Point Cloud Library (PCL)  1.12.1-dev
outofcore_base_data.h
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38 
39 #pragma once
40 
41 #include <pcl/memory.h>
42 #include <pcl/pcl_macros.h>
43 #include <pcl/outofcore/cJSON.h>
44 
45 #include <pcl/outofcore/metadata.h>
46 
47 //standard library
48 #include <string>
49 
50 namespace pcl
51 {
52  namespace outofcore
53  {
54  /** \class OutofcoreOctreeBaseMetadata
55  *
56  * \brief Encapsulated class to read JSON metadata into memory,
57  * and write the JSON metadata associated with the octree root
58  * node. This is global information that is not the same as the
59  * metadata for the root node. Inherits OutofcoreAbstractMetadata
60  * interface for metadata in \b pcl_outofcore.
61 
62  *
63  * This class encapsulates the outofcore base metadata
64  * serialization/deserialization. At the time it was written,
65  * this depended on cJSON to write JSON objects to disk. This
66  * class can be extended to have arbitrary JSON ascii metadata
67  * fields saved to the metadata object file on disk. The class
68  * has been encapuslated to abstract the detailso of the on-disk
69  * format from the outofcore implementation. For example, the
70  * format could be changed to XML/YAML, or any dynamic format at
71  * some point.
72  *
73  * The JSON file is formatted in the following way:
74  * \verbatim
75  {
76  "name": "nameoftree",
77  "version": 3,
78  "pointtype": "urp", #(needs to be changed*)
79  "lod": 3, #(depth of the tree
80  "numpts": [X0, X1, X2, ..., XD], #total number of points at each LOD
81  "coord_system": "ECEF" #the tree is not affected by this value
82  }
83  \endverbatim
84  *
85  * Any properties not stored in the metadata file are computed
86  * when the file is loaded. By convention, and for historical
87  * reasons from the original Urban Robotics implementation, the
88  * JSON file representing the overall tree is a JSON file named
89  * with the ".octree" extension.
90  *
91  * \ingroup outofcore
92  * \author Stephen Fox (foxstephend@gmail.com)
93  */
95  {
96  public:
97  using Ptr = shared_ptr<OutofcoreOctreeBaseMetadata>;
98  using ConstPtr = shared_ptr<const OutofcoreOctreeBaseMetadata>;
99 
100  /** \brief Empty constructor */
102  /** \brief Load metadata from disk
103  *
104  * \param[in] path_arg Location of JSON metadata file to load from disk
105  */
106  OutofcoreOctreeBaseMetadata (const boost::filesystem::path& path_arg);
107  /** \brief Default destructor*/
109 
110  /** \brief Copy constructor */
112 
113  /** \brief et the outofcore version read from the "version" field of the JSON object */
114  int
116  /** \brief Set the outofcore version stored in the "version" field of the JSON object */
117  void
118  setOutofcoreVersion (const int version);
119 
120  /** \brief Gets the name of the JSON file */
121  boost::filesystem::path
123  /** \brief Sets the name of the JSON file */
124  void
125  setMetadataFilename (const boost::filesystem::path& path_to_metadata);
126 
127  /** \brief Writes the data to a JSON file located at \ref metadata_filename_ */
128  void
130 
131  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
132  virtual int
134  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
135 
136  int
137  loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata) override;
138 
139  /** \brief Returns the name of the tree; this is not the same as the filename */
140  virtual std::string
142  /** \brief Sets the name of the tree */
143  virtual void
144  setOctreeName (const std::string& name_arg);
145 
146  virtual std::string
148  /** \brief Sets a single string identifying the point type of this tree */
149  virtual void
150  setPointType (const std::string& point_type_arg);
151 
152  virtual std::vector<std::uint64_t>&
154  virtual std::vector<std::uint64_t>
155  getLODPoints () const;
156  /** \brief Get the number of points at the given depth */
157  virtual std::uint64_t
158  getLODPoints (const std::uint64_t& depth_index) const;
159 
160  /** \brief Initialize the LOD vector with points all 0 */
161  virtual void
162  setLODPoints (const std::uint64_t& depth);
163  /** \brief Copy a vector of LOD points into this metadata (dangerous!)*/
164  virtual void
165  setLODPoints (std::vector<std::uint64_t>& lod_points_arg);
166 
167  /** \brief Set the number of points at lod_index_arg manually
168  * \param[in] lod_index_arg the depth at which this increments the number of LOD points
169  * \param[in] num_points_arg The number of points to store at that LOD
170  * \param[in] increment If true, increments the number of points at the LOD rather than overwriting the number of points
171  */
172  virtual void
173  setLODPoints (const std::uint64_t& lod_index_arg, const std::uint64_t& num_points_arg, const bool increment=true);
174 
175  /** \brief Set information about the coordinate system */
176  virtual void
177  setCoordinateSystem (const std::string& coordinate_system);
178  /** \brief Get metadata information about the coordinate system */
179  virtual const std::string&
181 
182  /** \brief Set the depth of the tree corresponding to JSON "lod:number". This should always be equal to LOD_num_points_.size()-1 */
183  virtual void
184  setDepth (const std::uint64_t& depth_arg);
185  virtual std::uint64_t
186  getDepth () const;
187 
188  /** \brief Provide operator overload to stream ascii file data*/
189  friend std::ostream&
190  operator<<(std::ostream& os, const OutofcoreOctreeBaseMetadata& metadata_arg);
191 
192  protected:
193  /** \brief Metadata (JSON) file pathname (octree extension JSON file) */
194  boost::filesystem::path metadata_filename_;
195 
196  /** \brief Outofcore library version identifier; maps to JSON "version":int */
198 
199  /** \brief Coordinate system; maps to JSON "coord_sys":string */
200  std::string coordinate_system_;
201 
202  /** \brief Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":string*/
203  std::string tree_name_;
204 
205  /** \brief Delineates the point types of the field; maps to JSON "pointtype":string:
206  * \note This is inconsistent with "point type" fields used in PCLPointCloud2 and in other places in PCL
207  */
208  std::string point_type_;
209 
210  /** \brief Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int*/
211  std::uint64_t levels_of_depth_;
212 
213  /** \brief 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*/
214  std::vector<std::uint64_t> LOD_num_points_;
215 
216  /** \brief Writes the JSON metadata to a string */
217  void
218  writeMetadataString (std::vector<char>& buf) override;
219  };
220  }//namespace outofcore
221 }//namespace pcl
Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the...
virtual std::vector< std::uint64_t > getLODPoints() const
~OutofcoreOctreeBaseMetadata() override
Default destructor.
shared_ptr< const OutofcoreOctreeBaseMetadata > ConstPtr
virtual std::vector< std::uint64_t > & getLODPoints()
int outofcore_version_
Outofcore library version identifier; maps to JSON "version":int.
OutofcoreOctreeBaseMetadata(const OutofcoreOctreeBaseMetadata &orig)
Copy constructor.
virtual void setOctreeName(const std::string &name_arg)
Sets the name of the tree.
virtual void setPointType(const std::string &point_type_arg)
Sets a single string identifying the point type of this tree.
void setOutofcoreVersion(const int version)
Set the outofcore version stored in the "version" field of the JSON object.
void setMetadataFilename(const boost::filesystem::path &path_to_metadata)
Sets the name of the JSON file.
boost::filesystem::path metadata_filename_
Metadata (JSON) file pathname (octree extension JSON file)
virtual std::uint64_t getLODPoints(const std::uint64_t &depth_index) const
Get the number of points at the given depth.
shared_ptr< OutofcoreOctreeBaseMetadata > Ptr
virtual std::uint64_t getDepth() const
virtual int loadMetadataFromDisk()
Loads the data from a JSON file located at metadata_filename_.
std::string coordinate_system_
Coordinate system; maps to JSON "coord_sys":string.
virtual void setDepth(const std::uint64_t &depth_arg)
Set the depth of the tree corresponding to JSON "lod:number".
std::string point_type_
Delineates the point types of the field; maps to JSON "pointtype":string:
std::vector< std::uint64_t > LOD_num_points_
Vector of number of points at each LOD.
OutofcoreOctreeBaseMetadata(const boost::filesystem::path &path_arg)
Load metadata from disk.
virtual void setCoordinateSystem(const std::string &coordinate_system)
Set information about the coordinate system.
boost::filesystem::path getMetadataFilename() const
Gets the name of the JSON file.
int getOutofcoreVersion() const
et the outofcore version read from the "version" field of the JSON object
virtual void setLODPoints(std::vector< std::uint64_t > &lod_points_arg)
Copy a vector of LOD points into this metadata (dangerous!)
virtual std::string getOctreeName()
Returns the name of the tree; this is not the same as the filename.
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.
int loadMetadataFromDisk(const boost::filesystem::path &path_to_metadata) override
Loads the data from a JSON file located at metadata_filename_.
void writeMetadataString(std::vector< char > &buf) override
Writes the JSON metadata to a string.
std::uint64_t levels_of_depth_
Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int.
void serializeMetadataToDisk() override
Writes the data to a JSON file located at metadata_filename_.
virtual const std::string & getCoordinateSystem() const
Get metadata information about the coordinate system.
virtual void setLODPoints(const std::uint64_t &depth)
Initialize the LOD vector with points all 0.
std::string tree_name_
Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":stri...
Defines functions, macros and traits for allocating and using memory.
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323