Point Cloud Library (PCL) 1.12.0
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/boost.h>
44#include <pcl/outofcore/cJSON.h>
45
46#include <pcl/outofcore/metadata.h>
47
48//standard library
49#include <string>
50
51namespace pcl
52{
53 namespace outofcore
54 {
55 /** \class OutofcoreOctreeBaseMetadata
56 *
57 * \brief Encapsulated class to read JSON metadata into memory,
58 * and write the JSON metadata associated with the octree root
59 * node. This is global information that is not the same as the
60 * metadata for the root node. Inherits OutofcoreAbstractMetadata
61 * interface for metadata in \b pcl_outofcore.
62
63 *
64 * This class encapsulates the outofcore base metadata
65 * serialization/deserialization. At the time it was written,
66 * this depended on cJSON to write JSON objects to disk. This
67 * class can be extended to have arbitrary JSON ascii metadata
68 * fields saved to the metadata object file on disk. The class
69 * has been encapuslated to abstract the detailso of the on-disk
70 * format from the outofcore implementation. For example, the
71 * format could be changed to XML/YAML, or any dynamic format at
72 * some point.
73 *
74 * The JSON file is formatted in the following way:
75 * \verbatim
76 {
77 "name": "nameoftree",
78 "version": 3,
79 "pointtype": "urp", #(needs to be changed*)
80 "lod": 3, #(depth of the tree
81 "numpts": [X0, X1, X2, ..., XD], #total number of points at each LOD
82 "coord_system": "ECEF" #the tree is not affected by this value
83 }
84 \endverbatim
85 *
86 * Any properties not stored in the metadata file are computed
87 * when the file is loaded. By convention, and for historical
88 * reasons from the original Urban Robotics implementation, the
89 * JSON file representing the overall tree is a JSON file named
90 * with the ".octree" extension.
91 *
92 * \ingroup outofcore
93 * \author Stephen Fox (foxstephend@gmail.com)
94 */
96 {
97 public:
98 using Ptr = shared_ptr<OutofcoreOctreeBaseMetadata>;
99 using ConstPtr = shared_ptr<const OutofcoreOctreeBaseMetadata>;
100
101 /** \brief Empty constructor */
103 /** \brief Load metadata from disk
104 *
105 * \param[in] path_arg Location of JSON metadata file to load from disk
106 */
107 OutofcoreOctreeBaseMetadata (const boost::filesystem::path& path_arg);
108 /** \brief Default destructor*/
110
111 /** \brief Copy constructor */
113
114 /** \brief et the outofcore version read from the "version" field of the JSON object */
115 int
117 /** \brief Set the outofcore version stored in the "version" field of the JSON object */
118 void
119 setOutofcoreVersion (const int version);
120
121 /** \brief Gets the name of the JSON file */
122 boost::filesystem::path
124 /** \brief Sets the name of the JSON file */
125 void
126 setMetadataFilename (const boost::filesystem::path& path_to_metadata);
127
128 /** \brief Writes the data to a JSON file located at \ref metadata_filename_ */
129 void
131
132 /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
133 virtual int
135 /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
136
137 int
138 loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata) override;
139
140 /** \brief Returns the name of the tree; this is not the same as the filename */
141 virtual std::string
143 /** \brief Sets the name of the tree */
144 virtual void
145 setOctreeName (const std::string& name_arg);
146
147 virtual std::string
149 /** \brief Sets a single string identifying the point type of this tree */
150 virtual void
151 setPointType (const std::string& point_type_arg);
152
153 virtual std::vector<std::uint64_t>&
155 virtual std::vector<std::uint64_t>
156 getLODPoints () const;
157 /** \brief Get the number of points at the given depth */
158 virtual std::uint64_t
159 getLODPoints (const std::uint64_t& depth_index) const;
160
161 /** \brief Initialize the LOD vector with points all 0 */
162 virtual void
163 setLODPoints (const std::uint64_t& depth);
164 /** \brief Copy a vector of LOD points into this metadata (dangerous!)*/
165 virtual void
166 setLODPoints (std::vector<std::uint64_t>& lod_points_arg);
167
168 /** \brief Set the number of points at lod_index_arg manually
169 * \param[in] lod_index_arg the depth at which this increments the number of LOD points
170 * \param[in] num_points_arg The number of points to store at that LOD
171 * \param[in] increment If true, increments the number of points at the LOD rather than overwriting the number of points
172 */
173 virtual void
174 setLODPoints (const std::uint64_t& lod_index_arg, const std::uint64_t& num_points_arg, const bool increment=true);
175
176 /** \brief Set information about the coordinate system */
177 virtual void
178 setCoordinateSystem (const std::string& coordinate_system);
179 /** \brief Get metadata information about the coordinate system */
180 virtual std::string
182
183 /** \brief Set the depth of the tree corresponding to JSON "lod:number". This should always be equal to LOD_num_points_.size()-1 */
184 virtual void
185 setDepth (const std::uint64_t& depth_arg);
186 virtual std::uint64_t
187 getDepth () const;
188
189 /** \brief Provide operator overload to stream ascii file data*/
190 friend std::ostream&
191 operator<<(std::ostream& os, const OutofcoreOctreeBaseMetadata& metadata_arg);
192
193 protected:
194 /** \brief Metadata (JSON) file pathname (octree extension JSON file) */
195 boost::filesystem::path metadata_filename_;
196
197 /** \brief Outofcore library version identifier; maps to JSON "version":int */
199
200 /** \brief Coordinate system; maps to JSON "coord_sys":string */
202
203 /** \brief Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":string*/
204 std::string tree_name_;
205
206 /** \brief Delineates the point types of the field; maps to JSON "pointtype":string:
207 * \note This is inconsistent with "point type" fields used in PCLPointCloud2 and in other places in PCL
208 */
209 std::string point_type_;
210
211 /** \brief Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int*/
212 std::uint64_t levels_of_depth_;
213
214 /** \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*/
215 std::vector<std::uint64_t> LOD_num_points_;
216
217 /** \brief Writes the JSON metadata to a string */
218 void
219 writeMetadataString (std::vector<char>& buf) override;
220 };
221 }//namespace outofcore
222}//namespace pcl
Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the...
shared_ptr< const OutofcoreOctreeBaseMetadata > ConstPtr
virtual std::string getCoordinateSystem() const
Get metadata information about the coordinate system.
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.
virtual std::vector< std::uint64_t > & getLODPoints()
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_.
~OutofcoreOctreeBaseMetadata()
Default destructor.
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...
virtual std::vector< std::uint64_t > getLODPoints() const
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