pcl::io::OrganizedPointCloudCompression< PointT > Class Template Reference

#include <pcl/compression/organized_pointcloud_compression.h>

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List of all members.

Public Types

typedef pcl::PointCloud< PointT > PointCloud
typedef boost::shared_ptr
< PointCloud > 		PointCloudPtr
typedef boost::shared_ptr
< const PointCloud > 		PointCloudConstPtr

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< uint16_t > &disparityMap_arg, std::vector< uint8_t > &colorImage_arg, uint32_t width_arg, 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 (julius@kammerl.de)

Definition at line 61 of file organized_pointcloud_compression.h.

Member Typedef Documentation

template<typename PointT >
typedef pcl::PointCloud<PointT> pcl::io::OrganizedPointCloudCompression< PointT >::PointCloud

Definition at line 64 of file organized_pointcloud_compression.h.

template<typename PointT >
typedef boost::shared_ptr<const PointCloud> pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudConstPtr

Definition at line 66 of file organized_pointcloud_compression.h.

template<typename PointT >
typedef boost::shared_ptr<PointCloud> pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudPtr

Definition at line 65 of file organized_pointcloud_compression.h.

Constructor & Destructor Documentation

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

Empty Constructor.

Definition at line 69 of file organized_pointcloud_compression.h.

template<typename PointT >
virtual pcl::io::OrganizedPointCloudCompression< PointT >::~OrganizedPointCloudCompression (  )  [inline, virtual]

Empty deconstructor.

Definition at line 74 of file organized_pointcloud_compression.h.

Member Function Documentation

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

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

Parameters:
[in] cloud_arg,: input point cloud
[out] maxDepth_arg,: calculated maximum depth
[out] focalLength_arg,: estimated focal length

Definition at line 401 of file organized_pointcloud_compression.hpp.

References pcl::isFinite().

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud().

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

Decode point cloud from input stream.

Parameters:
[in] compressedDataIn_arg,: binary input stream containing compressed data
[out] cloud_arg,: reference to decoded point cloud
[in] bShowStatistics_arg,: show compression statistics during decoding
Returns:
false if an I/O error occured.

Definition at line 277 of file organized_pointcloud_compression.hpp.

References pcl::io::decodePNGToImage(), openni_wrapper::ShiftToDepthConverter::generateLookupTable(), openni_wrapper::ShiftToDepthConverter::isInitialized(), and openni_wrapper::ShiftToDepthConverter::shiftToDepth().

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 
) [inline]

Encode point cloud to output stream.

Parameters:
[in] cloud_arg,: point cloud to be compressed
[out] compressedDataOut_arg,: binary output stream containing compressed data
[in] doColorEncoding,: encode color information (if available)
[in] convertToMono,: convert rgb to mono
[in] pngLevel_arg,: png compression level (default compression: -1)
[in] bShowStatistics_arg,: show statistics

Definition at line 65 of file organized_pointcloud_compression.hpp.

References pcl::io::OrganizedPointCloudCompression< PointT >::analyzeOrganizedCloud(), pcl::io::encodeMonoImageToPNG(), and pcl::io::encodeRGBImageToPNG().

template<typename PointT >
void pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage ( std::vector< uint16_t > &  disparityMap_arg,
std::vector< uint8_t > &  colorImage_arg,
uint32_t  width_arg,
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 
) [inline]

Encode raw disparity map and color image.

Note:
Default values are configured according to the kinect/asus device specifications
Parameters:
[in] disparityMap_arg,: pointer to raw 16-bit disparity map
[in] disparityMap_arg,: pointer to raw 8-bit rgb color image
[in] width_arg,: width of disparity map/color image
[in] height_arg,: height of disparity map/color image
[out] compressedDataOut_arg,: binary output stream containing compressed data
[in] doColorEncoding,: encode color information (if available)
[in] convertToMono,: convert rgb to mono
[in] pngLevel_arg,: png compression level (default compression: -1)
[in] bShowStatistics_arg,: show statistics
[in] focalLength_arg focal length
[in] disparityShift_arg disparity shift
[in] disparityScale_arg disparity scaling

Definition at line 159 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:
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