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 | |
| typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloud | PointCloud |
| typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloudPtr | PointCloudPtr |
| typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef boost::shared_ptr < OctreePointCloudCompression < PointT, LeafT, BranchT, OctreeT > > | Ptr |
| typedef boost::shared_ptr < const OctreePointCloudCompression < PointT, LeafT, BranchT, OctreeT > > | ConstPtr |
| typedef OctreeT::LeafNode | LeafNode |
| typedef OctreeT::BranchNode | BranchNode |
| typedef OctreePointCloudCompression < PointT, LeafT, BranchT, Octree2BufBase< LeafT, BranchT > > | RealTimeStreamCompression |
| typedef OctreePointCloudCompression < PointT, LeafT, BranchT, OctreeBase< LeafT, BranchT > > | SinglePointCloudCompressionLowMemory |
| Public Types inherited from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT > | |
| typedef OctreeT | Base |
| typedef OctreeT::LeafNode | LeafNode |
| typedef OctreeT::BranchNode | BranchNode |
| typedef OctreeDepthFirstIterator < OctreeT > | Iterator |
| typedef const OctreeDepthFirstIterator < OctreeT > | ConstIterator |
| typedef OctreeLeafNodeIterator < OctreeT > | LeafNodeIterator |
| typedef const OctreeLeafNodeIterator < OctreeT > | ConstLeafNodeIterator |
| typedef OctreeDepthFirstIterator < OctreeT > | DepthFirstIterator |
| typedef const OctreeDepthFirstIterator < OctreeT > | ConstDepthFirstIterator |
| typedef OctreeBreadthFirstIterator < OctreeT > | BreadthFirstIterator |
| typedef const OctreeBreadthFirstIterator < OctreeT > | ConstBreadthFirstIterator |
| typedef boost::shared_ptr < std::vector< int > > | IndicesPtr |
| typedef boost::shared_ptr < const std::vector< int > > | IndicesConstPtr |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef boost::shared_ptr < PointCloud > | PointCloudPtr |
| typedef boost::shared_ptr < const PointCloud > | PointCloudConstPtr |
| typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeBase< LeafT > > | SingleBuffer |
| typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, BranchT, OctreeT > > | Ptr |
| typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, BranchT, OctreeT > > | ConstPtr |
| typedef std::vector< PointT, Eigen::aligned_allocator < PointT > > | AlignedPointTVector |
| typedef std::vector< PointXYZ, Eigen::aligned_allocator < PointXYZ > > | AlignedPointXYZVector |
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... | |
| virtual | ~OctreePointCloudCompression () |
| Empty deconstructor. More... | |
| void | initialization () |
| Initialize globals. More... | |
| virtual void | addPointIdx (const int pointIdx_arg) |
| 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... | |
| virtual | ~OctreePointCloud () |
| Empty deconstructor. 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 (OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) |
| Generate bounds of the current voxel of an octree iterator. More... | |
| void | enableDynamicDepth (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... | |
| virtual void | serializeTreeCallback (LeafT &leaf_arg, const OctreeKey &key_arg) |
| Encode leaf node information during serialization. More... | |
| virtual void | deserializeTreeCallback (LeafT &, const OctreeKey &key_arg) |
| 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_ |
| Interator 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_ |
| Interator 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_ |
| uint32_t | i_frame_rate_ |
| uint32_t | i_frame_counter_ |
| uint32_t | frame_ID_ |
| 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_ |
| uint64_t | compressed_point_data_len_ |
| 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
Definition at line 74 of file octree_pointcloud_compression.h.
Member Typedef Documentation
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreeT::BranchNode pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::BranchNode |
Definition at line 88 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef boost::shared_ptr<const OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT> > pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::ConstPtr |
Definition at line 85 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreeT::LeafNode pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::LeafNode |
Definition at line 87 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloud pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloud |
Definition at line 79 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudConstPtr pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr |
Definition at line 81 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudPtr pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr |
Definition at line 80 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef boost::shared_ptr<OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT> > pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::Ptr |
Definition at line 84 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreePointCloudCompression<PointT, LeafT, BranchT, Octree2BufBase<LeafT, BranchT> > pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::RealTimeStreamCompression |
Definition at line 90 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
| typedef OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeBase<LeafT, BranchT> > pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::SinglePointCloudCompressionLowMemory |
Definition at line 91 of file octree_pointcloud_compression.h.
Constructor & Destructor Documentation
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Constructor.
- Parameters
-
compressionProfile_arg,: define compression profile octreeResolution_arg,: octree resolution at lowest octree level pointResolution_arg,: precision of point coordinates doVoxelGridDownDownSampling_arg,: voxel grid filtering iFrameRate_arg,: i-frame encoding rate doColorEncoding_arg,: enable/disable color coding colorBitResolution_arg,: color bit depth showStatistics_arg,: output compression statistics
Definition at line 104 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inlinevirtual |
Empty deconstructor.
Definition at line 135 of file octree_pointcloud_compression.h.
Member Function Documentation
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inlinevirtual |
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 174 of file octree_pointcloud_compression.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointIdx().
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 179 of file octree_pointcloud_compression.hpp.
References pcl::getFieldIndex().
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protectedvirtual |
Decode leaf nodes information during deserialization.
- Parameters
-
key_arg octree key of new leaf node
Definition at line 511 of file octree_pointcloud_compression.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
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 59 of file octree_pointcloud_compression.hpp.
References pcl::getFieldIndex().
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Entropy decoding of input binary stream and output to information vectors.
- Parameters
-
compressed_tree_data_in_arg,: binary input stream
Definition at line 316 of file octree_pointcloud_compression.hpp.
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Apply entropy encoding to encoded information and output to binary stream.
- Parameters
-
compressed_tree_data_out_arg,: binary output stream
Definition at line 256 of file octree_pointcloud_compression.hpp.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Get a pointer to the output point cloud dataset.
- Returns
- pointer to pointcloud output class.
Definition at line 196 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Initialize globals.
Definition at line 140 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.
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Read frame information to output stream.
- Parameters
-
compressed_tree_data_in_arg,: binary input stream
Definition at line 435 of file octree_pointcloud_compression.hpp.
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protectedvirtual |
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 476 of file octree_pointcloud_compression.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
inline |
Provide a pointer to the output data set.
- Parameters
-
cloud_arg,: the boost shared pointer to a PointCloud message
Definition at line 184 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Synchronize to frame header.
- Parameters
-
compressed_tree_data_in_arg,: binary input stream
Definition at line 420 of file octree_pointcloud_compression.hpp.
template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >
|
protected |
Write frame information to output stream.
- Parameters
-
compressed_tree_data_out_arg,: binary output stream
Definition at line 373 of file octree_pointcloud_compression.hpp.
Member Data Documentation
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
|
protected |
Definition at line 299 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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protected |
Interator on binary tree structure vector.
Definition at line 269 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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protected |
Vector for storing binary tree structure.
Definition at line 266 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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protected |
Definition at line 294 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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protected |
Definition at line 309 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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protected |
Color coding instance.
Definition at line 278 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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protected |
Definition at line 301 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 300 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 295 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 293 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 286 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Static range coder instance.
Definition at line 284 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 304 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 289 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 291 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 288 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 287 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 311 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 308 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Pointer to output point cloud dataset.
Definition at line 263 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Point coding instance.
Definition at line 281 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 296 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 290 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Vector for storing points per voxel information.
Definition at line 272 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Interator on points per voxel vector.
Definition at line 275 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 307 of file octree_pointcloud_compression.h.
template<typename PointT , typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
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Definition at line 306 of file octree_pointcloud_compression.h.
The documentation for this class was generated from the following files:
- /builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/io/include/pcl/compression/octree_pointcloud_compression.h
- /builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/io/include/pcl/compression/impl/octree_pointcloud_compression.hpp