Octree pointcloud compression class More...
#include <pcl/compression/octree_pointcloud_compression.h>
Public Member Functions |
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| OctreePointCloudCompression (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. More... |
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| ~OctreePointCloudCompression () | |
| Empty deconstructor. More... |
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| void | initialization () |
| Initialize globals. More... |
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| void | addPointIdx (const uindex_t pointIdx_arg) override |
| Add point at index from input pointcloud dataset to octree. More... |
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| void | setOutputCloud (const PointCloudPtr &cloud_arg) |
| Provide a pointer to the output data set. More... |
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| PointCloudPtr | getOutputCloud () const |
| Get a pointer to the output point cloud dataset. More... |
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| void | encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressed_tree_data_out_arg) |
| Encode point cloud to output stream. More... |
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| void | decodePointCloud (std::istream &compressed_tree_data_in_arg, PointCloudPtr &cloud_arg) |
| Decode point cloud from input stream. More... |
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 Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > |
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| OctreePointCloud (const double resolution_arg) | |
| Octree pointcloud constructor. More... |
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| void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches. More... |
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| double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches. More... |
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| void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution. More... |
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| double | getResolution () const |
| Get octree voxel resolution. More... |
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| uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree. More... |
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| void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. More... |
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| void | addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree. More... |
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| void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud. More... |
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| void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud. More... |
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| bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. More... |
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| bool | isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const |
| Check if voxel at given point coordinates exist. More... |
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| bool | isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const |
| Check if voxel at given point from input cloud exist. More... |
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| void | deleteTree () |
| Delete the octree structure and its leaf nodes. More... |
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| uindex_t | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. More... |
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| uindex_t | getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2) |
| Get a PointT vector of centers of voxels intersected by a line segment. More... |
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| void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point. More... |
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| void | deleteVoxelAtPoint (const index_t &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud. More... |
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| void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More... |
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| void | defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More... |
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| void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More... |
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| void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree. More... |
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| void | getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const |
| Get bounding box for octree. More... |
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| double | getVoxelSquaredDiameter (uindex_t tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. More... |
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| double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth. More... |
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| double | getVoxelSquaredSideLen (uindex_t tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. More... |
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| double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level. More... |
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| void | getVoxelBounds (const OctreeIteratorBase< Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator. More... |
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| void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. More... |
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| Public Member Functions inherited from pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > |
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| Iterator | begin (uindex_t max_depth_arg=0) |
| const Iterator | end () |
| LeafNodeDepthFirstIterator | leaf_depth_begin (uindex_t max_depth_arg=0) |
| const LeafNodeDepthFirstIterator | leaf_depth_end () |
| DepthFirstIterator | depth_begin (uindex_t maxDepth_arg=0) |
| const DepthFirstIterator | depth_end () |
| BreadthFirstIterator | breadth_begin (uindex_t max_depth_arg=0) |
| const BreadthFirstIterator | breadth_end () |
| LeafNodeBreadthIterator | leaf_breadth_begin (uindex_t max_depth_arg=0u) |
| const LeafNodeBreadthIterator | leaf_breadth_end () |
| Octree2BufBase () | |
| Empty constructor. More... |
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| Octree2BufBase (const Octree2BufBase &source) | |
| Copy constructor. More... |
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| virtual | ~Octree2BufBase () |
| Empty deconstructor. More... |
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| Octree2BufBase & | operator= (const Octree2BufBase &source) |
| Copy constructor. More... |
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| void | setMaxVoxelIndex (uindex_t max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension. More... |
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| void | setTreeDepth (uindex_t depth_arg) |
| Set the maximum depth of the octree. More... |
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| uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree. More... |
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| OctreeContainerPointIndices * | createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... |
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| OctreeContainerPointIndices * | findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... |
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| bool | existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const |
| Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... |
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| void | removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... |
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| std::size_t | getLeafCount () const |
| Return the amount of existing leafs in the octree. More... |
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| std::size_t | getBranchCount () const |
| Return the amount of existing branches in the octree. More... |
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| void | deleteTree () |
| Delete the octree structure and its leaf nodes. More... |
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| void | deletePreviousBuffer () |
| Delete octree structure of previous buffer. More... |
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| void | deleteCurrentBuffer () |
| Delete the octree structure in the current buffer. More... |
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| void | switchBuffers () |
| Switch buffers and reset current octree structure. More... |
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| void | serializeTree (std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false) |
| Serialize octree into a binary output vector describing its branch node structure. More... |
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| void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg, bool do_XOR_encoding_arg=false) |
| Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector. More... |
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| void | serializeLeafs (std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Outputs a vector of all DataT elements that are stored within the octree leaf nodes. More... |
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| void | serializeNewLeafs (std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. More... |
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| void | deserializeTree (std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false) |
| Deserialize a binary octree description vector and create a corresponding octree structure. More... |
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| void | deserializeTree (std::vector< char > &binary_tree_in_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg, bool do_XOR_decoding_arg=false) |
| Deserialize a binary octree description and create a corresponding octree structure. More... |
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Protected Member Functions |
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| void | writeFrameHeader (std::ostream &compressed_tree_data_out_arg) |
| Write frame information to output stream. More... |
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| void | readFrameHeader (std::istream &compressed_tree_data_in_arg) |
| Read frame information to output stream. More... |
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| void | syncToHeader (std::istream &compressed_tree_data_in_arg) |
| Synchronize to frame header. More... |
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| void | entropyEncoding (std::ostream &compressed_tree_data_out_arg) |
| Apply entropy encoding to encoded information and output to binary stream. More... |
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| void | entropyDecoding (std::istream &compressed_tree_data_in_arg) |
| Entropy decoding of input binary stream and output to information vectors. More... |
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| void | serializeTreeCallback (LeafT &leaf_arg, const OctreeKey &key_arg) override |
| Encode leaf node information during serialization. More... |
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| void | deserializeTreeCallback (LeafT &, const OctreeKey &key_arg) override |
| Decode leaf nodes information during deserialization. More... |
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| Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > |
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| void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, uindex_t depth_mask) |
| Add point at index from input pointcloud dataset to octree. More... |
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| const PointT & | getPointByIndex (uindex_t index_arg) const |
| Get point at index from input pointcloud dataset. More... |
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| OctreeContainerPointIndices * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. More... |
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| void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. More... |
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| void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. More... |
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| bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. More... |
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| void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More... |
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| void | genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More... |
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| virtual bool | genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. More... |
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| void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. More... |
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| void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const |
| Generate a point at center of octree voxel at given tree level. More... |
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| void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of an octree voxel using octree key and tree depth arguments. More... |
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| uindex_t | getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const |
| Recursively search the tree for all leaf nodes and return a vector of voxel centers. More... |
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| Protected Member Functions inherited from pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > |
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| OctreeContainerPointIndices * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node. More... |
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| OctreeContainerPointIndices * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node. More... |
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| bool | existLeaf (const OctreeKey &key_arg) const |
| Check if leaf doesn't exist in the octree. More... |
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| void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree. More... |
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| OctreeNode * | getRootNode () const |
| Retrieve root node. More... |
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| bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Check if branch is pointing to a particular child node. More... |
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| OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Retrieve a child node pointer for child node at child_idx. More... |
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| void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
| Assign new child node to branch. More... |
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| char | getBranchBitPattern (const BranchNode &branch_arg) const |
| Generate bit pattern reflecting the existence of child node pointers for current buffer. More... |
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| char | getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const |
| Generate bit pattern reflecting the existence of child node pointers in specific buffer. More... |
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| char | getBranchXORBitPattern (const BranchNode &branch_arg) const |
| Generate XOR bit pattern reflecting differences between the two octree buffers. More... |
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| bool | hasBranchChanges (const BranchNode &branch_arg) const |
| Test if branch changed between previous and current buffer. More... |
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| void | deleteBranchChild (BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree in specific buffer. More... |
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| void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree in current buffer. More... |
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| void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree (both buffers) More... |
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| BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Fetch and add a new branch child to a branch class in current buffer. More... |
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| LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Fetch and add a new leaf child to a branch class. More... |
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| uindex_t | createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false) |
| Create a leaf node at octree key. More... |
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| void | findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, OctreeContainerPointIndices *&result_arg) const |
| Recursively search for a given leaf node and return a pointer. More... |
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| bool | deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg) |
| Recursively search and delete leaf node. More... |
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| void | serializeTreeRecursive (BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< OctreeContainerPointIndices * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false) |
| Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content. More... |
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| void | deserializeTreeRecursive (BranchNode *branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_end_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false) |
| Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization. More... |
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| virtual void | serializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) |
| Callback executed for every leaf node data during serialization. More... |
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| virtual void | deserializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) |
| Callback executed for every leaf node data during deserialization. More... |
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| void | treeCleanUpRecursive (BranchNode *branch_arg) |
| Recursively explore the octree and remove unused branch and leaf nodes. More... |
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| bool | octreeCanResize () |
| Test if octree is able to dynamically change its depth. More... |
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| void | printBinary (char data_arg) |
| Prints binary representation of a byte - used for debugging. More... |
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Protected Attributes |
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| PointCloudPtr | output_ |
| Pointer to output point cloud dataset. More... |
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| std::vector< char > | binary_tree_data_vector_ |
| Vector for storing binary tree structure. More... |
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| std::vector< unsigned int > | point_count_data_vector_ |
| Vector for storing points per voxel information More... |
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| std::vector< unsigned int >::const_iterator | point_count_data_vector_iterator_ |
| Iterator on points per voxel vector. More... |
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| ColorCoding< PointT > | color_coder_ |
| Color coding instance. More... |
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| PointCoding< PointT > | point_coder_ |
| Point coding instance. More... |
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| StaticRangeCoder | entropy_coder_ |
| Static range coder instance. More... |
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| bool | do_voxel_grid_enDecoding_ |
| std::uint32_t | i_frame_rate_ |
| std::uint32_t | i_frame_counter_ |
| std::uint32_t | frame_ID_ |
| std::uint64_t | point_count_ |
| bool | i_frame_ |
| bool | do_color_encoding_ |
| bool | cloud_with_color_ |
| bool | data_with_color_ |
| unsigned char | point_color_offset_ |
| bool | b_show_statistics_ |
| std::uint64_t | compressed_point_data_len_ |
| std::uint64_t | compressed_color_data_len_ |
| const compression_Profiles_e | selected_profile_ |
| const double | point_resolution_ |
| const double | octree_resolution_ |
| const unsigned char | color_bit_resolution_ |
| std::size_t | object_count_ |
| Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > |
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| PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. More... |
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| IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches. More... |
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| double | resolution_ |
| Octree resolution. More... |
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| double | min_x_ |
| double | max_x_ |
| double | min_y_ |
| double | max_y_ |
| double | min_z_ |
| double | max_z_ |
| bool | bounding_box_defined_ |
| Flag indicating if octree has defined bounding box. More... |
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| std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch. More... |
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| Protected Attributes inherited from pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > |
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| std::size_t | leaf_count_ |
| Amount of leaf nodes More... |
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| std::size_t | branch_count_ |
| Amount of branch nodes More... |
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| BranchNode * | root_node_ |
| Pointer to root branch node of octree More... |
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| uindex_t | depth_mask_ |
| Depth mask based on octree depth More... |
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| OctreeKey | max_key_ |
| key range More... |
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| unsigned char | buffer_selector_ |
| Currently active octree buffer More... |
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| bool | tree_dirty_flag_ |
| flags indicating if unused branches and leafs might exist in previous buffer More... |
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| uindex_t | octree_depth_ |
| Octree depth. More... |
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| bool | dynamic_depth_enabled_ |
| Enable dynamic_depth. More... |
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Static Protected Attributes |
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| static const char * | frame_header_identifier_ = "<PCL-OCT-COMPRESSED>" |
Detailed Description
template<typename PointT, typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
class pcl::io::OctreePointCloudCompression< 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 66 of file octree_pointcloud_compression.h.
Member Typedef Documentation
BranchNode
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::BranchNode = typename OctreeT::BranchNode |
Definition at line 80 of file octree_pointcloud_compression.h.
ConstPtr
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::ConstPtr = shared_ptr<const OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT> > |
Definition at line 77 of file octree_pointcloud_compression.h.
LeafNode
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::LeafNode = typename OctreeT::LeafNode |
Definition at line 79 of file octree_pointcloud_compression.h.
PointCloud
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloud = typename OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloud |
Definition at line 71 of file octree_pointcloud_compression.h.
PointCloudConstPtr
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr = typename OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudConstPtr |
Definition at line 73 of file octree_pointcloud_compression.h.
PointCloudPtr
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr = typename OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudPtr |
Definition at line 72 of file octree_pointcloud_compression.h.
Ptr
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::Ptr = shared_ptr<OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT> > |
Definition at line 76 of file octree_pointcloud_compression.h.
RealTimeStreamCompression
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::RealTimeStreamCompression = OctreePointCloudCompression<PointT, LeafT, BranchT, Octree2BufBase<LeafT, BranchT> > |
Definition at line 82 of file octree_pointcloud_compression.h.
SinglePointCloudCompressionLowMemory
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| using pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::SinglePointCloudCompressionLowMemory = OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeBase<LeafT, BranchT> > |
Definition at line 83 of file octree_pointcloud_compression.h.
Constructor & Destructor Documentation
OctreePointCloudCompression()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
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 96 of file octree_pointcloud_compression.h.
~OctreePointCloudCompression()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Empty deconstructor.
Definition at line 122 of file octree_pointcloud_compression.h.
Member Function Documentation
addPointIdx()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inlineoverridevirtual |
Add point at index from input pointcloud dataset to octree.
- Parameters
-
[in] pointIdx_arg the index representing the point in the dataset given by setInputCloud to be added
Reimplemented from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >.
Definition at line 161 of file octree_pointcloud_compression.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointIdx().
decodePointCloud()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
| void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::decodePointCloud | ( | std::istream & | compressed_tree_data_in_arg, |
| PointCloudPtr & | cloud_arg | ||
| ) |
Decode point cloud from input stream.
- Parameters
-
compressed_tree_data_in_arg binary input stream containing compressed data cloud_arg reference to decoded point cloud
Definition at line 175 of file octree_pointcloud_compression.hpp.
deserializeTreeCallback()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
overrideprotected |
Decode leaf nodes information during deserialization.
- Parameters
-
key_arg octree key of new leaf node
Definition at line 507 of file octree_pointcloud_compression.hpp.
encodePointCloud()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
| void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud | ( | const PointCloudConstPtr & | cloud_arg, |
| std::ostream & | compressed_tree_data_out_arg | ||
| ) |
Encode point cloud to output stream.
- Parameters
-
cloud_arg point cloud to be compressed compressed_tree_data_out_arg binary output stream containing compressed data
Definition at line 54 of file octree_pointcloud_compression.hpp.
entropyDecoding()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Entropy decoding of input binary stream and output to information vectors.
- Parameters
-
compressed_tree_data_in_arg binary input stream
Definition at line 312 of file octree_pointcloud_compression.hpp.
entropyEncoding()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Apply entropy encoding to encoded information and output to binary stream.
- Parameters
-
compressed_tree_data_out_arg binary output stream
Definition at line 252 of file octree_pointcloud_compression.hpp.
getOutputCloud()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Get a pointer to the output point cloud dataset.
- Returns
- pointer to pointcloud output class.
Definition at line 183 of file octree_pointcloud_compression.h.
initialization()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Initialize globals.
Definition at line 127 of file octree_pointcloud_compression.h.
References pcl::io::configurationProfile_t::colorBitResolution, pcl::io::compressionProfiles_, pcl::io::configurationProfile_t::doColorEncoding, pcl::io::configurationProfile_t::doVoxelGridDownSampling, pcl::io::configurationProfile_t::iFrameRate, pcl::io::MANUAL_CONFIGURATION, pcl::io::configurationProfile_t::octreeResolution, and pcl::io::configurationProfile_t::pointResolution.
readFrameHeader()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Read frame information to output stream.
- Parameters
-
compressed_tree_data_in_arg binary input stream
Definition at line 431 of file octree_pointcloud_compression.hpp.
serializeTreeCallback()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
overrideprotected |
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 472 of file octree_pointcloud_compression.hpp.
setOutputCloud()
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Provide a pointer to the output data set.
- Parameters
-
cloud_arg the boost shared pointer to a PointCloud message
Definition at line 171 of file octree_pointcloud_compression.h.
syncToHeader()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Synchronize to frame header.
- Parameters
-
compressed_tree_data_in_arg binary input stream
Definition at line 416 of file octree_pointcloud_compression.hpp.
writeFrameHeader()
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Write frame information to output stream.
- Parameters
-
compressed_tree_data_out_arg binary output stream
Definition at line 369 of file octree_pointcloud_compression.hpp.
Member Data Documentation
b_show_statistics_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 283 of file octree_pointcloud_compression.h.
binary_tree_data_vector_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Vector for storing binary tree structure.
Definition at line 253 of file octree_pointcloud_compression.h.
cloud_with_color_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 278 of file octree_pointcloud_compression.h.
color_bit_resolution_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 293 of file octree_pointcloud_compression.h.
color_coder_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Color coding instance.
Definition at line 262 of file octree_pointcloud_compression.h.
compressed_color_data_len_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 285 of file octree_pointcloud_compression.h.
compressed_point_data_len_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 284 of file octree_pointcloud_compression.h.
data_with_color_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 279 of file octree_pointcloud_compression.h.
do_color_encoding_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 277 of file octree_pointcloud_compression.h.
do_voxel_grid_enDecoding_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 270 of file octree_pointcloud_compression.h.
entropy_coder_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Static range coder instance.
Definition at line 268 of file octree_pointcloud_compression.h.
frame_header_identifier_
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
staticprotected |
Definition at line 288 of file octree_pointcloud_compression.h.
frame_ID_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 273 of file octree_pointcloud_compression.h.
i_frame_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 275 of file octree_pointcloud_compression.h.
i_frame_counter_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 272 of file octree_pointcloud_compression.h.
i_frame_rate_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 271 of file octree_pointcloud_compression.h.
object_count_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 295 of file octree_pointcloud_compression.h.
octree_resolution_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 292 of file octree_pointcloud_compression.h.
output_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Pointer to output point cloud dataset.
Definition at line 250 of file octree_pointcloud_compression.h.
point_coder_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Point coding instance.
Definition at line 265 of file octree_pointcloud_compression.h.
point_color_offset_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 280 of file octree_pointcloud_compression.h.
point_count_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 274 of file octree_pointcloud_compression.h.
point_count_data_vector_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Vector for storing points per voxel information
Definition at line 256 of file octree_pointcloud_compression.h.
point_count_data_vector_iterator_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Iterator on points per voxel vector.
Definition at line 259 of file octree_pointcloud_compression.h.
point_resolution_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 291 of file octree_pointcloud_compression.h.
selected_profile_
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 290 of file octree_pointcloud_compression.h.
The documentation for this class was generated from the following files:
- pcl/compression/octree_pointcloud_compression.h
- pcl/compression/impl/octree_pointcloud_compression.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1io_1_1_octree_point_cloud_compression.html
