Point Cloud Library (PCL)  1.12.1-dev
outofcore_node_data.h
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36  * $Id: outofcore_node_data.h 6915 2012-08-22 10:54:21Z stfox88 $
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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/common/eigen.h>
46 
47 #include <boost/filesystem.hpp>
48 
49 #include <ostream>
50 
51 namespace pcl
52 {
53  namespace outofcore
54  {
55  /** \class OutofcoreOctreeNodeMetadata
56  *
57  * \brief Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each
58  * node.
59  *
60  * This class encapsulates the outofcore node metadata
61  * serialization/deserialization. At the time it was written,
62  * this depended on cJSON to write JSON objects to disk. This
63  * class can be extended to have arbitrary ascii metadata fields
64  * saved to the metadata object file on disk.
65  *
66  * The JSON file is formatted in the following way:
67  * \verbatim
68  {
69  "version": 3,
70  "bb_min": [xxx,yyy,zzz],
71  "bb_max": [xxx,yyy,zzz],
72  "bin": "path_to_data.pcd"
73  }
74  \endverbatim
75  *
76  * Any properties not stored in the metadata file are computed
77  * when the file is loaded (e.g. \ref midpoint_xyz_). By
78  * convention, the JSON files are stored on disk with .oct_idx
79  * extension.
80  *
81  * \ingroup outofcore
82  * \author Stephen Fox (foxstephend@gmail.com)
83  */
85  {
86 
87  public:
88  //public typedefs
89  using Ptr = shared_ptr<OutofcoreOctreeNodeMetadata>;
90  using ConstPtr = shared_ptr<const OutofcoreOctreeNodeMetadata>;
91 
92  /** \brief Empty constructor */
95 
96  /** \brief Copy constructor */
98 
99  /** \brief Get the lower bounding box corner */
100  const Eigen::Vector3d&
102  /** \brief Set the lower bounding box corner */
103  void
104  setBoundingBoxMin (const Eigen::Vector3d& min_bb);
105  /** \brief Get the upper bounding box corner */
106  const Eigen::Vector3d&
108  /** \brief Set the upper bounding box corner */
109  void
110  setBoundingBoxMax (const Eigen::Vector3d& max_bb);
111 
112  /** \brief Get the lower and upper corners of the bounding box enclosing this node */
113  void
114  getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const;
115  /** \brief Set the lower and upper corners of the bounding box */
116  void
117  setBoundingBox (const Eigen::Vector3d& min_bb, const Eigen::Vector3d& max_bb);
118 
119  /** \brief Get the directory path name; this is the parent_path of */
120  const boost::filesystem::path&
122  /** \brief Set the directory path name */
123  void
124  setDirectoryPathname (const boost::filesystem::path& directory_pathname);
125 
126  /** \brief Get the path to the PCD file */
127  const boost::filesystem::path&
128  getPCDFilename () const;
129  /** \brief Set the point filename; extension .pcd */
130  void
131  setPCDFilename (const boost::filesystem::path& point_filename);
132 
133  /** \brief et the outofcore version read from the "version" field of the JSON object */
134  int
136  /** \brief Set the outofcore version stored in the "version" field of the JSON object */
137  void
138  setOutofcoreVersion (const int version);
139 
140  /** \brief Sets the name of the JSON file */
141  const boost::filesystem::path&
143  /** \brief Gets the name of the JSON file */
144  void
145  setMetadataFilename (const boost::filesystem::path& path_to_metadata);
146 
147  /** \brief Get the midpoint of this node's bounding box */
148  const Eigen::Vector3d&
149  getVoxelCenter () const;
150 
151  /** \brief Writes the data to a JSON file located at \ref metadata_filename_ */
152  void
154 
155  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
156  int
158  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
159  int
160  loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata);
161 
162  friend
163  std::ostream& operator<<(std::ostream& os, const OutofcoreOctreeNodeMetadata& metadata_arg);
164 
165  protected:
166  /** \brief The X,Y,Z axes-aligned minimum corner for the bounding box */
167  Eigen::Vector3d min_bb_;
168  /** \brief The X,Y,Z axes-aligned maximum corner for the bounding box */
169  Eigen::Vector3d max_bb_;
170  /** \brief Path to PCD file (i.e. "bin"ary point data) */
171  boost::filesystem::path binary_point_filename_;
172  /** \brief Voxel center; not stored on disk */
173  Eigen::Vector3d midpoint_xyz_;
174  /** \brief Directory this metadata belongs in */
175  boost::filesystem::path directory_;
176  /** \brief Metadata (JSON) file pathname (oct_idx extension JSON file) */
177  boost::filesystem::path metadata_filename_;
178  /** \brief Outofcore library version identifier */
180 
181  /** \brief Computes the midpoint; used when bounding box is changed */
182  inline void
184  {
185  midpoint_xyz_ = (this->max_bb_ + this->min_bb_)/static_cast<double>(2.0);
186  }
187  };
188  }//namespace outofcore
189 }//namespace pcl
Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node.
const boost::filesystem::path & getMetadataFilename() const
Sets the name of the JSON file.
const Eigen::Vector3d & getBoundingBoxMin() const
Get the lower bounding box corner.
const Eigen::Vector3d & getBoundingBoxMax() const
Get the upper bounding box corner.
shared_ptr< const OutofcoreOctreeNodeMetadata > ConstPtr
shared_ptr< OutofcoreOctreeNodeMetadata > Ptr
Eigen::Vector3d midpoint_xyz_
Voxel center; not stored on disk.
boost::filesystem::path metadata_filename_
Metadata (JSON) file pathname (oct_idx extension JSON file)
void setMetadataFilename(const boost::filesystem::path &path_to_metadata)
Gets the name of the JSON file.
const boost::filesystem::path & getDirectoryPathname() const
Get the directory path name; this is the parent_path of
void setPCDFilename(const boost::filesystem::path &point_filename)
Set the point filename; extension .pcd.
int loadMetadataFromDisk()
Loads the data from a JSON file located at metadata_filename_.
Eigen::Vector3d max_bb_
The X,Y,Z axes-aligned maximum corner for the bounding box.
void setOutofcoreVersion(const int version)
Set the outofcore version stored in the "version" field of the JSON object.
void updateVoxelCenter()
Computes the midpoint; used when bounding box is changed.
friend std::ostream & operator<<(std::ostream &os, const OutofcoreOctreeNodeMetadata &metadata_arg)
int outofcore_version_
Outofcore library version identifier.
boost::filesystem::path binary_point_filename_
Path to PCD file (i.e.
void setBoundingBox(const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
Set the lower and upper corners of the bounding box.
void setBoundingBoxMin(const Eigen::Vector3d &min_bb)
Set the lower bounding box corner.
void getBoundingBox(Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
Get the lower and upper corners of the bounding box enclosing this node.
void serializeMetadataToDisk()
Writes the data to a JSON file located at metadata_filename_.
OutofcoreOctreeNodeMetadata(const OutofcoreOctreeNodeMetadata &orig)
Copy constructor.
void setDirectoryPathname(const boost::filesystem::path &directory_pathname)
Set the directory path name.
int loadMetadataFromDisk(const boost::filesystem::path &path_to_metadata)
Loads the data from a JSON file located at metadata_filename_.
const Eigen::Vector3d & getVoxelCenter() const
Get the midpoint of this node's bounding box.
boost::filesystem::path directory_
Directory this metadata belongs in.
const boost::filesystem::path & getPCDFilename() const
Get the path to the PCD file.
void setBoundingBoxMax(const Eigen::Vector3d &max_bb)
Set the upper bounding box corner.
Eigen::Vector3d min_bb_
The X,Y,Z axes-aligned minimum corner for the bounding box.
int getOutofcoreVersion() const
et the outofcore version read from the "version" field of the JSON object
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323