Octree pointcloud compression class More...

#include <pcl/compression/octree_pointcloud_compression.h>

Inheritance diagram for pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >:

Collaboration diagram for pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >:

Public Types
using	PointCloud = typename OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloud

using	PointCloudPtr = typename OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr

using	PointCloudConstPtr = typename OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr

using	Ptr = shared_ptr< OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT > >

using	ConstPtr = shared_ptr< const OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT > >

using	LeafNode = typename OctreeT::LeafNode

using	BranchNode = typename OctreeT::BranchNode

using	RealTimeStreamCompression = OctreePointCloudCompression< PointT, LeafT, BranchT, Octree2BufBase< LeafT, BranchT > >

using	SinglePointCloudCompressionLowMemory = OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeBase< LeafT, BranchT > >

Public Types inherited from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >
using	Base = OctreeT

using	LeafNode = typename OctreeT::LeafNode

using	BranchNode = typename OctreeT::BranchNode

using	IndicesPtr = shared_ptr< std::vector< int > >

using	IndicesConstPtr = shared_ptr< const std::vector< int > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	SingleBuffer = OctreePointCloud< PointT, LeafT, BranchT, OctreeBase< LeafT > >

using	Ptr = shared_ptr< OctreePointCloud< PointT, LeafT, BranchT, OctreeT > >

using	ConstPtr = shared_ptr< const OctreePointCloud< PointT, LeafT, BranchT, OctreeT > >

using	AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >

using	AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >

Public Member Functions
	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...

	~OctreePointCloudCompression ()
	Empty deconstructor. More...

void	initialization ()
	Initialize globals. More...

void	addPointIdx (const int pointIdx_arg) override
	Add point at index from input pointcloud dataset to octree. More...

void	setOutputCloud (const PointCloudPtr &cloud_arg)
	Provide a pointer to the output data set. More...

PointCloudPtr	getOutputCloud () const
	Get a pointer to the output point cloud dataset. More...

void	encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressed_tree_data_out_arg)
	Encode point cloud to output stream. More...

void	decodePointCloud (std::istream &compressed_tree_data_in_arg, PointCloudPtr &cloud_arg)
	Decode point cloud from input stream. More...

Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches. More...

double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches. More...

void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution. More...

double	getResolution () const
	Get octree voxel resolution. More...

unsigned int	getTreeDepth () const
	Get the maximum depth of the octree. More...

void	addPointsFromInputCloud ()
	Add points from input point cloud to octree. More...

void	addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud. More...

bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist. More...

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...

bool	isVoxelOccupiedAtPoint (const int &point_idx_arg) const
	Check if voxel at given point from input cloud exist. More...

void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...

int	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels. More...

int	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...

void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point. More...

void	deleteVoxelAtPoint (const int &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud. More...

void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...

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...

void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree. More...

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...

double	getVoxelSquaredDiameter (unsigned int tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth. More...

double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth. More...

double	getVoxelSquaredSideLen (unsigned int tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth. More...

double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level. More...

void	getVoxelBounds (const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of the current voxel of an octree iterator. More...

void	enableDynamicDepth (std::size_t maxObjsPerLeaf)
	Enable dynamic octree structure. More...

Protected Member Functions
void	writeFrameHeader (std::ostream &compressed_tree_data_out_arg)
	Write frame information to output stream. More...

void	readFrameHeader (std::istream &compressed_tree_data_in_arg)
	Read frame information to output stream. More...

void	syncToHeader (std::istream &compressed_tree_data_in_arg)
	Synchronize to frame header. More...

void	entropyEncoding (std::ostream &compressed_tree_data_out_arg)
	Apply entropy encoding to encoded information and output to binary stream. More...

void	entropyDecoding (std::istream &compressed_tree_data_in_arg)
	Entropy decoding of input binary stream and output to information vectors. More...

void	serializeTreeCallback (LeafT &leaf_arg, const OctreeKey &key_arg) override
	Encode leaf node information during serialization. More...

void	deserializeTreeCallback (LeafT &, const OctreeKey &key_arg) override
	Decode leaf nodes information during deserialization. More...

Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >
void	expandLeafNode (LeafNode leaf_node, BranchNode parent_branch, unsigned char child_idx, unsigned int depth_mask)
	Add point at index from input pointcloud dataset to octree. More...

const PointT &	getPointByIndex (const unsigned int index_arg) const
	Get point at index from input pointcloud dataset. More...

LeafT *	findLeafAtPoint (const PointT &point_arg) const
	Find octree leaf node at a given point. More...

void	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box. More...

void	adoptBoundingBoxToPoint (const PointT &point_idx_arg)
	Grow the bounding box/octree until point fits. More...

bool	isPointWithinBoundingBox (const PointT &point_idx_arg) const
	Checks if given point is within the bounding box of the octree. More...

void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

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...

virtual bool	genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index. More...

void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel. More...

void	genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const
	Generate a point at center of octree voxel at given tree level. More...

void	genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int 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...

int	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...

Protected Attributes
PointCloudPtr	output_
	Pointer to output point cloud dataset. More...

std::vector< char >	binary_tree_data_vector_
	Vector for storing binary tree structure. More...

std::vector< char >	binary_color_tree_vector_
	Iterator on binary tree structure vector. More...

std::vector< unsigned int >	point_count_data_vector_
	Vector for storing points per voxel information. More...

std::vector< unsigned int >::const_iterator	point_count_data_vector_iterator_
	Iterator on points per voxel vector. More...

ColorCoding< PointT >	color_coder_
	Color coding instance. More...

PointCoding< PointT >	point_coder_
	Point coding instance. More...

StaticRangeCoder	entropy_coder_
	Static range coder instance. More...

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, LeafT, BranchT, OctreeT >
PointCloudConstPtr	input_
	Pointer to input point cloud dataset. More...

IndicesConstPtr	indices_
	A pointer to the vector of point indices to use. More...

double	epsilon_
	Epsilon precision (error bound) for nearest neighbors searches. More...

double	resolution_
	Octree resolution. More...

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...

std::size_t	max_objs_per_leaf_
	Amount of DataT objects per leafNode before expanding branch. More...

Static Protected Attributes
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

Author: Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 71 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 85 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 82 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 84 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 76 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 78 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 77 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 81 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 87 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 88 of file octree_pointcloud_compression.h.

Constructor & Destructor Documentation

◆ OctreePointCloudCompression()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::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`
	)

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 101 of file octree_pointcloud_compression.h.

◆ ~OctreePointCloudCompression()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::~OctreePointCloudCompression ( )

inline

Empty deconstructor.

Definition at line 127 of file octree_pointcloud_compression.h.

Member Function Documentation

◆ addPointIdx()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::addPointIdx ( const int pointIdx_arg )

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, LeafT, BranchT, OctreeT >.

Definition at line 166 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 177 of file octree_pointcloud_compression.hpp.

◆ deserializeTreeCallback()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::deserializeTreeCallback	(	LeafT &	,
		const OctreeKey &	key_arg
	)

overrideprotected

Decode leaf nodes information during deserialization.

Parameters

key_arg octree key of new leaf node

Definition at line 509 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 56 of file octree_pointcloud_compression.hpp.

◆ entropyDecoding()

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::entropyDecoding ( std::istream & compressed_tree_data_in_arg )

protected

Entropy decoding of input binary stream and output to information vectors.

Parameters

compressed_tree_data_in_arg binary input stream

Definition at line 314 of file octree_pointcloud_compression.hpp.

◆ entropyEncoding()

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::entropyEncoding ( std::ostream & compressed_tree_data_out_arg )

protected

Apply entropy encoding to encoded information and output to binary stream.

Parameters

compressed_tree_data_out_arg binary output stream

Definition at line 254 of file octree_pointcloud_compression.hpp.

◆ getOutputCloud()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

PointCloudPtr pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::getOutputCloud ( ) const

inline

Get a pointer to the output point cloud dataset.

Returns: pointer to pointcloud output class.

Definition at line 188 of file octree_pointcloud_compression.h.

◆ initialization()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::initialization ( )

inline

Initialize globals.

Definition at line 132 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 >

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::readFrameHeader ( std::istream & compressed_tree_data_in_arg )

protected

Read frame information to output stream.

Parameters

compressed_tree_data_in_arg binary input stream

Definition at line 433 of file octree_pointcloud_compression.hpp.

◆ serializeTreeCallback()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback	(	LeafT &	leaf_arg,
		const OctreeKey &	key_arg
	)

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 474 of file octree_pointcloud_compression.hpp.

◆ setOutputCloud()

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::setOutputCloud ( const PointCloudPtr & cloud_arg )

inline

Provide a pointer to the output data set.

Parameters

cloud_arg the boost shared pointer to a PointCloud message

Definition at line 176 of file octree_pointcloud_compression.h.

◆ syncToHeader()

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::syncToHeader ( std::istream & compressed_tree_data_in_arg )

protected

Synchronize to frame header.

Parameters

compressed_tree_data_in_arg binary input stream

Definition at line 418 of file octree_pointcloud_compression.hpp.

◆ writeFrameHeader()

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::writeFrameHeader ( std::ostream & compressed_tree_data_out_arg )

protected

Write frame information to output stream.

Parameters

compressed_tree_data_out_arg binary output stream

Definition at line 371 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>>

bool pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::b_show_statistics_

protected

Definition at line 291 of file octree_pointcloud_compression.h.

◆ binary_color_tree_vector_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::vector<char> pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::binary_color_tree_vector_

protected

Iterator on binary tree structure vector.

Definition at line 261 of file octree_pointcloud_compression.h.

◆ binary_tree_data_vector_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::vector<char> pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::binary_tree_data_vector_

protected

Vector for storing binary tree structure.

Definition at line 258 of file octree_pointcloud_compression.h.

◆ cloud_with_color_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

bool pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::cloud_with_color_

protected

Definition at line 286 of file octree_pointcloud_compression.h.

◆ color_bit_resolution_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

const unsigned char pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::color_bit_resolution_

protected

Definition at line 301 of file octree_pointcloud_compression.h.

◆ color_coder_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

ColorCoding<PointT> pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::color_coder_

protected

Color coding instance.

Definition at line 270 of file octree_pointcloud_compression.h.

◆ compressed_color_data_len_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::uint64_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::compressed_color_data_len_

protected

Definition at line 293 of file octree_pointcloud_compression.h.

◆ compressed_point_data_len_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::uint64_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::compressed_point_data_len_

protected

Definition at line 292 of file octree_pointcloud_compression.h.

◆ data_with_color_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

bool pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::data_with_color_

protected

Definition at line 287 of file octree_pointcloud_compression.h.

◆ do_color_encoding_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

bool pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::do_color_encoding_

protected

Definition at line 285 of file octree_pointcloud_compression.h.

◆ do_voxel_grid_enDecoding_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

bool pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::do_voxel_grid_enDecoding_

protected

Definition at line 278 of file octree_pointcloud_compression.h.

◆ entropy_coder_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

StaticRangeCoder pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::entropy_coder_

protected

Static range coder instance.

Definition at line 276 of file octree_pointcloud_compression.h.

◆ frame_header_identifier_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

const char * pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::frame_header_identifier_ = "<PCL-OCT-COMPRESSED>"

staticprotected

Definition at line 296 of file octree_pointcloud_compression.h.

◆ frame_ID_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::uint32_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::frame_ID_

protected

Definition at line 281 of file octree_pointcloud_compression.h.

◆ i_frame_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

bool pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::i_frame_

protected

Definition at line 283 of file octree_pointcloud_compression.h.

◆ i_frame_counter_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::uint32_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::i_frame_counter_

protected

Definition at line 280 of file octree_pointcloud_compression.h.

◆ i_frame_rate_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::uint32_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::i_frame_rate_

protected

Definition at line 279 of file octree_pointcloud_compression.h.

◆ object_count_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::size_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::object_count_

protected

Definition at line 303 of file octree_pointcloud_compression.h.

◆ octree_resolution_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

const double pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::octree_resolution_

protected

Definition at line 300 of file octree_pointcloud_compression.h.

◆ output_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

PointCloudPtr pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::output_

protected

Pointer to output point cloud dataset.

Definition at line 255 of file octree_pointcloud_compression.h.

◆ point_coder_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

PointCoding<PointT> pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::point_coder_

protected

Point coding instance.

Definition at line 273 of file octree_pointcloud_compression.h.

◆ point_color_offset_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

unsigned char pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::point_color_offset_

protected

Definition at line 288 of file octree_pointcloud_compression.h.

◆ point_count_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::uint64_t pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::point_count_

protected

Definition at line 282 of file octree_pointcloud_compression.h.

◆ point_count_data_vector_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

std::vector<unsigned int> pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::point_count_data_vector_

protected

Vector for storing points per voxel information.

Definition at line 264 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>>

std::vector<unsigned int>::const_iterator pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::point_count_data_vector_iterator_

protected

Iterator on points per voxel vector.

Definition at line 267 of file octree_pointcloud_compression.h.

◆ point_resolution_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

const double pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::point_resolution_

protected

Definition at line 299 of file octree_pointcloud_compression.h.

◆ selected_profile_

template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>

const compression_Profiles_e pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::selected_profile_

protected

Definition at line 298 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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<typename PointT, typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>> class pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >

Member Typedef Documentation

◆ BranchNode

◆ ConstPtr

◆ LeafNode

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ RealTimeStreamCompression

◆ SinglePointCloudCompressionLowMemory

Constructor & Destructor Documentation

◆ OctreePointCloudCompression()

◆ ~OctreePointCloudCompression()

Member Function Documentation

◆ addPointIdx()

◆ decodePointCloud()

◆ deserializeTreeCallback()

◆ encodePointCloud()

◆ entropyDecoding()

◆ entropyEncoding()

◆ getOutputCloud()

◆ initialization()

◆ readFrameHeader()

◆ serializeTreeCallback()

◆ setOutputCloud()

◆ syncToHeader()

◆ writeFrameHeader()

Member Data Documentation

◆ b_show_statistics_

◆ binary_color_tree_vector_

◆ binary_tree_data_vector_

◆ cloud_with_color_

◆ color_bit_resolution_

◆ color_coder_

◆ compressed_color_data_len_

◆ compressed_point_data_len_

◆ data_with_color_

◆ do_color_encoding_

◆ do_voxel_grid_enDecoding_

◆ entropy_coder_

◆ frame_header_identifier_

◆ frame_ID_

◆ i_frame_

◆ i_frame_counter_

◆ i_frame_rate_

◆ object_count_

◆ octree_resolution_

◆ output_

◆ point_coder_

◆ point_color_offset_

◆ point_count_

◆ point_count_data_vector_

◆ point_count_data_vector_iterator_

◆ point_resolution_

◆ selected_profile_

template<typename PointT, typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
class pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >