PCL-LZF 16-bit depth image format reader. More...
#include <pcl/io/lzf_image_io.h>
Public Member Functions | |
| LZFDepth16ImageReader () | |
| Empty constructor. | |
| virtual | ~LZFDepth16ImageReader () |
| Empty destructor. | |
| template<typename PointT > | |
| bool | read (const std::string &filename, pcl::PointCloud< PointT > &cloud) |
| Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type. | |
| template<typename PointT > | |
| bool | readOMP (const std::string &filename, pcl::PointCloud< PointT > &cloud, unsigned int num_threads=0) |
| Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type. | |
| virtual bool | readParameters (std::istream &is) |
| Read camera parameters from a given stream and store them internally. | |
Protected Attributes | |
| double | z_multiplication_factor_ |
| Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m], we need to multiply with 0.001). | |
PCL-LZF 16-bit depth image format reader.
The main advantage of using the PCL-LZF image I/O routines is a very good file size versus I/O speed ratio. Tests performed using LZF, Snappy, ZIP, GZ2, BZIP2, as well as PNG, JPEG, and TIFF compression have shown that the internal PCL LZF methods provide the best score for the types of applications PCL is suited for.
Definition at line 186 of file lzf_image_io.h.
| pcl::io::LZFDepth16ImageReader::LZFDepth16ImageReader | ( | ) | [inline] |
Empty constructor.
Definition at line 192 of file lzf_image_io.h.
| virtual pcl::io::LZFDepth16ImageReader::~LZFDepth16ImageReader | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 198 of file lzf_image_io.h.
| bool pcl::io::LZFDepth16ImageReader::read | ( | const std::string & | filename, | |
| pcl::PointCloud< PointT > & | cloud | |||
| ) | [inline] |
Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.
| [in] | filename | the file name to read the data from |
| [out] | cloud | the resultant output point cloud |
Definition at line 48 of file lzf_image_io.hpp.
References pcl::io::LZFImageReader::decompress(), pcl::io::CameraParameters::focal_length_x, pcl::io::CameraParameters::focal_length_y, pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::io::LZFImageReader::loadImageBlob(), pcl::io::LZFImageReader::parameters_, pcl::PointCloud< PointT >::points, pcl::io::CameraParameters::principal_point_x, pcl::io::CameraParameters::principal_point_y, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::width, and z_multiplication_factor_.
| bool pcl::io::LZFDepth16ImageReader::readOMP | ( | const std::string & | filename, | |
| pcl::PointCloud< PointT > & | cloud, | |||
| unsigned int | num_threads = 0 | |||
| ) | [inline] |
Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.
| [in] | filename | the file name to read the data from |
| [in] | num_threads | The number of threads to use. 0 indicates OpenMP is free to choose. |
| [out] | cloud | the resultant output point cloud |
Definition at line 113 of file lzf_image_io.hpp.
References pcl::io::LZFImageReader::decompress(), pcl::io::CameraParameters::focal_length_x, pcl::io::CameraParameters::focal_length_y, pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::io::LZFImageReader::loadImageBlob(), pcl::io::LZFImageReader::parameters_, pcl::PointCloud< PointT >::points, pcl::io::CameraParameters::principal_point_x, pcl::io::CameraParameters::principal_point_y, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and z_multiplication_factor_.
| virtual bool pcl::io::LZFDepth16ImageReader::readParameters | ( | std::istream & | is | ) | [virtual] |
Read camera parameters from a given stream and store them internally.
The parameters will be read from the <depth> ... </depth> tag.
Reimplemented from pcl::io::LZFImageReader.
double pcl::io::LZFDepth16ImageReader::z_multiplication_factor_ [protected] |
Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m], we need to multiply with 0.001).
Definition at line 227 of file lzf_image_io.h.
