organized_pointcloud_compression.h

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#ifndef PCL_ORGANIZED_POINT_COMPRESSION_H_
#define PCL_ORGANIZED_POINT_COMPRESSION_H_

#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>

#include <pcl/common/boost.h>
#include <pcl/common/eigen.h>
#include <pcl/common/common.h>
#include <pcl/common/io.h>

#include <pcl/io/openni_camera/openni_shift_to_depth_conversion.h>

#include <vector>

namespace pcl
{
  namespace io
  {
    template<typename PointT>
    class OrganizedPointCloudCompression
    {
      public:
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef boost::shared_ptr<PointCloud> PointCloudPtr;
        typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

        OrganizedPointCloudCompression ()
        {
        }

        virtual ~OrganizedPointCloudCompression ()
        {
        }

        void encodePointCloud (const PointCloudConstPtr &cloud_arg,
                               std::ostream& compressedDataOut_arg,
                               bool doColorEncoding = false,
                               bool convertToMono = false,
                               bool bShowStatistics_arg = true,
                               int pngLevel_arg = -1);

        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);

        bool decodePointCloud (std::istream& compressedDataIn_arg,
                               PointCloudPtr &cloud_arg,
                               bool bShowStatistics_arg = true);

      protected:
        void analyzeOrganizedCloud (PointCloudConstPtr cloud_arg,
                                    float& maxDepth_arg,
                                    float& focalLength_arg) const;

      private:
        // frame header identifier
        static const char* frameHeaderIdentifier_;

        //
        openni_wrapper::ShiftToDepthConverter sd_converter_;
    };

    // define frame identifier
    template<typename PointT>
    const char* OrganizedPointCloudCompression<PointT>::frameHeaderIdentifier_ = "<PCL-ORG-COMPRESSED>";
  }
}

#endif