Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 * Range Coder based on Dmitry Subbotin's carry-less implementation (http://www.compression.ru/ds/) 00036 * Added optimized symbol lookup and added implementation for static range coding (uses fixed precomputed frequency table) 00037 * 00038 * Author: Julius Kammerl (julius@kammerl.de) 00039 */ 00040 00041 #ifndef __PCL_IO_RANGECODING__ 00042 #define __PCL_IO_RANGECODING__ 00043 00044 #include <map> 00045 #include <iostream> 00046 #include <vector> 00047 #include <string> 00048 #include <cmath> 00049 #include <algorithm> 00050 #include <stdio.h> 00051 #include <boost/cstdint.hpp> 00052 00053 namespace pcl 00054 { 00055 00056 using boost::uint8_t; 00057 using boost::uint32_t; 00058 using boost::uint64_t; 00059 00060 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00061 /** \brief @b AdaptiveRangeCoder compression class 00062 * \note This class provides adaptive range coding functionality. 00063 * \note Its symbol probability/frequency table is adaptively updated during encoding 00064 * \note 00065 * \author Julius Kammerl (julius@kammerl.de) 00066 */ 00067 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00068 class AdaptiveRangeCoder 00069 { 00070 00071 public: 00072 00073 /** \brief Empty constructor. */ 00074 AdaptiveRangeCoder () : outputCharVector_ () 00075 { 00076 } 00077 00078 /** \brief Empty deconstructor. */ 00079 virtual 00080 ~AdaptiveRangeCoder () 00081 { 00082 } 00083 00084 /** \brief Encode char vector to output stream 00085 * \param inputByteVector_arg input vector 00086 * \param outputByteStream_arg output stream containing compressed data 00087 * \return amount of bytes written to output stream 00088 */ 00089 unsigned long 00090 encodeCharVectorToStream (const std::vector<char>& inputByteVector_arg, std::ostream& outputByteStream_arg); 00091 00092 /** \brief Decode char stream to output vector 00093 * \param inputByteStream_arg input stream of compressed data 00094 * \param outputByteVector_arg decompressed output vector 00095 * \return amount of bytes read from input stream 00096 */ 00097 unsigned long 00098 decodeStreamToCharVector (std::istream& inputByteStream_arg, std::vector<char>& outputByteVector_arg); 00099 00100 protected: 00101 typedef boost::uint32_t DWord; // 4 bytes 00102 00103 private: 00104 /** vector containing compressed data 00105 */ 00106 std::vector<char> outputCharVector_; 00107 00108 }; 00109 00110 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00111 /** \brief @b StaticRangeCoder compression class 00112 * \note This class provides static range coding functionality. 00113 * \note Its symbol probability/frequency table is precomputed and encoded to the output stream 00114 * \note 00115 * \author Julius Kammerl (julius@kammerl.de) 00116 */ 00117 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00118 class StaticRangeCoder 00119 { 00120 public: 00121 /** \brief Constructor. */ 00122 StaticRangeCoder () : 00123 cFreqTable_ (65537), outputCharVector_ () 00124 { 00125 } 00126 00127 /** \brief Empty deconstructor. */ 00128 virtual 00129 ~StaticRangeCoder () 00130 { 00131 } 00132 00133 /** \brief Encode integer vector to output stream 00134 * \param[in] inputIntVector_arg input vector 00135 * \param[out] outputByterStream_arg output stream containing compressed data 00136 * \return amount of bytes written to output stream 00137 */ 00138 unsigned long 00139 encodeIntVectorToStream (std::vector<unsigned int>& inputIntVector_arg, std::ostream& outputByterStream_arg); 00140 00141 /** \brief Decode stream to output integer vector 00142 * \param inputByteStream_arg input stream of compressed data 00143 * \param outputIntVector_arg decompressed output vector 00144 * \return amount of bytes read from input stream 00145 */ 00146 unsigned long 00147 decodeStreamToIntVector (std::istream& inputByteStream_arg, std::vector<unsigned int>& outputIntVector_arg); 00148 00149 /** \brief Encode char vector to output stream 00150 * \param inputByteVector_arg input vector 00151 * \param outputByteStream_arg output stream containing compressed data 00152 * \return amount of bytes written to output stream 00153 */ 00154 unsigned long 00155 encodeCharVectorToStream (const std::vector<char>& inputByteVector_arg, std::ostream& outputByteStream_arg); 00156 00157 /** \brief Decode char stream to output vector 00158 * \param inputByteStream_arg input stream of compressed data 00159 * \param outputByteVector_arg decompressed output vector 00160 * \return amount of bytes read from input stream 00161 */ 00162 unsigned long 00163 decodeStreamToCharVector (std::istream& inputByteStream_arg, std::vector<char>& outputByteVector_arg); 00164 00165 protected: 00166 typedef boost::uint32_t DWord; // 4 bytes 00167 00168 /** \brief Helper function to calculate the binary logarithm 00169 * \param n_arg: some value 00170 * \return binary logarithm (log2) of argument n_arg 00171 */ 00172 inline double 00173 Log2 (double n_arg) 00174 { 00175 return log (n_arg) / log (2.0); 00176 } 00177 00178 private: 00179 /** \brief Vector containing cumulative symbol frequency table. */ 00180 std::vector<uint64_t> cFreqTable_; 00181 00182 /** \brief Vector containing compressed data. */ 00183 std::vector<char> outputCharVector_; 00184 00185 }; 00186 } 00187 00188 00189 //#include "impl/entropy_range_coder.hpp" 00190 00191 #endif 00192