Point Cloud Library (PCL)
1.11.1-dev
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42 #include <pcl/point_cloud.h>
44 #include <pcl/io/openni_camera/openni_shift_to_depth_conversion.h>
54 template<
typename Po
intT>
81 std::ostream& compressedDataOut_arg,
82 bool doColorEncoding =
false,
83 bool convertToMono =
false,
84 bool bShowStatistics_arg =
true,
85 int pngLevel_arg = -1);
103 std::vector<std::uint8_t>& colorImage_arg,
104 std::uint32_t width_arg,
105 std::uint32_t height_arg,
106 std::ostream& compressedDataOut_arg,
107 bool doColorEncoding =
false,
108 bool convertToMono =
false,
109 bool bShowStatistics_arg =
true,
110 int pngLevel_arg = -1,
111 float focalLength_arg = 525.0f,
112 float disparityShift_arg = 174.825f,
113 float disparityScale_arg = -0.161175f);
122 PointCloudPtr &cloud_arg,
123 bool bShowStatistics_arg =
true);
133 float& focalLength_arg)
const;
137 static const char* frameHeaderIdentifier_;
144 template<
typename Po
intT>
145 const char* OrganizedPointCloudCompression<PointT>::frameHeaderIdentifier_ =
"<PCL-ORG-COMPRESSED>";
Defines all the PCL and non-PCL macros used.
typename PointCloud::ConstPtr PointCloudConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
bool decodePointCloud(std::istream &compressedDataIn_arg, PointCloudPtr &cloud_arg, bool bShowStatistics_arg=true)
Decode point cloud from input stream.
This class provides conversion of the openni 11-bit shift data to depth;.
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.
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)
Encode raw disparity map and color image.
virtual ~OrganizedPointCloudCompression()
Empty deconstructor.
shared_ptr< PointCloud< PointT > > Ptr
typename PointCloud::Ptr PointCloudPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
void analyzeOrganizedCloud(PointCloudConstPtr cloud_arg, float &maxDepth_arg, float &focalLength_arg) const
Analyze input point cloud and calculate the maximum depth and focal length.
OrganizedPointCloudCompression()
Empty Constructor.