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>";