Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node. More...

#include <pcl/outofcore/outofcore_node_data.h>

Public Types
using	Ptr = shared_ptr< OutofcoreOctreeNodeMetadata >

using	ConstPtr = shared_ptr< const OutofcoreOctreeNodeMetadata >

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

	~OutofcoreOctreeNodeMetadata ()

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

const Eigen::Vector3d &	getBoundingBoxMin () const
	Get the lower bounding box corner. More...

void	setBoundingBoxMin (const Eigen::Vector3d &min_bb)
	Set the lower bounding box corner. More...

const Eigen::Vector3d &	getBoundingBoxMax () const
	Get the upper bounding box corner. More...

void	setBoundingBoxMax (const Eigen::Vector3d &max_bb)
	Set the upper bounding box corner. More...

void	getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
	Get the lower and upper corners of the bounding box enclosing this node. More...

void	setBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
	Set the lower and upper corners of the bounding box. More...

const boost::filesystem::path &	getDirectoryPathname () const
	Get the directory path name; this is the parent_path of More...

void	setDirectoryPathname (const boost::filesystem::path &directory_pathname)
	Set the directory path name. More...

const boost::filesystem::path &	getPCDFilename () const
	Get the path to the PCD file. More...

void	setPCDFilename (const boost::filesystem::path &point_filename)
	Set the point filename; extension .pcd. 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...

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

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

const Eigen::Vector3d &	getVoxelCenter () const
	Get the midpoint of this node's bounding box. More...

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

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

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

Protected Member Functions
void	updateVoxelCenter ()
	Computes the midpoint; used when bounding box is changed. More...

Protected Attributes
Eigen::Vector3d	min_bb_
	The X,Y,Z axes-aligned minimum corner for the bounding box. More...

Eigen::Vector3d	max_bb_
	The X,Y,Z axes-aligned maximum corner for the bounding box. More...

boost::filesystem::path	binary_point_filename_
	Path to PCD file (i.e. More...

Eigen::Vector3d	midpoint_xyz_
	Voxel center; not stored on disk. More...

boost::filesystem::path	directory_
	Directory this metadata belongs in. More...

boost::filesystem::path	metadata_filename_
	Metadata (JSON) file pathname (oct_idx extension JSON file) More...

int	outofcore_version_ {0}
	Outofcore library version identifier. More...

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

Detailed Description

Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node.

This class encapsulates the outofcore node 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 ascii metadata fields saved to the metadata object file on disk.

The JSON file is formatted in the following way:

{
  "version": 3,
  "bb_min":  [xxx,yyy,zzz],
  "bb_max":  [xxx,yyy,zzz],
  "bin":     "path_to_data.pcd"
}

Any properties not stored in the metadata file are computed when the file is loaded (e.g. midpoint_xyz_). By convention, the JSON files are stored on disk with .oct_idx extension.

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

Definition at line 84 of file outofcore_node_data.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 90 of file outofcore_node_data.h.

◆ Ptr

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

Definition at line 89 of file outofcore_node_data.h.

Constructor & Destructor Documentation

◆ OutofcoreOctreeNodeMetadata() [1/2]

pcl::outofcore::OutofcoreOctreeNodeMetadata::OutofcoreOctreeNodeMetadata ( )

Empty constructor.

◆ ~OutofcoreOctreeNodeMetadata()

pcl::outofcore::OutofcoreOctreeNodeMetadata::~OutofcoreOctreeNodeMetadata ( )

◆ OutofcoreOctreeNodeMetadata() [2/2]

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

Copy constructor.

Member Function Documentation

◆ getBoundingBox()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBox	(	Eigen::Vector3d &	min_bb,
		Eigen::Vector3d &	max_bb
	)		const

Get the lower and upper corners of the bounding box enclosing this node.

◆ getBoundingBoxMax()

const Eigen::Vector3d& pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBoxMax ( ) const

Get the upper bounding box corner.

◆ getBoundingBoxMin()

const Eigen::Vector3d& pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBoxMin ( ) const

Get the lower bounding box corner.

◆ getDirectoryPathname()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeNodeMetadata::getDirectoryPathname ( ) const

Get the directory path name; this is the parent_path of

◆ getMetadataFilename()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeNodeMetadata::getMetadataFilename ( ) const

Sets the name of the JSON file.

◆ getOutofcoreVersion()

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

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

◆ getPCDFilename()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeNodeMetadata::getPCDFilename ( ) const

Get the path to the PCD file.

◆ getVoxelCenter()

const Eigen::Vector3d& pcl::outofcore::OutofcoreOctreeNodeMetadata::getVoxelCenter ( ) const

Get the midpoint of this node's bounding box.

◆ loadMetadataFromDisk() [1/2]

int pcl::outofcore::OutofcoreOctreeNodeMetadata::loadMetadataFromDisk ( )

Loads the data from a JSON file located at metadata_filename_.

◆ loadMetadataFromDisk() [2/2]

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

Loads the data from a JSON file located at metadata_filename_.

◆ serializeMetadataToDisk()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::serializeMetadataToDisk ( )

Writes the data to a JSON file located at metadata_filename_.

◆ setBoundingBox()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb
	)

Set the lower and upper corners of the bounding box.

◆ setBoundingBoxMax()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBoxMax ( const Eigen::Vector3d & max_bb )

Set the upper bounding box corner.

◆ setBoundingBoxMin()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBoxMin ( const Eigen::Vector3d & min_bb )

Set the lower bounding box corner.

◆ setDirectoryPathname()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::setDirectoryPathname ( const boost::filesystem::path & directory_pathname )

Set the directory path name.

◆ setMetadataFilename()

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

Gets the name of the JSON file.

◆ setOutofcoreVersion()

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

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

◆ setPCDFilename()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::setPCDFilename ( const boost::filesystem::path & point_filename )

Set the point filename; extension .pcd.

◆ updateVoxelCenter()

void pcl::outofcore::OutofcoreOctreeNodeMetadata::updateVoxelCenter ( )

inlineprotected

Computes the midpoint; used when bounding box is changed.

Definition at line 183 of file outofcore_node_data.h.

Friends And Related Function Documentation

◆ operator<<

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

friend

Member Data Documentation

◆ binary_point_filename_

boost::filesystem::path pcl::outofcore::OutofcoreOctreeNodeMetadata::binary_point_filename_

protected

Path to PCD file (i.e.

"bin"ary point data)

Definition at line 171 of file outofcore_node_data.h.

◆ directory_

boost::filesystem::path pcl::outofcore::OutofcoreOctreeNodeMetadata::directory_

protected

Directory this metadata belongs in.

Definition at line 175 of file outofcore_node_data.h.

◆ max_bb_

Eigen::Vector3d pcl::outofcore::OutofcoreOctreeNodeMetadata::max_bb_

protected

The X,Y,Z axes-aligned maximum corner for the bounding box.

Definition at line 169 of file outofcore_node_data.h.

◆ metadata_filename_

boost::filesystem::path pcl::outofcore::OutofcoreOctreeNodeMetadata::metadata_filename_

protected

Metadata (JSON) file pathname (oct_idx extension JSON file)

Definition at line 177 of file outofcore_node_data.h.

◆ midpoint_xyz_

Eigen::Vector3d pcl::outofcore::OutofcoreOctreeNodeMetadata::midpoint_xyz_

protected

Voxel center; not stored on disk.

Definition at line 173 of file outofcore_node_data.h.

◆ min_bb_

Eigen::Vector3d pcl::outofcore::OutofcoreOctreeNodeMetadata::min_bb_

protected

The X,Y,Z axes-aligned minimum corner for the bounding box.

Definition at line 167 of file outofcore_node_data.h.

◆ outofcore_version_

int pcl::outofcore::OutofcoreOctreeNodeMetadata::outofcore_version_ {0}

protected

Outofcore library version identifier.

Definition at line 179 of file outofcore_node_data.h.

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

pcl/outofcore/outofcore_node_data.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ OutofcoreOctreeNodeMetadata() [1/2]

◆ ~OutofcoreOctreeNodeMetadata()

◆ OutofcoreOctreeNodeMetadata() [2/2]

Member Function Documentation

◆ getBoundingBox()

◆ getBoundingBoxMax()

◆ getBoundingBoxMin()

◆ getDirectoryPathname()

◆ getMetadataFilename()

◆ getOutofcoreVersion()

◆ getPCDFilename()

◆ getVoxelCenter()

◆ loadMetadataFromDisk() [1/2]

◆ loadMetadataFromDisk() [2/2]

◆ serializeMetadataToDisk()

◆ setBoundingBox()

◆ setBoundingBoxMax()

◆ setBoundingBoxMin()

◆ setDirectoryPathname()

◆ setMetadataFilename()

◆ setOutofcoreVersion()

◆ setPCDFilename()

◆ updateVoxelCenter()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ binary_point_filename_

◆ directory_

◆ max_bb_

◆ metadata_filename_

◆ midpoint_xyz_

◆ min_bb_

◆ outofcore_version_