39 #ifndef PCL_ORGANIZED_POINT_COMPRESSION_H_
40 #define PCL_ORGANIZED_POINT_COMPRESSION_H_
42 #include <pcl/pcl_macros.h>
43 #include <pcl/point_cloud.h>
45 #include <pcl/common/boost.h>
46 #include <pcl/common/eigen.h>
47 #include <pcl/common/common.h>
48 #include <pcl/common/io.h>
50 #include <pcl/io/openni_camera/openni_shift_to_depth_conversion.h>
60 template<
typename Po
intT>
87 std::ostream& compressedDataOut_arg,
88 bool doColorEncoding =
false,
89 bool convertToMono =
false,
90 bool bShowStatistics_arg =
true,
91 int pngLevel_arg = -1);
109 std::vector<uint8_t>& colorImage_arg,
112 std::ostream& compressedDataOut_arg,
113 bool doColorEncoding =
false,
114 bool convertToMono =
false,
115 bool bShowStatistics_arg =
true,
116 int pngLevel_arg = -1,
117 float focalLength_arg = 525.0f,
118 float disparityShift_arg = 174.825f,
119 float disparityScale_arg = -0.161175f);
128 PointCloudPtr &cloud_arg,
129 bool bShowStatistics_arg =
true);
139 float& focalLength_arg)
const;
143 static const char* frameHeaderIdentifier_;
150 template<
typename Po
intT>
151 const char* OrganizedPointCloudCompression<PointT>::frameHeaderIdentifier_ =
"<PCL-ORG-COMPRESSED>";
void analyzeOrganizedCloud(PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const
Analyze input point cloud and calculate the maximum depth and focal length.
void encodeRawDisparityMapWithColorImage(std::vector< uint16_t > &disparityMap_arg, std::vector< uint8_t > &colorImage_arg, uint32_t width_arg, 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.
pcl::PointCloud< PointT > PointCloud
bool decodePointCloud(std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
Decode point cloud from input stream.
void 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.
boost::shared_ptr< const PointCloud > PointCloudConstPtr
OrganizedPointCloudCompression()
Empty Constructor.
boost::shared_ptr< PointCloud > PointCloudPtr
This class provides conversion of the openni 11-bit shift data to depth;.
virtual ~OrganizedPointCloudCompression()
Empty deconstructor.