Point Cloud Library (PCL) 1.12.0
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#include <pcl/compression/organized_pointcloud_compression.h>
Public Types | |
using | PointCloud = pcl::PointCloud<PointT> |
using | PointCloudPtr = typename PointCloud::Ptr |
using | PointCloudConstPtr = typename PointCloud::ConstPtr |
Protected Member Functions | |
void | analyzeOrganizedCloud (PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const |
Analyze input point cloud and calculate the maximum depth and focal length. | |
Definition at line 55 of file organized_pointcloud_compression.h.
Definition at line 58 of file organized_pointcloud_compression.h.
using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 60 of file organized_pointcloud_compression.h.
using pcl::io::OrganizedPointCloudCompression< PointT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 59 of file organized_pointcloud_compression.h.
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inline |
Empty Constructor.
Definition at line 63 of file organized_pointcloud_compression.h.
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inlinevirtual |
Empty deconstructor.
Definition at line 68 of file organized_pointcloud_compression.h.
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protected |
Analyze input point cloud and calculate the maximum depth and focal length.
[in] | cloud_arg | input point cloud |
[out] | maxDepth_arg | calculated maximum depth |
[out] | focalLength_arg | estimated focal length |
Definition at line 395 of file organized_pointcloud_compression.hpp.
References pcl::isFinite(), and pcl::ConstCloudIterator< PointT >::size().
bool pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud | ( | std::istream & | compressedDataIn_arg, |
PointCloudPtr & | cloud_arg, | ||
bool | bShowStatistics_arg = true ) |
Decode point cloud from input stream.
[in] | compressedDataIn_arg | binary input stream containing compressed data |
[out] | cloud_arg | reference to decoded point cloud |
[in] | bShowStatistics_arg | show compression statistics during decoding |
Definition at line 268 of file organized_pointcloud_compression.hpp.
References pcl::io::decodePNGToImage(), and pcl::ConstCloudIterator< PointT >::size().
void pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud | ( | const PointCloudConstPtr & | cloud_arg, |
std::ostream & | compressedDataOut_arg, | ||
bool | doColorEncoding = false, | ||
bool | convertToMono = false, | ||
bool | bShowStatistics_arg = true, | ||
int | pngLevel_arg = -1 ) |
Encode point cloud to output stream.
[in] | cloud_arg | point cloud to be compressed |
[out] | compressedDataOut_arg | binary output stream containing compressed data |
[in] | doColorEncoding | encode color information (if available) |
[in] | convertToMono | convert rgb to mono |
[in] | pngLevel_arg | png compression level (default compression: -1) |
[in] | bShowStatistics_arg | show statistics |
Definition at line 58 of file organized_pointcloud_compression.hpp.
References pcl::io::encodeMonoImageToPNG(), pcl::io::encodeRGBImageToPNG(), and pcl::ConstCloudIterator< PointT >::size().
void pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage | ( | std::vector< std::uint16_t > & | disparityMap_arg, |
std::vector< std::uint8_t > & | colorImage_arg, | ||
std::uint32_t | width_arg, | ||
std::uint32_t | height_arg, | ||
std::ostream & | compressedDataOut_arg, | ||
bool | doColorEncoding = false, | ||
bool | convertToMono = false, | ||
bool | bShowStatistics_arg = true, | ||
int | pngLevel_arg = -1, | ||
float | focalLength_arg = 525.0f, | ||
float | disparityShift_arg = 174.825f, | ||
float | disparityScale_arg = -0.161175f ) |
Encode raw disparity map and color image.
[in] | disparityMap_arg | pointer to raw 16-bit disparity map |
[in] | colorImage_arg | pointer to raw 8-bit rgb color image |
[in] | width_arg | width of disparity map/color image |
[in] | height_arg | height of disparity map/color image |
[out] | compressedDataOut_arg | binary output stream containing compressed data |
[in] | doColorEncoding | encode color information (if available) |
[in] | convertToMono | convert rgb to mono |
[in] | pngLevel_arg | png compression level (default compression: -1) |
[in] | bShowStatistics_arg | show statistics |
[in] | focalLength_arg | focal length |
[in] | disparityShift_arg | disparity shift |
[in] | disparityScale_arg | disparity scaling |
Definition at line 152 of file organized_pointcloud_compression.hpp.
References pcl::io::encodeMonoImageToPNG(), pcl::io::encodeRGBImageToPNG(), and pcl::ConstCloudIterator< PointT >::size().