#include <organized_pointcloud_compression.h>

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
Public Member Functions
bool	decodePointCloud (std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
	Decode point cloud from input stream.
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.
	OrganizedPointCloudCompression ()
	Empty Constructor.
virtual	~OrganizedPointCloudCompression ()
	Empty deconstructor.
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.
Private Attributes
openni_wrapper::ShiftToDepthConverter	sd_converter_
Static Private Attributes
static const char *	frameHeaderIdentifier_ = "<PCL-ORG-COMPRESSED>"

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 `[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.

template<typename PointT >

bool pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud	(	std::istream &	compressedDataIn_arg,
		PointCloudPtr &	cloud_arg,
		bool	bShowStatistics_arg = `true`
	)

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.

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`
	)

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.

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`
	)

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.

Member Data Documentation

template<typename PointT>

const char * pcl::io::OrganizedPointCloudCompression< PointT >::frameHeaderIdentifier_ = "<PCL-ORG-COMPRESSED>" [static, private]

Definition at line 143 of file organized_pointcloud_compression.h.

template<typename PointT>

openni_wrapper::ShiftToDepthConverter pcl::io::OrganizedPointCloudCompression< PointT >::sd_converter_ [private]

Definition at line 146 of file organized_pointcloud_compression.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Static Private Attributes

Detailed Description

template<typename PointT> class pcl::io::OrganizedPointCloudCompression< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::io::OrganizedPointCloudCompression< PointT >