Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Julius Kammerl (julius@kammerl.de) 00035 */ 00036 00037 #ifndef OCTREE_COMPRESSION_H 00038 #define OCTREE_COMPRESSION_H 00039 00040 #include "pcl/common/common.h" 00041 #include "pcl/common/io.h" 00042 #include "pcl/octree/octree_pointcloud.h" 00043 #include "entropy_range_coder.h" 00044 #include "color_coding.h" 00045 #include "point_coding.h" 00046 00047 #include "compression_profiles.h" 00048 00049 #include <iterator> 00050 #include <iostream> 00051 #include <vector> 00052 #include <string.h> 00053 #include <iostream> 00054 #include <stdio.h> 00055 #include <string.h> 00056 00057 namespace pcl 00058 { 00059 namespace octree 00060 { 00061 using namespace std; 00062 00064 00070 00071 template<typename PointT, typename LeafT = OctreeLeafDataTVector<int> , typename OctreeT = Octree2BufBase<int, 00072 OctreeLeafDataTVector<int> > > 00073 class PointCloudCompression : public OctreePointCloud<PointT, LeafT, OctreeT> 00074 { 00075 public: 00076 00077 // public typedefs 00078 00079 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::PointCloud PointCloud; 00080 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudPtr PointCloudPtr; 00081 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudConstPtr PointCloudConstPtr; 00082 00083 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::OctreeKey OctreeKey; 00084 typedef typename OctreeT::OctreeLeaf OctreeLeaf; 00085 00086 typedef PointCloudCompression<PointT, LeafT, Octree2BufBase<int, LeafT> > RealTimeStreamCompression; 00087 typedef PointCloudCompression<PointT, LeafT, OctreeLowMemBase<int, LeafT> > SinglePointCloudCompressionLowMemory; 00088 00099 PointCloudCompression (compression_Profiles_e compressionProfile_arg = MED_RES_ONLINE_COMPRESSION_WITH_COLOR, 00100 bool showStatistics_arg = false, 00101 const double pointResolution_arg = 0.001, 00102 const double octreeResolution_arg = 0.01, 00103 bool doVoxelGridDownDownSampling_arg = false, 00104 const unsigned int iFrameRate_arg = 30, 00105 bool doColorEncoding_arg = true, 00106 const unsigned char colorBitResolution_arg = 6 00107 ) : 00108 00109 OctreePointCloud<PointT, LeafT, OctreeT> (octreeResolution_arg), 00110 doVoxelGridEnDecoding_ (doVoxelGridDownDownSampling_arg), iFrameRate_ (iFrameRate_arg), 00111 iFrameCounter_ (0), frameID_ (0), pointCount_ (0), iFrame_ (true), 00112 doColorEncoding_ (doColorEncoding_arg), cloudWithColor_ (false), dataWithColor_ (false), 00113 pointColorOffset_ (0), bShowStatistics (showStatistics_arg) 00114 00115 { 00116 output_ = PointCloudPtr (); 00117 00118 if (compressionProfile_arg != MANUAL_CONFIGURATION) 00119 { 00120 // apply selected compression profile 00121 00122 // retrieve profile settings 00123 const configurationProfile_t selectedProfile = compressionProfiles_[compressionProfile_arg]; 00124 00125 // apply profile settings 00126 iFrameRate_ = selectedProfile.iFrameRate; 00127 doVoxelGridEnDecoding_ = selectedProfile.doVoxelGridDownSampling; 00128 this->setResolution (selectedProfile.octreeResolution); 00129 pointCoder_.setPrecision (selectedProfile.pointResolution); 00130 doColorEncoding_ = selectedProfile.doColorEncoding; 00131 colorCoder_.setBitDepth (selectedProfile.colorBitResolution); 00132 00133 } else { 00134 // configure point & color coder 00135 pointCoder_.setPrecision (pointResolution_arg); 00136 colorCoder_.setBitDepth (colorBitResolution_arg); 00137 } 00138 00139 if ( pointCoder_.getPrecision() == this->getResolution() ) 00140 { 00141 //disable differential point colding 00142 doVoxelGridEnDecoding_ = true; 00143 } 00144 00145 } 00146 00148 virtual 00149 ~PointCloudCompression () 00150 { 00151 } 00152 00156 inline void 00157 setOutputCloud (const PointCloudPtr &cloud_arg) 00158 { 00159 if (output_ != cloud_arg) 00160 { 00161 output_ = cloud_arg; 00162 } 00163 } 00164 00168 inline PointCloudPtr 00169 getOutputCloud () 00170 { 00171 return (output_); 00172 } 00173 00178 void 00179 encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream& compressedTreeDataOut_arg); 00180 00185 void 00186 decodePointCloud (std::istream& compressedTreeDataIn_arg, PointCloudPtr &cloud_arg); 00187 00188 protected: 00189 00193 void 00194 writeFrameHeader (std::ostream& compressedTreeDataOut_arg); 00195 00199 void 00200 readFrameHeader (std::istream& compressedTreeDataIn_arg); 00201 00205 void 00206 entropyEncoding (std::ostream& compressedTreeDataOut_arg); 00207 00211 void 00212 entropyDecoding (std::istream& compressedTreeDataIn_arg); 00213 00218 virtual void 00219 serializeLeafCallback (OctreeLeaf& leaf_arg, const OctreeKey& key_arg); 00220 00225 virtual void 00226 deserializeLeafCallback (OctreeLeaf& leaf_arg, const OctreeKey& key_arg); 00227 00229 PointCloudPtr output_; 00230 00232 std::vector<char> binaryTreeDataVector_; 00233 00235 std::vector<char> binaryColorTreeVector_; 00236 00238 std::vector<unsigned int> pointCountDataVector_; 00239 00241 std::vector<unsigned int>::const_iterator pointCountDataVectorIterator_; 00242 00244 ColorCoding<PointT> colorCoder_; 00245 00247 PointCoding<PointT> pointCoder_; 00248 00250 StaticRangeCoder entropyCoder_; 00251 00252 bool doVoxelGridEnDecoding_; 00253 unsigned int iFrameRate_; 00254 unsigned int iFrameCounter_; 00255 unsigned int frameID_; 00256 unsigned long pointCount_; 00257 bool iFrame_; 00258 00259 bool doColorEncoding_; 00260 bool cloudWithColor_; 00261 bool dataWithColor_; 00262 unsigned char pointColorOffset_; 00263 00264 //bool activating statistics 00265 bool bShowStatistics; 00266 unsigned long compressedPointDataLen_; 00267 unsigned long compressedColorDataLen_; 00268 00269 // frame header identifier 00270 static const char* frameHeaderIdentifier_; 00271 00272 }; 00273 00274 // define frame header initialization 00275 template<typename PointT, typename LeafT, typename OctreeT> 00276 const char* PointCloudCompression<PointT, LeafT, OctreeT>::frameHeaderIdentifier_ = "<PCL-COMPRESSED>"; 00277 } 00278 00279 } 00280 00281 00282 #endif 00283