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, LeafContainerT, BranchContainerT, OctreeT >
using	Base = OctreeT
using	LeafNode = typename OctreeT::LeafNode
using	BranchNode = typename OctreeT::BranchNode
using	IndicesPtr = shared_ptr<Indices>
using	IndicesConstPtr = shared_ptr<const Indices>
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	SingleBuffer
using	Ptr
using	ConstPtr
using	AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT>>
using	AlignedPointXYZVector
Public Types inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
using	OctreeT = OctreeBase<LeafContainerT, BranchContainerT>
using	BranchNode = OctreeBranchNode<BranchContainerT>
using	LeafNode = OctreeLeafNode<LeafContainerT>
using	BranchContainer = BranchContainerT
using	LeafContainer = LeafContainerT
using	Iterator = OctreeDepthFirstIterator<OctreeT>
using	ConstIterator = OctreeDepthFirstIterator<const OctreeT>
using	LeafNodeIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>
using	ConstLeafNodeIterator = OctreeLeafNodeDepthFirstIterator<const OctreeT>
using	LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>
using	ConstLeafNodeDepthFirstIterator
using	DepthFirstIterator = OctreeDepthFirstIterator<OctreeT>
using	ConstDepthFirstIterator = OctreeDepthFirstIterator<const OctreeT>
using	BreadthFirstIterator = OctreeBreadthFirstIterator<OctreeT>
using	ConstBreadthFirstIterator = OctreeBreadthFirstIterator<const OctreeT>
using	FixedDepthIterator = OctreeFixedDepthIterator<OctreeT>
using	ConstFixedDepthIterator = OctreeFixedDepthIterator<const OctreeT>
using	LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator<OctreeT>
using	ConstLeafNodeBreadthFirstIterator

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.
	~OctreePointCloudCompression () override=default
	Empty deconstructor.
void	initialization ()
	Initialize globals.
void	addPointIdx (const uindex_t pointIdx_arg) override
	Add point at index from input pointcloud dataset to octree.
void	setOutputCloud (const PointCloudPtr &cloud_arg)
	Provide a pointer to the output data set.
PointCloudPtr	getOutputCloud () const
	Get a pointer to the output point cloud dataset.
void	encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressed_tree_data_out_arg)
	Encode point cloud to output stream.
void	decodePointCloud (std::istream &compressed_tree_data_in_arg, PointCloudPtr &cloud_arg)
	Decode point cloud from input stream.
Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor.
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
double	getResolution () const
	Get octree voxel resolution.
uindex_t	getTreeDepth () const
	Get the maximum depth of the octree.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
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.
bool	isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const
	Check if voxel at given point from input cloud exist.
uindex_t	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels.
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.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const index_t &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
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.
void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
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.
double	getVoxelSquaredDiameter (uindex_t tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (uindex_t tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.
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.
void	enableDynamicDepth (std::size_t maxObjsPerLeaf)
	Enable dynamic octree structure.
Public Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
Iterator	begin (uindex_t max_depth_arg=0u)
ConstIterator	begin (uindex_t max_depth_arg=0u) const
ConstIterator	cbegin (uindex_t max_depth_arg=0u) const
const Iterator	end ()
const ConstIterator	end () const
const ConstIterator	cend () const
LeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u)
ConstLeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u) const
const LeafNodeDepthFirstIterator	leaf_depth_end ()
const ConstLeafNodeDepthFirstIterator	leaf_depth_end () const
DepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u)
ConstDepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u) const
const DepthFirstIterator	depth_end ()
const ConstDepthFirstIterator	depth_end () const
BreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u)
ConstBreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u) const
const BreadthFirstIterator	breadth_end ()
const ConstBreadthFirstIterator	breadth_end () const
FixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u)
ConstFixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u) const
const FixedDepthIterator	fixed_depth_end ()
const ConstFixedDepthIterator	fixed_depth_end () const
LeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u)
ConstLeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u) const
const LeafNodeBreadthFirstIterator	leaf_breadth_end ()
const ConstLeafNodeBreadthFirstIterator	leaf_breadth_end () const
	OctreeBase ()
	Empty constructor.
virtual	~OctreeBase ()
	Empty deconstructor.
	OctreeBase (const OctreeBase &source)
	Copy constructor.
OctreeBase &	operator= (const OctreeBase &source)
	Copy operator.
void	setMaxVoxelIndex (uindex_t max_voxel_index_arg)
	Set the maximum amount of voxels per dimension.
void	setTreeDepth (uindex_t max_depth_arg)
	Set the maximum depth of the octree.
uindex_t	getTreeDepth () const
	Get the maximum depth of the octree.
LeafContainerT *	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).
LeafContainerT *	findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
bool	existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
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).
std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree.
std::size_t	getBranchCount () const
	Return the amount of existing branch nodes in the octree.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
void	serializeTree (std::vector< char > &binary_tree_out_arg) const
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg) const
	Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector.
void	serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.
void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Deserialize a binary octree description and create a corresponding octree structure.

Protected Member Functions
void	writeFrameHeader (std::ostream &compressed_tree_data_out_arg)
	Write frame information to output stream.
void	readFrameHeader (std::istream &compressed_tree_data_in_arg)
	Read frame information to output stream.
void	syncToHeader (std::istream &compressed_tree_data_in_arg)
	Synchronize to frame header.
void	entropyEncoding (std::ostream &compressed_tree_data_out_arg)
	Apply entropy encoding to encoded information and output to binary stream.
void	entropyDecoding (std::istream &compressed_tree_data_in_arg)
	Entropy decoding of input binary stream and output to information vectors.
void	serializeTreeCallback (LeafT &leaf_arg, const OctreeKey &key_arg) override
	Encode leaf node information during serialization.
void	deserializeTreeCallback (LeafT &, const OctreeKey &key_arg) override
	Decode leaf nodes information during deserialization.
Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
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.
const PointT &	getPointByIndex (uindex_t index_arg) const
	Get point at index from input pointcloud dataset.
LeafContainerT *	findLeafAtPoint (const PointT &point_arg) const
	Find octree leaf node at a given point.
void	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box.
void	adoptBoundingBoxToPoint (const PointT &point_idx_arg)
	Grow the bounding box/octree until point fits.
bool	isPointWithinBoundingBox (const PointT &point_idx_arg) const
	Checks if given point is within the bounding box of the octree.
void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point.
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.
virtual bool	genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index.
void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel.
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.
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.
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.
Protected Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
LeafContainerT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node.
LeafContainerT *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node.
bool	existLeaf (const OctreeKey &key_arg) const
	Check for existence of a leaf node in the octree.
void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree.
OctreeNode *	getRootNode () const
	Retrieve root node.
bool	branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Check if branch is pointing to a particular child node.
OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx.
void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch.
char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers.
void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree.
void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree.
BranchNode *	createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new branch child to a branch class.
LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new leaf child to a branch class.
uindex_t	createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafNode &return_leaf_arg, BranchNode *&parent_of_leaf_arg)
	Create a leaf node at octree key.
void	findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafContainerT &result_arg) const
	Recursively search for a given leaf node and return a pointer.
bool	deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node.
void	serializeTreeRecursive (const BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const
	Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.
void	deserializeTreeRecursive (BranchNode branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT >::const_iterator leaf_container_vector_it_arg, typename std::vector< LeafContainerT >::const_iterator *leaf_container_vector_it_end_arg)
	Recursive method for deserializing octree structure.
virtual void	serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
	Callback executed for every leaf node during serialization.
virtual void	deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
	Callback executed for every leaf node during deserialization.
bool	octreeCanResize () const
	Test if octree is able to dynamically change its depth.

Protected Attributes
PointCloudPtr	output_
	Pointer to output point cloud dataset.
std::vector< char >	binary_tree_data_vector_
	Vector for storing binary tree structure.
std::vector< unsigned int >	point_count_data_vector_
	Vector for storing points per voxel information.
std::vector< unsignedint >::const_iterator	point_count_data_vector_iterator_
	Iterator on points per voxel vector.
ColorCoding< PointT >	color_coder_
	Color coding instance.
PointCoding< PointT >	point_coder_
	Point coding instance.
StaticRangeCoder	entropy_coder_
	Static range coder instance.
bool	do_voxel_grid_enDecoding_ {false}
std::uint32_t	i_frame_rate_ {0}
std::uint32_t	i_frame_counter_ {0}
std::uint32_t	frame_ID_ {0}
std::uint64_t	point_count_ {0}
bool	i_frame_ {true}
bool	do_color_encoding_ {false}
bool	cloud_with_color_ {false}
bool	data_with_color_ {false}
unsigned char	point_color_offset_ {0}
bool	b_show_statistics_ {false}
std::uint64_t	compressed_point_data_len_ {0}
std::uint64_t	compressed_color_data_len_ {0}
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_ {0}
Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
PointCloudConstPtr	input_
	Pointer to input point cloud dataset.
IndicesConstPtr	indices_
	A pointer to the vector of point indices to use.
double	epsilon_ {0.0}
	Epsilon precision (error bound) for nearest neighbors searches.
double	resolution_
	Octree resolution.
double	min_x_ {0.0}
double	max_x_
double	min_y_ {0.0}
double	max_y_
double	min_z_ {0.0}
double	max_z_
bool	bounding_box_defined_ {false}
	Flag indicating if octree has defined bounding box.
std::size_t	max_objs_per_leaf_ {0}
	Amount of DataT objects per leafNode before expanding branch.
Protected Attributes inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
std::size_t	leaf_count_ {0}
	Amount of leaf nodes.
std::size_t	branch_count_ {1}
	Amount of branch nodes.
BranchNode *	root_node_
	Pointer to root branch node of octree.
uindex_t	depth_mask_ {0}
	Depth mask based on octree depth.
uindex_t	octree_depth_ {0}
	Octree depth.
bool	dynamic_depth_enabled_ {false}
	Enable dynamic_depth.
OctreeKey	max_key_
	key range

Static Protected Attributes
static const char *	frame_header_identifier_

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. It is a lossy compression. See also PCDWriter for another way to compress point cloud data.; 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 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>>

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 96 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 ( )

overridedefault

Empty deconstructor.

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 uindex_t 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, LeafContainerT, BranchContainerT, OctreeT >.

Definition at line 157 of file octree_pointcloud_compression.h.

◆ 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

Warning: This function is blocking until there is data available from the input stream. If the stream never contains any data, this will hang forever!

Definition at line 175 of file octree_pointcloud_compression.hpp.

References b_show_statistics_, binary_tree_data_vector_, cloud_with_color_, color_coder_, compressed_color_data_len_, compressed_point_data_len_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree(), entropyDecoding(), frame_ID_, pcl::getFieldIndex(), i_frame_, output_, point_coder_, point_color_offset_, point_count_, readFrameHeader(), setOutputCloud(), and syncToHeader().

◆ 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 507 of file octree_pointcloud_compression.hpp.

References cloud_with_color_, color_coder_, data_with_color_, do_voxel_grid_enDecoding_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_, output_, point_coder_, point_color_offset_, point_count_data_vector_iterator_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_.

◆ 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.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud(), b_show_statistics_, binary_tree_data_vector_, cloud_with_color_, color_coder_, compressed_color_data_len_, compressed_point_data_len_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteTree(), do_color_encoding_, do_voxel_grid_enDecoding_, encodePointCloud(), entropyEncoding(), frame_ID_, pcl::getFieldIndex(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getTreeDepth(), i_frame_, i_frame_counter_, i_frame_rate_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_, object_count_, point_coder_, point_color_offset_, point_count_, point_count_data_vector_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTree(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud(), and writeFrameHeader().

Referenced by encodePointCloud().

◆ 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 312 of file octree_pointcloud_compression.hpp.

References binary_tree_data_vector_, color_coder_, compressed_color_data_len_, compressed_point_data_len_, data_with_color_, do_voxel_grid_enDecoding_, entropy_coder_, point_coder_, point_count_data_vector_, and point_count_data_vector_iterator_.

Referenced by decodePointCloud().

◆ 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 252 of file octree_pointcloud_compression.hpp.

References binary_tree_data_vector_, cloud_with_color_, color_coder_, compressed_color_data_len_, compressed_point_data_len_, do_voxel_grid_enDecoding_, entropy_coder_, point_coder_, and point_count_data_vector_.

Referenced by encodePointCloud().

◆ 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 179 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 123 of file octree_pointcloud_compression.h.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, Octree2BufBase< LeafT, BranchT > >::OctreePointCloudCompression().

◆ 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 431 of file octree_pointcloud_compression.hpp.

References color_coder_, data_with_color_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteTree(), do_voxel_grid_enDecoding_, frame_ID_, i_frame_, point_coder_, point_count_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setResolution().

Referenced by decodePointCloud().

◆ 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 472 of file octree_pointcloud_compression.hpp.

References cloud_with_color_, color_coder_, do_voxel_grid_enDecoding_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::input_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_, point_coder_, point_color_offset_, point_count_data_vector_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_.

◆ 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 167 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud().

◆ 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 416 of file octree_pointcloud_compression.hpp.

References frame_header_identifier_.

Referenced by decodePointCloud().

◆ 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 369 of file octree_pointcloud_compression.hpp.

References cloud_with_color_, color_coder_, do_voxel_grid_enDecoding_, frame_header_identifier_, frame_ID_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getBoundingBox(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getResolution(), i_frame_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_, object_count_, point_coder_, and point_count_.

Referenced by encodePointCloud().

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_ {false}

protected

Definition at line 280 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), and encodePointCloud().

◆ 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 250 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), encodePointCloud(), entropyDecoding(), and entropyEncoding().

◆ 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_ {false}

protected

Definition at line 275 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), deserializeTreeCallback(), encodePointCloud(), entropyEncoding(), serializeTreeCallback(), and writeFrameHeader().

◆ 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 290 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 259 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), deserializeTreeCallback(), encodePointCloud(), entropyDecoding(), entropyEncoding(), readFrameHeader(), serializeTreeCallback(), and writeFrameHeader().

◆ 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_ {0}

protected

Definition at line 282 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), encodePointCloud(), entropyDecoding(), and entropyEncoding().

◆ 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_ {0}

protected

Definition at line 281 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), encodePointCloud(), entropyDecoding(), and entropyEncoding().

◆ 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_ {false}

protected

Definition at line 276 of file octree_pointcloud_compression.h.

Referenced by deserializeTreeCallback(), entropyDecoding(), and readFrameHeader().

◆ 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_ {false}

protected

Definition at line 274 of file octree_pointcloud_compression.h.

Referenced by encodePointCloud().

◆ 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_ {false}

protected

Definition at line 267 of file octree_pointcloud_compression.h.

Referenced by deserializeTreeCallback(), encodePointCloud(), entropyDecoding(), entropyEncoding(), readFrameHeader(), serializeTreeCallback(), and writeFrameHeader().

◆ 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 265 of file octree_pointcloud_compression.h.

Referenced by entropyDecoding(), and entropyEncoding().

◆ 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_

staticprotected

Definition at line 285 of file octree_pointcloud_compression.h.

Referenced by syncToHeader(), and writeFrameHeader().

◆ 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_ {0}

protected

Definition at line 270 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), encodePointCloud(), readFrameHeader(), and writeFrameHeader().

◆ 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_ {true}

protected

Definition at line 272 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), encodePointCloud(), readFrameHeader(), and writeFrameHeader().

◆ 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_ {0}

protected

Definition at line 269 of file octree_pointcloud_compression.h.

Referenced by encodePointCloud().

◆ 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_ {0}

protected

Definition at line 268 of file octree_pointcloud_compression.h.

Referenced by encodePointCloud().

◆ 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_ {0}

protected

Definition at line 292 of file octree_pointcloud_compression.h.

Referenced by encodePointCloud(), and writeFrameHeader().

◆ 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 289 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 247 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), and deserializeTreeCallback().

◆ 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 262 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), deserializeTreeCallback(), encodePointCloud(), entropyDecoding(), entropyEncoding(), readFrameHeader(), serializeTreeCallback(), and writeFrameHeader().

◆ 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_ {0}

protected

Definition at line 277 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), deserializeTreeCallback(), encodePointCloud(), and serializeTreeCallback().

◆ 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_ {0}

protected

Definition at line 271 of file octree_pointcloud_compression.h.

Referenced by decodePointCloud(), encodePointCloud(), readFrameHeader(), and writeFrameHeader().

◆ 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 253 of file octree_pointcloud_compression.h.

Referenced by encodePointCloud(), entropyDecoding(), entropyEncoding(), and serializeTreeCallback().

◆ point_count_data_vector_iterator_

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

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

protected

Iterator on points per voxel vector.

Definition at line 256 of file octree_pointcloud_compression.h.

Referenced by deserializeTreeCallback(), and entropyDecoding().

◆ 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 288 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 287 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

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_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_