Public Types |
Public Member Functions |
Protected Member Functions |
Protected Attributes |
Static Protected Attributes

pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT > Class Template Reference

**Octree** pointcloud compression class
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`#include <octree_pointcloud_compression.h>`

Inheritance diagram for pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >:

## Public Types | |

typedef OctreeT::BranchNode | BranchNode |

typedef OctreeT::LeafNode | LeafNode |

typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloud | PointCloud |

typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr | PointCloudConstPtr |

typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloudPtr | PointCloudPtr |

typedef PointCloudCompression < PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > > | RealTimeStreamCompression |

typedef PointCloudCompression < PointT, LeafT, BranchT, OctreeBase< int, LeafT, BranchT > > | SinglePointCloudCompressionLowMemory |

## Public Member Functions | |

void | decodePointCloud (std::istream &compressedTreeDataIn_arg, PointCloudPtr &cloud_arg) |

Decode point cloud from input stream. | |

void | encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressedTreeDataOut_arg) |

Encode point cloud to output stream. | |

PointCloudPtr | getOutputCloud () const |

Get a pointer to the output point cloud dataset. | |

void | initialization () |

Initialize globals. | |

PointCloudCompression (compression_Profiles_e compressionProfile_arg=MED_RES_ONLINE_COMPRESSION_WITH_COLOR, bool showStatistics_arg=false, const double pointResolution_arg=0.001, const double octreeResolution_arg=0.01, bool doVoxelGridDownDownSampling_arg=false, const unsigned int iFrameRate_arg=30, bool doColorEncoding_arg=true, const unsigned char colorBitResolution_arg=6) | |

Constructor. | |

void | setOutputCloud (const PointCloudPtr &cloud_arg) |

Provide a pointer to the output data set. | |

virtual | ~PointCloudCompression () |

Empty deconstructor. | |

## Protected Member Functions | |

virtual void | deserializeTreeCallback (LeafNode &, const OctreeKey &key_arg) |

Decode leaf nodes information during deserialization. | |

void | entropyDecoding (std::istream &compressedTreeDataIn_arg) |

Entropy decoding of input binary stream and output to information vectors. | |

void | entropyEncoding (std::ostream &compressedTreeDataOut_arg) |

Apply entropy encoding to encoded information and output to binary stream. | |

void | readFrameHeader (std::istream &compressedTreeDataIn_arg) |

Read frame information to output stream. | |

virtual void | serializeTreeCallback (LeafNode &leaf_arg, const OctreeKey &key_arg) |

Encode leaf node information during serialization. | |

void | syncToHeader (std::istream &compressedTreeDataIn_arg) |

Synchronize to frame header. | |

void | writeFrameHeader (std::ostream &compressedTreeDataOut_arg) |

Write frame information to output stream. | |

## Protected Attributes | |

std::vector< char > | binaryColorTreeVector_ |

Interator on binary tree structure vector. | |

std::vector< char > | binaryTreeDataVector_ |

Vector for storing binary tree structure. | |

bool | bShowStatistics |

bool | cloudWithColor_ |

const unsigned char | colorBitResolution_ |

ColorCoding< PointT > | colorCoder_ |

Color coding instance. | |

uint64_t | compressedColorDataLen_ |

uint64_t | compressedPointDataLen_ |

bool | dataWithColor_ |

bool | doColorEncoding_ |

bool | doVoxelGridEnDecoding_ |

StaticRangeCoder | entropyCoder_ |

Static range coder instance. | |

uint32_t | frameID_ |

bool | iFrame_ |

uint32_t | iFrameCounter_ |

uint32_t | iFrameRate_ |

const double | octreeResolution_ |

PointCloudPtr | output_ |

Pointer to output point cloud dataset. | |

PointCoding< PointT > | pointCoder_ |

Point coding instance. | |

unsigned char | pointColorOffset_ |

uint64_t | pointCount_ |

std::vector< unsigned int > | pointCountDataVector_ |

Vector for storing points per voxel information. | |

std::vector< unsigned int > ::const_iterator | pointCountDataVectorIterator_ |

Interator on points per voxel vector. | |

const double | pointResolution_ |

const compression_Profiles_e | selectedProfile_ |

## Static Protected Attributes | |

static const char * | frameHeaderIdentifier_ = "<PCL-COMPRESSED>" |

class pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >

**Octree** pointcloud compression class

**Note:**- This class enables compression and decompression of point cloud data based on octree data structures.
- typename: PointT: type of point used in pointcloud

Definition at line 71 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreeT::BranchNode pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::BranchNode |

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >.

Definition at line 81 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreeT::LeafNode pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::LeafNode |

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >.

Definition at line 80 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloud pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloud |

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >.

Definition at line 76 of file octree_pointcloud_compression.h.

typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudConstPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr |

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >.

Definition at line 78 of file octree_pointcloud_compression.h.

typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr |

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >.

Definition at line 77 of file octree_pointcloud_compression.h.

typedef PointCloudCompression<PointT, LeafT, BranchT, Octree2BufBase<int, LeafT, BranchT> > pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::RealTimeStreamCompression |

Definition at line 83 of file octree_pointcloud_compression.h.

typedef PointCloudCompression<PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> > pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::SinglePointCloudCompressionLowMemory |

Definition at line 84 of file octree_pointcloud_compression.h.

pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudCompression | ( | compression_Profiles_e | compressionProfile_arg = `MED_RES_ONLINE_COMPRESSION_WITH_COLOR` , |

bool | showStatistics_arg = `false` , |
||

const double | pointResolution_arg = `0.001` , |
||

const double | octreeResolution_arg = `0.01` , |
||

bool | doVoxelGridDownDownSampling_arg = `false` , |
||

const unsigned int | iFrameRate_arg = `30` , |
||

bool | doColorEncoding_arg = `true` , |
||

const unsigned char | colorBitResolution_arg = `6` |
||

) | ` [inline]` |

Constructor.

**Parameters:**-
compressionProfile_arg,: define compression profile octreeResolution_arg,: octree resolution at lowest octree level pointResolution_arg,: precision of point coordinates doVoxelGridDownDownSampling_arg,: voxel grid filtering iFrameRate_arg,: i-frame encoding rate doColorEncoding_arg,: enable/disable color coding colorBitResolution_arg,: color bit depth showStatistics_arg,: output compression statistics

Definition at line 97 of file octree_pointcloud_compression.h.

virtual pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::~PointCloudCompression | ( | ) | ` [inline, virtual]` |

Empty deconstructor.

Definition at line 126 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::decodePointCloud | ( | std::istream & | compressedTreeDataIn_arg, |

PointCloudPtr & | cloud_arg |
||

) |

Decode point cloud from input stream.

**Parameters:**-
compressedTreeDataIn_arg,: binary input stream containing compressed data cloud_arg,: reference to decoded point cloud

Definition at line 174 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::deserializeTreeCallback | ( | LeafNode & | , |

const OctreeKey & | key_arg |
||

) | ` [protected, virtual]` |

Decode leaf nodes information during deserialization.

**Parameters:**-
leaf_arg,: reference to new leaf node key_arg,: octree key of new leaf node

Definition at line 506 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud | ( | const PointCloudConstPtr & | cloud_arg, |

std::ostream & | compressedTreeDataOut_arg |
||

) |

Encode point cloud to output stream.

**Parameters:**-
cloud_arg,: point cloud to be compressed compressedTreeDataOut_arg,: binary output stream containing compressed data

Definition at line 58 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::entropyDecoding | ( | std::istream & | compressedTreeDataIn_arg | ) | ` [protected]` |

Entropy decoding of input binary stream and output to information vectors.

**Parameters:**-
compressedTreeDataIn_arg,: binary input stream

Definition at line 311 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::entropyEncoding | ( | std::ostream & | compressedTreeDataOut_arg | ) | ` [protected]` |

Apply entropy encoding to encoded information and output to binary stream.

**Parameters:**-
compressedTreeDataOut_arg,: binary output stream

Definition at line 251 of file octree_pointcloud_compression.hpp.

PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::getOutputCloud | ( | ) | const` [inline]` |

Get a pointer to the output point cloud dataset.

**Returns:**- pointer to pointcloud output class.

Definition at line 177 of file octree_pointcloud_compression.h.

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::initialization | ( | ) | ` [inline]` |

Initialize globals.

Definition at line 131 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::readFrameHeader | ( | std::istream & | compressedTreeDataIn_arg | ) | ` [protected]` |

Read frame information to output stream.

**Parameters:**-
compressedTreeDataIn_arg,: binary input stream

Definition at line 430 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback | ( | LeafNode & | leaf_arg, |

const OctreeKey & | key_arg |
||

) | ` [protected, virtual]` |

Encode leaf node information during serialization.

**Parameters:**-
leaf_arg,: reference to new leaf node key_arg,: octree key of new leaf node

Definition at line 471 of file octree_pointcloud_compression.hpp.

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::setOutputCloud | ( | const PointCloudPtr & | cloud_arg | ) | ` [inline]` |

Provide a pointer to the output data set.

**Parameters:**-
cloud_arg,: the boost shared pointer to a PointCloud message

Definition at line 165 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::syncToHeader | ( | std::istream & | compressedTreeDataIn_arg | ) | ` [protected]` |

Synchronize to frame header.

**Parameters:**-
compressedTreeDataIn_arg,: binary input stream

Definition at line 415 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::writeFrameHeader | ( | std::ostream & | compressedTreeDataOut_arg | ) | ` [protected]` |

Write frame information to output stream.

**Parameters:**-
compressedTreeDataOut_arg,: binary output stream

Definition at line 368 of file octree_pointcloud_compression.hpp.

std::vector<char> pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::binaryColorTreeVector_` [protected]` |

Interator on binary tree structure vector.

Definition at line 250 of file octree_pointcloud_compression.h.

std::vector<char> pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::binaryTreeDataVector_` [protected]` |

Vector for storing binary tree structure.

Definition at line 247 of file octree_pointcloud_compression.h.

bool pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::bShowStatistics` [protected]` |

Definition at line 280 of file octree_pointcloud_compression.h.

bool pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::cloudWithColor_` [protected]` |

Definition at line 275 of file octree_pointcloud_compression.h.

const unsigned char pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::colorBitResolution_` [protected]` |

Definition at line 290 of file octree_pointcloud_compression.h.

ColorCoding<PointT> pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::colorCoder_` [protected]` |

Color coding instance.

Definition at line 259 of file octree_pointcloud_compression.h.

uint64_t pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::compressedColorDataLen_` [protected]` |

Definition at line 282 of file octree_pointcloud_compression.h.

uint64_t pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::compressedPointDataLen_` [protected]` |

Definition at line 281 of file octree_pointcloud_compression.h.

bool pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::dataWithColor_` [protected]` |

Definition at line 276 of file octree_pointcloud_compression.h.

bool pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::doColorEncoding_` [protected]` |

Definition at line 274 of file octree_pointcloud_compression.h.

bool pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::doVoxelGridEnDecoding_` [protected]` |

Definition at line 267 of file octree_pointcloud_compression.h.

StaticRangeCoder pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::entropyCoder_` [protected]` |

Static range coder instance.

Definition at line 265 of file octree_pointcloud_compression.h.

const char * pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::frameHeaderIdentifier_ = "<PCL-COMPRESSED>"` [static, protected]` |

Definition at line 285 of file octree_pointcloud_compression.h.

uint32_t pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::frameID_` [protected]` |

Definition at line 270 of file octree_pointcloud_compression.h.

bool pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::iFrame_` [protected]` |

Definition at line 272 of file octree_pointcloud_compression.h.

uint32_t pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::iFrameCounter_` [protected]` |

Definition at line 269 of file octree_pointcloud_compression.h.

uint32_t pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::iFrameRate_` [protected]` |

Definition at line 268 of file octree_pointcloud_compression.h.

const double pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::octreeResolution_` [protected]` |

Definition at line 289 of file octree_pointcloud_compression.h.

PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::output_` [protected]` |

Pointer to output point cloud dataset.

Definition at line 244 of file octree_pointcloud_compression.h.

PointCoding<PointT> pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::pointCoder_` [protected]` |

Point coding instance.

Definition at line 262 of file octree_pointcloud_compression.h.

unsigned char pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::pointColorOffset_` [protected]` |

Definition at line 277 of file octree_pointcloud_compression.h.

uint64_t pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::pointCount_` [protected]` |

Definition at line 271 of file octree_pointcloud_compression.h.

std::vector<unsigned int> pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::pointCountDataVector_` [protected]` |

Vector for storing points per voxel information.

Definition at line 253 of file octree_pointcloud_compression.h.

std::vector<unsigned int>::const_iterator pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::pointCountDataVectorIterator_` [protected]` |

Interator on points per voxel vector.

Definition at line 256 of file octree_pointcloud_compression.h.

const double pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::pointResolution_` [protected]` |

Definition at line 288 of file octree_pointcloud_compression.h.

const compression_Profiles_e pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::selectedProfile_` [protected]` |

Definition at line 287 of file octree_pointcloud_compression.h.

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