Point Cloud Library (PCL)  1.11.1-dev
organized_pointcloud_compression.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/point_cloud.h>
43 
44 #include <pcl/io/openni_camera/openni_shift_to_depth_conversion.h>
45 
46 #include <vector>
47 
48 namespace pcl
49 {
50  namespace io
51  {
52  /** \author Julius Kammerl (julius@kammerl.de)
53  */
54  template<typename PointT>
56  {
57  public:
59  using PointCloudPtr = typename PointCloud::Ptr;
61 
62  /** \brief Empty Constructor. */
64  {
65  }
66 
67  /** \brief Empty deconstructor. */
69  {
70  }
71 
72  /** \brief Encode point cloud to output stream
73  * \param[in] cloud_arg: point cloud to be compressed
74  * \param[out] compressedDataOut_arg: binary output stream containing compressed data
75  * \param[in] doColorEncoding: encode color information (if available)
76  * \param[in] convertToMono: convert rgb to mono
77  * \param[in] pngLevel_arg: png compression level (default compression: -1)
78  * \param[in] bShowStatistics_arg: show statistics
79  */
80  void encodePointCloud (const PointCloudConstPtr &cloud_arg,
81  std::ostream& compressedDataOut_arg,
82  bool doColorEncoding = false,
83  bool convertToMono = false,
84  bool bShowStatistics_arg = true,
85  int pngLevel_arg = -1);
86 
87  /** \brief Encode raw disparity map and color image.
88  * \note Default values are configured according to the kinect/asus device specifications
89  * \param[in] disparityMap_arg: pointer to raw 16-bit disparity map
90  * \param[in] colorImage_arg: pointer to raw 8-bit rgb color image
91  * \param[in] width_arg: width of disparity map/color image
92  * \param[in] height_arg: height of disparity map/color image
93  * \param[out] compressedDataOut_arg: binary output stream containing compressed data
94  * \param[in] doColorEncoding: encode color information (if available)
95  * \param[in] convertToMono: convert rgb to mono
96  * \param[in] pngLevel_arg: png compression level (default compression: -1)
97  * \param[in] bShowStatistics_arg: show statistics
98  * \param[in] focalLength_arg focal length
99  * \param[in] disparityShift_arg disparity shift
100  * \param[in] disparityScale_arg disparity scaling
101  */
102  void encodeRawDisparityMapWithColorImage ( std::vector<std::uint16_t>& disparityMap_arg,
103  std::vector<std::uint8_t>& colorImage_arg,
104  std::uint32_t width_arg,
105  std::uint32_t height_arg,
106  std::ostream& compressedDataOut_arg,
107  bool doColorEncoding = false,
108  bool convertToMono = false,
109  bool bShowStatistics_arg = true,
110  int pngLevel_arg = -1,
111  float focalLength_arg = 525.0f,
112  float disparityShift_arg = 174.825f,
113  float disparityScale_arg = -0.161175f);
114 
115  /** \brief Decode point cloud from input stream
116  * \param[in] compressedDataIn_arg: binary input stream containing compressed data
117  * \param[out] cloud_arg: reference to decoded point cloud
118  * \param[in] bShowStatistics_arg: show compression statistics during decoding
119  * \return false if an I/O error occurred.
120  */
121  bool decodePointCloud (std::istream& compressedDataIn_arg,
122  PointCloudPtr &cloud_arg,
123  bool bShowStatistics_arg = true);
124 
125  protected:
126  /** \brief Analyze input point cloud and calculate the maximum depth and focal length
127  * \param[in] cloud_arg: input point cloud
128  * \param[out] maxDepth_arg: calculated maximum depth
129  * \param[out] focalLength_arg: estimated focal length
130  */
131  void analyzeOrganizedCloud (PointCloudConstPtr cloud_arg,
132  float& maxDepth_arg,
133  float& focalLength_arg) const;
134 
135  private:
136  // frame header identifier
137  static const char* frameHeaderIdentifier_;
138 
139  //
141  };
142 
143  // define frame identifier
144  template<typename PointT>
145  const char* OrganizedPointCloudCompression<PointT>::frameHeaderIdentifier_ = "<PCL-ORG-COMPRESSED>";
146  }
147 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::io::OrganizedPointCloudCompression::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: organized_pointcloud_compression.h:60
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::io::OrganizedPointCloudCompression
Definition: organized_pointcloud_compression.h:55
pcl::io::OrganizedPointCloudCompression::decodePointCloud
bool decodePointCloud(std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
Decode point cloud from input stream.
Definition: organized_pointcloud_compression.hpp:268
openni_wrapper::ShiftToDepthConverter
This class provides conversion of the openni 11-bit shift data to depth;.
Definition: openni_shift_to_depth_conversion.h:52
pcl::io::OrganizedPointCloudCompression::encodePointCloud
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.
Definition: organized_pointcloud_compression.hpp:58
pcl::io::OrganizedPointCloudCompression::encodeRawDisparityMapWithColorImage
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.
Definition: organized_pointcloud_compression.hpp:152
pcl::io::OrganizedPointCloudCompression::~OrganizedPointCloudCompression
virtual ~OrganizedPointCloudCompression()
Empty deconstructor.
Definition: organized_pointcloud_compression.h:68
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:407
pcl::io::OrganizedPointCloudCompression::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: organized_pointcloud_compression.h:59
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:408
pcl::io::OrganizedPointCloudCompression::analyzeOrganizedCloud
void analyzeOrganizedCloud(PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const
Analyze input point cloud and calculate the maximum depth and focal length.
Definition: organized_pointcloud_compression.hpp:395
pcl::io::OrganizedPointCloudCompression::OrganizedPointCloudCompression
OrganizedPointCloudCompression()
Empty Constructor.
Definition: organized_pointcloud_compression.h:63