organized_pointcloud_compression.h

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#pragma once
 
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
 
#include <pcl/io/openni_camera/openni_shift_to_depth_conversion.h>
 
#include <vector>
 
namespace pcl
{
  namespace io
  {
    /** \author Julius Kammerl (julius@kammerl.de)
     */
    template<typename PointT>
    class OrganizedPointCloudCompression
    {
      public:
        using PointCloud = pcl::PointCloud<PointT>;
        using PointCloudPtr = typename PointCloud::Ptr;
        using PointCloudConstPtr = typename PointCloud::ConstPtr;
 
        /** \brief Empty Constructor. */
        OrganizedPointCloudCompression () = default;
 
        /** \brief Empty deconstructor. */
        virtual ~OrganizedPointCloudCompression () = default;
 
        /** \brief Encode point cloud to output stream
         * \param[in] cloud_arg:  point cloud to be compressed
         * \param[out] compressedDataOut_arg:  binary output stream containing compressed data
         * \param[in] doColorEncoding: encode color information (if available)
         * \param[in] convertToMono: convert rgb to mono
         * \param[in] pngLevel_arg: png compression level (default compression: -1)
         * \param[in] bShowStatistics_arg:  show statistics
         */
        void encodePointCloud (const PointCloudConstPtr &cloud_arg,
                               std::ostream& compressedDataOut_arg,
                               bool doColorEncoding = false,
                               bool convertToMono = false,
                               bool bShowStatistics_arg = true,
                               int pngLevel_arg = -1);
 
        /** \brief Encode raw disparity map and color image.
         * \note Default values are configured according to the kinect/asus device specifications
         * \param[in] disparityMap_arg:  pointer to raw 16-bit disparity map
         * \param[in] colorImage_arg:  pointer to raw 8-bit rgb color image
         * \param[in] width_arg:  width of disparity map/color image
         * \param[in] height_arg:  height of disparity map/color image
         * \param[out] compressedDataOut_arg:  binary output stream containing compressed data
         * \param[in] doColorEncoding: encode color information (if available)
         * \param[in] convertToMono: convert rgb to mono
         * \param[in] pngLevel_arg: png compression level (default compression: -1)
         * \param[in] bShowStatistics_arg:  show statistics
         * \param[in] focalLength_arg focal length
         * \param[in] disparityShift_arg disparity shift
         * \param[in] disparityScale_arg disparity scaling
         */
        void encodeRawDisparityMapWithColorImage ( std::vector<std::uint16_t>& disparityMap_arg,
                                                   std::vector<std::uint8_t>& colorImage_arg,
                                                   std::uint32_t width_arg,
                                                   std::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);
 
        /** \brief Decode point cloud from input stream
         * \param[in] compressedDataIn_arg: binary input stream containing compressed data
         * \param[out] cloud_arg: reference to decoded point cloud
         * \param[in] bShowStatistics_arg: show compression statistics during decoding
         * \return false if an I/O error occurred.
         */
        bool decodePointCloud (std::istream& compressedDataIn_arg,
                               PointCloudPtr &cloud_arg,
                               bool bShowStatistics_arg = true);
 
      protected:
        /** \brief Analyze input point cloud and calculate the maximum depth and focal length
         * \param[in] cloud_arg: input point cloud
         * \param[out] maxDepth_arg: calculated maximum depth
         * \param[out] focalLength_arg: estimated focal length
         */
        void analyzeOrganizedCloud (PointCloudConstPtr cloud_arg,
                                    float& maxDepth_arg,
                                    float& focalLength_arg) const;
 
      private:
        // frame header identifier
        static const char* frameHeaderIdentifier_;
 
        //
        openni_wrapper::ShiftToDepthConverter sd_converter_;
    };
 
    // define frame identifier
    template<typename PointT>
    const char* OrganizedPointCloudCompression<PointT>::frameHeaderIdentifier_ = "<PCL-ORG-COMPRESSED>";
  }
}