PCL-LZF 16-bit depth image format reader. More...
#include <pcl/io/lzf_image_io.h>
Public Member Functions |
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| LZFDepth16ImageReader () | |
| Empty constructor. More... |
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| ~LZFDepth16ImageReader () | |
| Empty destructor. More... |
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| template<typename PointT > | |
| bool | read (const std::string &filename, pcl::PointCloud< PointT > &cloud) |
| Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type. More... |
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| template<typename PointT > | |
| bool | readOMP (const std::string &filename, pcl::PointCloud< PointT > &cloud, unsigned int num_threads=0) |
| Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type. More... |
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| bool | readParameters (std::istream &is) override |
| Read camera parameters from a given stream and store them internally. More... |
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| bool | readParameters (const std::string &filename) |
| Read camera parameters from a given file and store them internally. More... |
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| virtual bool | readParameters (std::istream &) |
| Read camera parameters from a given stream and store them internally. More... |
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 Public Member Functions inherited from pcl::io::LZFImageReader |
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| LZFImageReader () | |
| Empty constructor. More... |
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| virtual | ~LZFImageReader () |
| Empty destructor. More... |
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| bool | readParameters (const std::string &filename) |
| Read camera parameters from a given file and store them internally. More... |
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| void | setParameters (const CameraParameters ¶meters) |
| Read the parameters from a struct instead. More... |
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| CameraParameters | getParameters () const |
| Get the camera parameters currently being used returns a CameraParameters struct. More... |
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| std::uint32_t | getWidth () const |
| Get the image width as read from disk. More... |
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| std::uint32_t | getHeight () const |
| Get the image height as read from disk. More... |
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| std::string | getImageType () const |
| Get the type of the image read from disk. More... |
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Protected Attributes |
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| double | z_multiplication_factor_ |
| Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m], we need to multiply with 0.001) More... |
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| Protected Attributes inherited from pcl::io::LZFImageReader |
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| std::uint32_t | width_ |
| The image width, as read from the file. More... |
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| std::uint32_t | height_ |
| The image height, as read from the file. More... |
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| std::string | image_type_identifier_ |
| The image type string, as read from the file. More... |
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| CameraParameters | parameters_ |
| Internal set of camera parameters. More... |
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Additional Inherited Members |
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| Protected Member Functions inherited from pcl::io::LZFImageReader |
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| bool | loadImageBlob (const std::string &filename, std::vector< char > &data, std::uint32_t &uncompressed_size) |
| Load a compressed image array from disk. More... |
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| bool | decompress (const std::vector< char > &input, std::vector< char > &output) |
| Realtime LZF decompression. More... |
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Detailed Description
PCL-LZF 16-bit depth image format reader.
The main advantage of using the PCL-LZF image I/O routines is a very good file size versus I/O speed ratio. Tests performed using LZF, Snappy, ZIP, GZ2, BZIP2, as well as PNG, JPEG, and TIFF compression have shown that the internal PCL LZF methods provide the best score for the types of applications PCL is suited for.
Definition at line 186 of file lzf_image_io.h.
Constructor & Destructor Documentation
LZFDepth16ImageReader()
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inline |
Empty constructor.
Definition at line 192 of file lzf_image_io.h.
~LZFDepth16ImageReader()
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inline |
Empty destructor.
Definition at line 197 of file lzf_image_io.h.
Member Function Documentation
read()
| bool pcl::io::LZFDepth16ImageReader::read | ( | const std::string & | filename, |
| pcl::PointCloud< PointT > & | cloud | ||
| ) |
Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.
- Parameters
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[in] filename the file name to read the data from [out] cloud the resultant output point cloud
Definition at line 61 of file lzf_image_io.hpp.
References pcl::io::LZFImageReader::decompress(), pcl::io::CameraParameters::focal_length_x, pcl::io::CameraParameters::focal_length_y, pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::io::LZFImageReader::loadImageBlob(), pcl::io::LZFImageReader::parameters_, pcl::io::CameraParameters::principal_point_x, pcl::io::CameraParameters::principal_point_y, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::width, and z_multiplication_factor_.
readOMP()
| bool pcl::io::LZFDepth16ImageReader::readOMP | ( | const std::string & | filename, |
| pcl::PointCloud< PointT > & | cloud, | ||
| unsigned int | num_threads = 0 |
||
| ) |
Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.
- Parameters
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[in] filename the file name to read the data from [in] num_threads The number of threads to use. 0 indicates OpenMP is free to choose. [out] cloud the resultant output point cloud
Definition at line 126 of file lzf_image_io.hpp.
References pcl::io::LZFImageReader::decompress(), pcl::io::CameraParameters::focal_length_x, pcl::io::CameraParameters::focal_length_y, pcl::io::LZFImageReader::getHeight(), pcl::io::LZFImageReader::getImageType(), pcl::io::LZFImageReader::getWidth(), pcl::PointCloud< PointT >::height, pcl::utils::ignore(), pcl::PointCloud< PointT >::is_dense, pcl::io::LZFImageReader::loadImageBlob(), pcl::io::LZFImageReader::parameters_, pcl::io::CameraParameters::principal_point_x, pcl::io::CameraParameters::principal_point_y, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::width, and z_multiplication_factor_.
readParameters() [1/3]
| bool pcl::io::LZFImageReader::readParameters |
Read camera parameters from a given file and store them internally.
- Returns
- true if operation successful, false otherwise
readParameters() [2/3]
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inline |
Read camera parameters from a given stream and store them internally.
- Returns
- true if operation successful, false otherwise
Definition at line 141 of file lzf_image_io.h.
readParameters() [3/3]
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overridevirtual |
Read camera parameters from a given stream and store them internally.
The parameters will be read from the <depth> ... </depth> tag.
- Returns
- true if operation successful, false otherwise
Reimplemented from pcl::io::LZFImageReader.
Member Data Documentation
z_multiplication_factor_
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protected |
Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m], we need to multiply with 0.001)
Definition at line 226 of file lzf_image_io.h.
The documentation for this class was generated from the following files:
- pcl/io/lzf_image_io.h
- pcl/io/impl/lzf_image_io.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html
