Set the outofcore version stored in the "version" field of the JSON object.

◆ setPointType()

virtual void pcl::outofcore::OutofcoreOctreeBaseMetadata::setPointType ( const std::string & point_type_arg )

virtual

Sets a single string identifying the point type of this tree.

◆ writeMetadataString()

void pcl::outofcore::OutofcoreOctreeBaseMetadata::writeMetadataString ( std::vector< char > & buf )

overrideprotectedvirtual

Writes the JSON metadata to a string.

Implements pcl::outofcore::OutofcoreAbstractMetadata.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const OutofcoreOctreeBaseMetadata &	metadata_arg
	)

friend

Provide operator overload to stream ascii file data.

Member Data Documentation

◆ coordinate_system_

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::coordinate_system_

protected

Coordinate system; maps to JSON "coord_sys":string.

Definition at line 200 of file outofcore_base_data.h.

◆ levels_of_depth_

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseMetadata::levels_of_depth_

protected

Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int.

Definition at line 211 of file outofcore_base_data.h.

◆ LOD_num_points_

std::vector<std::uint64_t> pcl::outofcore::OutofcoreOctreeBaseMetadata::LOD_num_points_

protected

Vector of number of points at each LOD.

For a tree with no LOD, all fields will be zero except for the field indexed by LOD_points_[levels_of_depth]; maps to JSON "numpts":int array

Definition at line 214 of file outofcore_base_data.h.

◆ metadata_filename_

boost::filesystem::path pcl::outofcore::OutofcoreOctreeBaseMetadata::metadata_filename_

protected

Metadata (JSON) file pathname (octree extension JSON file)

Definition at line 194 of file outofcore_base_data.h.

◆ outofcore_version_

int pcl::outofcore::OutofcoreOctreeBaseMetadata::outofcore_version_

protected

Outofcore library version identifier; maps to JSON "version":int.

Definition at line 197 of file outofcore_base_data.h.

◆ point_type_

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::point_type_

protected

Delineates the point types of the field; maps to JSON "pointtype":string:

Note: This is inconsistent with "point type" fields used in PCLPointCloud2 and in other places in PCL

Definition at line 208 of file outofcore_base_data.h.

◆ tree_name_

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::tree_name_

protected

Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":string.

Definition at line 203 of file outofcore_base_data.h.

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

pcl/outofcore/outofcore_base_data.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ OutofcoreOctreeBaseMetadata() [1/3]

◆ OutofcoreOctreeBaseMetadata() [2/3]

◆ ~OutofcoreOctreeBaseMetadata()

◆ OutofcoreOctreeBaseMetadata() [3/3]

Member Function Documentation

◆ getCoordinateSystem()

◆ getDepth()

◆ getLODPoints() [1/3]

◆ getLODPoints() [2/3]

◆ getLODPoints() [3/3]

◆ getMetadataFilename()

◆ getOctreeName()

◆ getOutofcoreVersion()

◆ getPointType()

◆ loadMetadataFromDisk() [1/2]

◆ loadMetadataFromDisk() [2/2]

◆ serializeMetadataToDisk()

◆ setCoordinateSystem()

◆ setDepth()

◆ setLODPoints() [1/3]

◆ setLODPoints() [2/3]

◆ setLODPoints() [3/3]

◆ setMetadataFilename()

◆ setOctreeName()

◆ setOutofcoreVersion()

◆ setPointType()

◆ writeMetadataString()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ coordinate_system_

◆ levels_of_depth_

◆ LOD_num_points_

◆ metadata_filename_

◆ outofcore_version_

◆ point_type_

◆ tree_name_