Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the octree root node. This is global information that is not the same as the metadata for the root node. Inherits OutofcoreAbstractMetadata interface for metadata in pcl_outofcore. More...

#include <outofcore_base_data.h>

Inheritance diagram for pcl::outofcore::OutofcoreOctreeBaseMetadata:

[legend]

List of all members.

Public Member Functions
virtual std::string	getCoordinateSystem () const
	Get metadata information about the coordinate system.
virtual boost::uint64_t	getDepth () const
virtual std::vector < boost::uint64_t > &	getLODPoints ()
virtual std::vector < boost::uint64_t >	getLODPoints () const
virtual boost::uint64_t	getLODPoints (const boost::uint64_t &depth_index) const
	Get the number of points at the given depth.
boost::filesystem::path	getMetadataFilename () const
	Gets the name of the JSON file.
virtual std::string	getOctreeName ()
	Returns the name of the tree; this is not the same as the filename.
int	getOutofcoreVersion () const
	et the outofcore version read from the "version" field of the JSON object
virtual std::string	getPointType ()
virtual int	loadMetadataFromDisk ()
	Loads the data from a JSON file located at metadata_filename_.
virtual int	loadMetadataFromDisk (const boost::filesystem::path &path_to_metadata)
	Loads the data from a JSON file located at metadata_filename_.
	OutofcoreOctreeBaseMetadata ()
	Empty constructor.
	OutofcoreOctreeBaseMetadata (const boost::filesystem::path &path_arg)
	Load metadata from disk.
	OutofcoreOctreeBaseMetadata (const OutofcoreOctreeBaseMetadata &orig)
	Copy constructor.
virtual void	serializeMetadataToDisk ()
	Writes the data to a JSON file located at metadata_filename_.
virtual void	setCoordinateSystem (const std::string &coordinate_system)
	Set information about the coordinate system.
virtual void	setDepth (const boost::uint64_t &depth_arg)
	Set the depth of the tree corresponding to JSON "lod:number". This should always be equal to LOD_num_points_.size()-1.
virtual void	setLODPoints (const boost::uint64_t &depth)
	Initialize the LOD vector with points all 0.
virtual void	setLODPoints (std::vector< boost::uint64_t > &lod_points_arg)
	Copy a vector of LOD points into this metadata (dangerous!)
virtual void	setLODPoints (const boost::uint64_t &lod_index_arg, const boost::uint64_t &num_points_arg, const bool increment=true)
	Set the number of points at lod_index_arg manually.
void	setMetadataFilename (const boost::filesystem::path &path_to_metadata)
	Sets the name of the JSON file.
virtual void	setOctreeName (const std::string &name_arg)
	Sets the name of the tree.
void	setOutofcoreVersion (const int version)
	Set the outofcore version stored in the "version" field of the JSON object.
virtual void	setPointType (const std::string &point_type_arg)
	Sets a single string identifying the point type of this tree.
	~OutofcoreOctreeBaseMetadata ()
	Default destructor.
Protected Member Functions
virtual void	writeMetadataString (std::vector< char > &buf)
	Writes the JSON metadata to a string.
Protected Attributes
std::string	coordinate_system_
	Coordinate system; maps to JSON "coord_sys":string.
boost::uint64_t	levels_of_depth_
	Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int.
std::vector< boost::uint64_t >	LOD_num_points_
	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.
boost::filesystem::path	metadata_filename_
	Metadata (JSON) file pathname (octree extension JSON file)
int	outofcore_version_
	Outofcore library version identifier; maps to JSON "version":int.
std::string	point_type_
	Delineates the point types of the field; maps to JSON "pointtype":string:
std::string	tree_name_
	Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":string.
Friends
std::ostream &	operator<< (std::ostream &os, const OutofcoreOctreeBaseMetadata &metadata_arg)
	Provide operator overload to stream ascii file data.

Detailed Description

Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the octree root node. This is global information that is not the same as the metadata for the root node. Inherits OutofcoreAbstractMetadata interface for metadata in pcl_outofcore.

This class encapsulates the outofcore base metadata serialization/deserialization. At the time it was written, this depended on cJSON to write JSON objects to disk. This class can be extended to have arbitrary JSON ascii metadata fields saved to the metadata object file on disk. The class has been encapuslated to abstract the detailso of the on-disk format from the outofcore implementation. For example, the format could be changed to XML/YAML, or any dynamic format at some point.

The JSON file is formatted in the following way:

     {
       "name": "nameoftree",
       "version": 3,
       "pointtype": "urp",               #(needs to be changed*)
       "lod": 3,                         #(depth of the tree
       "numpts":  [X0, X1, X2, ..., XD], #total number of points at each LOD
       "coord_system": "ECEF"            #the tree is not affected by this value
     }

Any properties not stored in the metadata file are computed when the file is loaded. By convention, and for historical reasons from the original Urban Robotics implementation, the JSON file representing the overall tree is a JSON file named with the ".octree" extension.

Author:: Stephen Fox (foxstephend@gmail.com)

Definition at line 97 of file outofcore_base_data.h.

Constructor & Destructor Documentation

pcl::outofcore::OutofcoreOctreeBaseMetadata::OutofcoreOctreeBaseMetadata ( )

Empty constructor.

Definition at line 55 of file outofcore_base_data.cpp.

pcl::outofcore::OutofcoreOctreeBaseMetadata::OutofcoreOctreeBaseMetadata ( const boost::filesystem::path & path_arg )

Load metadata from disk.

Parameters:

[in] path_arg Location of JSON metadata file to load from disk

Definition at line 68 of file outofcore_base_data.cpp.

pcl::outofcore::OutofcoreOctreeBaseMetadata::~OutofcoreOctreeBaseMetadata ( )

Default destructor.

Definition at line 83 of file outofcore_base_data.cpp.

pcl::outofcore::OutofcoreOctreeBaseMetadata::OutofcoreOctreeBaseMetadata ( const OutofcoreOctreeBaseMetadata & orig )

Copy constructor.

Definition at line 90 of file outofcore_base_data.cpp.

Member Function Documentation

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::getCoordinateSystem ( ) const [virtual]

Get metadata information about the coordinate system.

Definition at line 349 of file outofcore_base_data.cpp.

boost::uint64_t pcl::outofcore::OutofcoreOctreeBaseMetadata::getDepth ( ) const [virtual]

Definition at line 363 of file outofcore_base_data.cpp.

std::vector< boost::uint64_t > & pcl::outofcore::OutofcoreOctreeBaseMetadata::getLODPoints ( ) [virtual]

Definition at line 284 of file outofcore_base_data.cpp.

std::vector< boost::uint64_t > pcl::outofcore::OutofcoreOctreeBaseMetadata::getLODPoints ( ) const [virtual]

Definition at line 292 of file outofcore_base_data.cpp.

boost::uint64_t pcl::outofcore::OutofcoreOctreeBaseMetadata::getLODPoints ( const boost::uint64_t & depth_index ) const [virtual]

Get the number of points at the given depth.

Definition at line 300 of file outofcore_base_data.cpp.

boost::filesystem::path pcl::outofcore::OutofcoreOctreeBaseMetadata::getMetadataFilename ( ) const

Gets the name of the JSON file.

Definition at line 122 of file outofcore_base_data.cpp.

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::getOctreeName ( ) [virtual]

Returns the name of the tree; this is not the same as the filename.

Definition at line 252 of file outofcore_base_data.cpp.

int pcl::outofcore::OutofcoreOctreeBaseMetadata::getOutofcoreVersion ( ) const

et the outofcore version read from the "version" field of the JSON object

Definition at line 106 of file outofcore_base_data.cpp.

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::getPointType ( ) [virtual]

Definition at line 268 of file outofcore_base_data.cpp.

int pcl::outofcore::OutofcoreOctreeBaseMetadata::loadMetadataFromDisk ( ) [virtual]

Loads the data from a JSON file located at metadata_filename_.

Definition at line 175 of file outofcore_base_data.cpp.

int pcl::outofcore::OutofcoreOctreeBaseMetadata::loadMetadataFromDisk ( const boost::filesystem::path & path_to_metadata ) [virtual]

Loads the data from a JSON file located at metadata_filename_.

Implements pcl::outofcore::OutofcoreAbstractMetadata.

Definition at line 243 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::serializeMetadataToDisk ( ) [virtual]

Writes the data to a JSON file located at metadata_filename_.

Implements pcl::outofcore::OutofcoreAbstractMetadata.

Definition at line 138 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setCoordinateSystem ( const std::string & coordinate_system ) [virtual]

Set information about the coordinate system.

Definition at line 341 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setDepth ( const boost::uint64_t & depth_arg ) [virtual]

Set the depth of the tree corresponding to JSON "lod:number". This should always be equal to LOD_num_points_.size()-1.

Definition at line 357 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setLODPoints ( const boost::uint64_t & depth ) [virtual]

Initialize the LOD vector with points all 0.

Definition at line 308 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setLODPoints ( std::vector< boost::uint64_t > & lod_points_arg ) [virtual]

Copy a vector of LOD points into this metadata (dangerous!)

Definition at line 318 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setLODPoints	(	const boost::uint64_t &	lod_index_arg,
		const boost::uint64_t &	num_points_arg,
		const bool	increment = `true`
	)		`[virtual]`

Set the number of points at lod_index_arg manually.

Parameters:

[in]	lod_index_arg	the depth at which this increments the number of LOD points
[in]	num_points_arg	The number of points to store at that LOD
[in]	increment	If true, increments the number of points at the LOD rather than overwriting the number of points

Definition at line 328 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setMetadataFilename ( const boost::filesystem::path & path_to_metadata )

Sets the name of the JSON file.

Definition at line 130 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setOctreeName ( const std::string & name_arg ) [virtual]

Sets the name of the tree.

Definition at line 260 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setOutofcoreVersion ( const int version )

Set the outofcore version stored in the "version" field of the JSON object.

Definition at line 114 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::setPointType ( const std::string & point_type_arg ) [virtual]

Sets a single string identifying the point type of this tree.

Definition at line 276 of file outofcore_base_data.cpp.

void pcl::outofcore::OutofcoreOctreeBaseMetadata::writeMetadataString ( std::vector< char > & buf ) [protected, virtual]

Writes the JSON metadata to a string.

Implements pcl::outofcore::OutofcoreAbstractMetadata.

Definition at line 372 of file outofcore_base_data.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const OutofcoreOctreeBaseMetadata &	metadata_arg
	)		`[friend]`

Provide operator overload to stream ascii file data.

Definition at line 381 of file outofcore_base_data.cpp.

Member Data Documentation

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::coordinate_system_ [protected]

Coordinate system; maps to JSON "coord_sys":string.

Definition at line 200 of file outofcore_base_data.h.

boost::uint64_t pcl::outofcore::OutofcoreOctreeBaseMetadata::levels_of_depth_ [protected]

Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int.

Definition at line 211 of file outofcore_base_data.h.

std::vector<boost::uint64_t> pcl::outofcore::OutofcoreOctreeBaseMetadata::LOD_num_points_ [protected]

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.

Definition at line 214 of file outofcore_base_data.h.

boost::filesystem::path pcl::outofcore::OutofcoreOctreeBaseMetadata::metadata_filename_ [protected]

Metadata (JSON) file pathname (octree extension JSON file)

Definition at line 194 of file outofcore_base_data.h.

int pcl::outofcore::OutofcoreOctreeBaseMetadata::outofcore_version_ [protected]

Outofcore library version identifier; maps to JSON "version":int.

Definition at line 197 of file outofcore_base_data.h.

std::string pcl::outofcore::OutofcoreOctreeBaseMetadata::point_type_ [protected]

Delineates the point types of the field; maps to JSON "pointtype":string: