Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node. More...
#include <outofcore_node_data.h>
Public Types | |
| typedef boost::shared_ptr < const OutofcoreOctreeNodeMetadata > | ConstPtr |
| typedef boost::shared_ptr < OutofcoreOctreeNodeMetadata > | Ptr |
Public Member Functions | |
| void | getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const |
| Get the lower and upper corners of the bounding box enclosing this node. | |
| const Eigen::Vector3d & | getBoundingBoxMax () const |
| Get the upper bounding box corner. | |
| const Eigen::Vector3d & | getBoundingBoxMin () const |
| Get the lower bounding box corner. | |
| const boost::filesystem::path & | getDirectoryPathname () const |
| Get the directory path name; this is the parent_path of. | |
| const boost::filesystem::path & | getMetadataFilename () const |
| Sets the name of the JSON file. | |
| int | getOutofcoreVersion () const |
| et the outofcore version read from the "version" field of the JSON object | |
| const boost::filesystem::path & | getPCDFilename () const |
| Get the path to the PCD file. | |
| const Eigen::Vector3d & | getVoxelCenter () const |
| Get the midpoint of this node's bounding box. | |
| int | loadMetadataFromDisk () |
| Loads the data from a JSON file located at metadata_filename_. | |
| int | loadMetadataFromDisk (const boost::filesystem::path &path_to_metadata) |
| Loads the data from a JSON file located at metadata_filename_. | |
| OutofcoreOctreeNodeMetadata () | |
| Empty constructor. | |
| OutofcoreOctreeNodeMetadata (const OutofcoreOctreeNodeMetadata &orig) | |
| Copy constructor. | |
| void | serializeMetadataToDisk () |
| Writes the data to a JSON file located at metadata_filename_. | |
| void | setBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) |
| Set the lower and upper corners of the bounding box. | |
| void | setBoundingBoxMax (const Eigen::Vector3d &max_bb) |
| Set the upper bounding box corner. | |
| void | setBoundingBoxMin (const Eigen::Vector3d &min_bb) |
| Set the lower bounding box corner. | |
| void | setDirectoryPathname (const boost::filesystem::path &directory_pathname) |
| Set the directory path name. | |
| void | setMetadataFilename (const boost::filesystem::path &path_to_metadata) |
| Gets the name of the JSON file. | |
| void | setOutofcoreVersion (const int version) |
| Set the outofcore version stored in the "version" field of the JSON object. | |
| void | setPCDFilename (const boost::filesystem::path &point_filename) |
| Set the point filename; extension .pcd. | |
| ~OutofcoreOctreeNodeMetadata () | |
Protected Member Functions | |
| void | updateVoxelCenter () |
| Computes the midpoint; used when bounding box is changed. | |
Protected Attributes | |
| boost::filesystem::path | binary_point_filename_ |
| Path to PCD file (i.e. "bin"ary point data) | |
| boost::filesystem::path | directory_ |
| Directory this metadata belongs in. | |
| Eigen::Vector3d | max_bb_ |
| The X,Y,Z axes-aligned maximum corner for the bounding box. | |
| boost::filesystem::path | metadata_filename_ |
| Metadata (JSON) file pathname (oct_idx extension JSON file) | |
| Eigen::Vector3d | midpoint_xyz_ |
| Voxel center; not stored on disk. | |
| Eigen::Vector3d | min_bb_ |
| The X,Y,Z axes-aligned minimum corner for the bounding box. | |
| int | outofcore_version_ |
| Outofcore library version identifier. | |
Friends | |
| std::ostream & | operator<< (std::ostream &os, const OutofcoreOctreeNodeMetadata &metadata_arg) |
Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node.
This class encapsulates the outofcore node 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 ascii metadata fields saved to the metadata object file on disk.
The JSON file is formatted in the following way:
{
"version": 3,
"bb_min": [xxx,yyy,zzz],
"bb_max": [xxx,yyy,zzz],
"bin": "path_to_data.pcd"
}
Any properties not stored in the metadata file are computed when the file is loaded (e.g. midpoint_xyz_). By convention, the JSON files are stored on disk with .oct_idx extension.
Definition at line 83 of file outofcore_node_data.h.
| typedef boost::shared_ptr<const OutofcoreOctreeNodeMetadata> pcl::outofcore::OutofcoreOctreeNodeMetadata::ConstPtr |
Definition at line 89 of file outofcore_node_data.h.
| typedef boost::shared_ptr<OutofcoreOctreeNodeMetadata> pcl::outofcore::OutofcoreOctreeNodeMetadata::Ptr |
Definition at line 88 of file outofcore_node_data.h.
Empty constructor.
Definition at line 56 of file outofcore_node_data.cpp.
Definition at line 69 of file outofcore_node_data.cpp.
| pcl::outofcore::OutofcoreOctreeNodeMetadata::OutofcoreOctreeNodeMetadata | ( | const OutofcoreOctreeNodeMetadata & | orig | ) |
Copy constructor.
Definition at line 75 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBox | ( | Eigen::Vector3d & | min_bb, |
| Eigen::Vector3d & | max_bb | ||
| ) | const |
Get the lower and upper corners of the bounding box enclosing this node.
Definition at line 125 of file outofcore_node_data.cpp.
| const Eigen::Vector3d & pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBoxMax | ( | ) | const |
Get the upper bounding box corner.
Definition at line 108 of file outofcore_node_data.cpp.
| const Eigen::Vector3d & pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBoxMin | ( | ) | const |
Get the lower bounding box corner.
Definition at line 91 of file outofcore_node_data.cpp.
| const boost::filesystem::path & pcl::outofcore::OutofcoreOctreeNodeMetadata::getDirectoryPathname | ( | ) | const |
Get the directory path name; this is the parent_path of.
Definition at line 144 of file outofcore_node_data.cpp.
| const boost::filesystem::path & pcl::outofcore::OutofcoreOctreeNodeMetadata::getMetadataFilename | ( | ) | const |
Sets the name of the JSON file.
Definition at line 192 of file outofcore_node_data.cpp.
et the outofcore version read from the "version" field of the JSON object
Definition at line 176 of file outofcore_node_data.cpp.
| const boost::filesystem::path & pcl::outofcore::OutofcoreOctreeNodeMetadata::getPCDFilename | ( | ) | const |
Get the path to the PCD file.
Definition at line 159 of file outofcore_node_data.cpp.
| const Eigen::Vector3d & pcl::outofcore::OutofcoreOctreeNodeMetadata::getVoxelCenter | ( | ) | const |
Get the midpoint of this node's bounding box.
Definition at line 209 of file outofcore_node_data.cpp.
Loads the data from a JSON file located at metadata_filename_.
Definition at line 255 of file outofcore_node_data.cpp.
| int pcl::outofcore::OutofcoreOctreeNodeMetadata::loadMetadataFromDisk | ( | const boost::filesystem::path & | path_to_metadata | ) |
Loads the data from a JSON file located at metadata_filename_.
Definition at line 336 of file outofcore_node_data.cpp.
Writes the data to a JSON file located at metadata_filename_.
Definition at line 217 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBox | ( | const Eigen::Vector3d & | min_bb, |
| const Eigen::Vector3d & | max_bb | ||
| ) |
Set the lower and upper corners of the bounding box.
Definition at line 134 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBoxMax | ( | const Eigen::Vector3d & | max_bb | ) |
Set the upper bounding box corner.
Definition at line 116 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBoxMin | ( | const Eigen::Vector3d & | min_bb | ) |
Set the lower bounding box corner.
Definition at line 99 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setDirectoryPathname | ( | const boost::filesystem::path & | directory_pathname | ) |
Set the directory path name.
Definition at line 151 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setMetadataFilename | ( | const boost::filesystem::path & | path_to_metadata | ) |
Gets the name of the JSON file.
Definition at line 200 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setOutofcoreVersion | ( | const int | version | ) |
Set the outofcore version stored in the "version" field of the JSON object.
Definition at line 184 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::setPCDFilename | ( | const boost::filesystem::path & | point_filename | ) |
Set the point filename; extension .pcd.
Definition at line 167 of file outofcore_node_data.cpp.
| void pcl::outofcore::OutofcoreOctreeNodeMetadata::updateVoxelCenter | ( | ) | [inline, protected] |
Computes the midpoint; used when bounding box is changed.
Definition at line 182 of file outofcore_node_data.h.
| std::ostream& operator<< | ( | std::ostream & | os, |
| const OutofcoreOctreeNodeMetadata & | metadata_arg | ||
| ) | [friend] |
Definition at line 346 of file outofcore_node_data.cpp.
boost::filesystem::path pcl::outofcore::OutofcoreOctreeNodeMetadata::binary_point_filename_ [protected] |
Path to PCD file (i.e. "bin"ary point data)
Definition at line 170 of file outofcore_node_data.h.
boost::filesystem::path pcl::outofcore::OutofcoreOctreeNodeMetadata::directory_ [protected] |
Directory this metadata belongs in.
Definition at line 174 of file outofcore_node_data.h.
Eigen::Vector3d pcl::outofcore::OutofcoreOctreeNodeMetadata::max_bb_ [protected] |
The X,Y,Z axes-aligned maximum corner for the bounding box.
Definition at line 168 of file outofcore_node_data.h.
boost::filesystem::path pcl::outofcore::OutofcoreOctreeNodeMetadata::metadata_filename_ [protected] |
Metadata (JSON) file pathname (oct_idx extension JSON file)
Definition at line 176 of file outofcore_node_data.h.
Eigen::Vector3d pcl::outofcore::OutofcoreOctreeNodeMetadata::midpoint_xyz_ [protected] |
Voxel center; not stored on disk.
Definition at line 172 of file outofcore_node_data.h.
Eigen::Vector3d pcl::outofcore::OutofcoreOctreeNodeMetadata::min_bb_ [protected] |
The X,Y,Z axes-aligned minimum corner for the bounding box.
Definition at line 166 of file outofcore_node_data.h.
int pcl::outofcore::OutofcoreOctreeNodeMetadata::outofcore_version_ [protected] |
Outofcore library version identifier.
Definition at line 178 of file outofcore_node_data.h.