PCL-LZF image format reader. The PCL-LZF image format is nothing else but a LZF-modified compression over an existing file type (e.g., PNG). However, in certain situations, like RGB data for example, an [RGBRGB...RGB] array will be first reordered into [RR...RGG...GBB...B] in order to ensure better compression. More...

#include <lzf_image_io.h>

Inheritance diagram for pcl::io::LZFImageReader:

[legend]

List of all members.

Public Member Functions
uint32_t	getHeight () const
	Get the image height as read from disk.
std::string	getImageType () const
	Get the type of the image read from disk.
CameraParameters	getParameters () const
	Get the camera parameters currently being used returns a CameraParameters struct.
uint32_t	getWidth () const
	Get the image width as read from disk.
	LZFImageReader ()
bool	readParameters (const std::string &filename)
	Read camera parameters from a given file and store them internally.
void	setParameters (const CameraParameters &parameters)
	Read the parameters from a struct instead.
virtual	~LZFImageReader ()
Protected Member Functions
bool	decompress (const std::vector< char > &input, std::vector< char > &output)
	Realtime LZF decompression.
bool	loadImageBlob (const std::string &filename, std::vector< char > &data, uint32_t &uncompressed_size)
	Load a compressed image array from disk.
virtual bool	readParameters (std::istream &)
	Read camera parameters from a given stream and store them internally.
Protected Attributes
uint32_t	height_
	The image height, as read from the file.
std::string	image_type_identifier_
	The image type string, as read from the file.
CameraParameters	parameters_
	Internal set of camera parameters.
uint32_t	width_
	The image width, as read from the file.

Detailed Description

PCL-LZF image format reader. The PCL-LZF image format is nothing else but a LZF-modified compression over an existing file type (e.g., PNG). However, in certain situations, like RGB data for example, an [RGBRGB...RGB] array will be first reordered into [RR...RGG...GBB...B] in order to ensure better compression.

The current list of compressors/decompressors include: * LZF compressed 24-bit [RR...RGG...GBB...B] data * LZF compressed 8-bit Bayer data * LZF compressed 16-bit YUV422 data * LZF compressed 16-bit depth data

Please note that files found using the above mentioned extensions will be treated as such. Inherit from this class and overwrite the I/O methods if you plan to change this behavior.

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.

Author:: Radu B. Rusu

Definition at line 86 of file lzf_image_io.h.

Constructor & Destructor Documentation

pcl::io::LZFImageReader::LZFImageReader ( )

Empty constructor

Definition at line 360 of file lzf_image_io.cpp.

virtual pcl::io::LZFImageReader::~LZFImageReader ( ) [inline, virtual]

Empty destructor

Definition at line 92 of file lzf_image_io.h.

Member Function Documentation

bool pcl::io::LZFImageReader::decompress	(	const std::vector< char > &	input,
		std::vector< char > &	output
	)		`[protected]`

Realtime LZF decompression.

Parameters:

[in]	input	the array to decompress
[out]	output	the decompressed array

Returns:: true if operation successful, false otherwise

Definition at line 479 of file lzf_image_io.cpp.

uint32_t pcl::io::LZFImageReader::getHeight ( ) const [inline]

Get the image height as read from disk.

Definition at line 125 of file lzf_image_io.h.

std::string pcl::io::LZFImageReader::getImageType ( ) const [inline]

Get the type of the image read from disk.

Definition at line 132 of file lzf_image_io.h.

CameraParameters pcl::io::LZFImageReader::getParameters ( ) const [inline]

Get the camera parameters currently being used returns a CameraParameters struct.

Definition at line 111 of file lzf_image_io.h.

uint32_t pcl::io::LZFImageReader::getWidth ( ) const [inline]

Get the image width as read from disk.

Definition at line 118 of file lzf_image_io.h.

bool pcl::io::LZFImageReader::loadImageBlob	(	const std::string &	filename,
		std::vector< char > &	data,
		uint32_t &	uncompressed_size
	)		`[protected]`

Load a compressed image array from disk.

Parameters:

[in]	filename	the file name to load the data from
[out]	data_size	the size of the data

Returns:: an array filled with the data loaded from disk, NULL if error

Definition at line 370 of file lzf_image_io.cpp.

bool pcl::io::LZFImageReader::readParameters ( const std::string & filename )

Read camera parameters from a given file and store them internally.

Returns:: true if operation successful, false otherwise

Definition at line 502 of file lzf_image_io.cpp.

virtual bool pcl::io::LZFImageReader::readParameters ( std::istream & ) [inline, protected, virtual]

Read camera parameters from a given stream and store them internally.

Returns:: true if operation successful, false otherwise

Reimplemented in pcl::io::LZFRGB24ImageReader, and pcl::io::LZFDepth16ImageReader.

Definition at line 142 of file lzf_image_io.h.

void pcl::io::LZFImageReader::setParameters ( const CameraParameters & parameters ) [inline]

Read the parameters from a struct instead.

Parameters:

[in] parameters Camera parameters to use

Definition at line 103 of file lzf_image_io.h.

Member Data Documentation

uint32_t pcl::io::LZFImageReader::height_ [protected]

The image height, as read from the file.

Definition at line 167 of file lzf_image_io.h.

std::string pcl::io::LZFImageReader::image_type_identifier_ [protected]

The image type string, as read from the file.

Definition at line 170 of file lzf_image_io.h.

CameraParameters pcl::io::LZFImageReader::parameters_ [protected]

Internal set of camera parameters.

Definition at line 173 of file lzf_image_io.h.

uint32_t pcl::io::LZFImageReader::width_ [protected]

The image width, as read from the file.

Definition at line 164 of file lzf_image_io.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation