Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::io::OrganizedPointCloudCompression< PointT > Class Template Reference

#include <pcl/compression/organized_pointcloud_compression.h>

Public Types

using PointCloud = pcl::PointCloud<PointT>
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 

Public Member Functions

 OrganizedPointCloudCompression ()
 Empty Constructor.
 
virtual ~OrganizedPointCloudCompression ()
 Empty deconstructor.
 
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.
 
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.
 
bool decodePointCloud (std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
 Decode point cloud from input stream.
 

Protected Member Functions

void analyzeOrganizedCloud (PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const
 Analyze input point cloud and calculate the maximum depth and focal length.
 

Detailed Description

template<typename PointT>
class pcl::io::OrganizedPointCloudCompression< PointT >
Author
Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 55 of file organized_pointcloud_compression.h.

Member Typedef Documentation

◆ PointCloud

Definition at line 58 of file organized_pointcloud_compression.h.

◆ PointCloudConstPtr

template<typename PointT >
using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 60 of file organized_pointcloud_compression.h.

◆ PointCloudPtr

template<typename PointT >
using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 59 of file organized_pointcloud_compression.h.

Constructor & Destructor Documentation

◆ OrganizedPointCloudCompression()

template<typename PointT >
pcl::io::OrganizedPointCloudCompression< PointT >::OrganizedPointCloudCompression ( )
inline

Empty Constructor.

Definition at line 63 of file organized_pointcloud_compression.h.

◆ ~OrganizedPointCloudCompression()

template<typename PointT >
virtual pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression ( )
inlinevirtual

Empty deconstructor.

Definition at line 68 of file organized_pointcloud_compression.h.

Member Function Documentation

◆ analyzeOrganizedCloud()

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::analyzeOrganizedCloud ( PointCloudConstPtr cloud_arg,
float & maxDepth_arg,
float & focalLength_arg ) const
protected

Analyze input point cloud and calculate the maximum depth and focal length.

Parameters
[in]cloud_arginput point cloud
[out]maxDepth_argcalculated maximum depth
[out]focalLength_argestimated focal length

Definition at line 395 of file organized_pointcloud_compression.hpp.

References pcl::isFinite().

◆ decodePointCloud()

template<typename PointT >
bool pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud ( std::istream & compressedDataIn_arg,
PointCloudPtr & cloud_arg,
bool bShowStatistics_arg = true )

Decode point cloud from input stream.

Parameters
[in]compressedDataIn_argbinary input stream containing compressed data
[out]cloud_argreference to decoded point cloud
[in]bShowStatistics_argshow compression statistics during decoding
Returns
false if an I/O error occurred.

Definition at line 268 of file organized_pointcloud_compression.hpp.

References pcl::io::decodePNGToImage().

◆ encodePointCloud()

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::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.

Parameters
[in]cloud_argpoint cloud to be compressed
[out]compressedDataOut_argbinary output stream containing compressed data
[in]doColorEncodingencode color information (if available)
[in]convertToMonoconvert rgb to mono
[in]pngLevel_argpng compression level (default compression: -1)
[in]bShowStatistics_argshow statistics

Definition at line 58 of file organized_pointcloud_compression.hpp.

References pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().

◆ encodeRawDisparityMapWithColorImage()

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::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.

Note
Default values are configured according to the kinect/asus device specifications
Parameters
[in]disparityMap_argpointer to raw 16-bit disparity map
[in]colorImage_argpointer to raw 8-bit rgb color image
[in]width_argwidth of disparity map/color image
[in]height_argheight of disparity map/color image
[out]compressedDataOut_argbinary output stream containing compressed data
[in]doColorEncodingencode color information (if available)
[in]convertToMonoconvert rgb to mono
[in]pngLevel_argpng compression level (default compression: -1)
[in]bShowStatistics_argshow statistics
[in]focalLength_argfocal length
[in]disparityShift_argdisparity shift
[in]disparityScale_argdisparity scaling

Definition at line 152 of file organized_pointcloud_compression.hpp.

References pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().


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