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PCL-LZF image format reader. More...

#include <pcl/io/lzf_image_io.h>

Public Member Functions

LZFImageReader ()
Empty constructor. More...
virtual ~LZFImageReader ()
Empty destructor. More...
bool readParameters (const std::string &filename)
Read camera parameters from a given file and store them internally. More...
void setParameters (const CameraParameters &parameters)
Read the parameters from a struct instead. More...
CameraParameters getParameters () const
Get the camera parameters currently being used returns a CameraParameters struct. More...
std::uint32_t getWidth () const
Get the image width as read from disk. More...
std::uint32_t getHeight () const
Get the image height as read from disk. More...
std::string getImageType () const
Get the type of the image read from disk. More...

Protected Member Functions

virtual bool readParameters (std::istream &)
Read camera parameters from a given stream and store them internally. More...
bool loadImageBlob (const std::string &filename, std::vector< char > &data, std::uint32_t &uncompressed_size)
Load a compressed image array from disk. More...
bool decompress (const std::vector< char > &input, std::vector< char > &output)
Realtime LZF decompression. More...

Protected Attributes

std::uint32_t width_
The image width, as read from the file. More...
std::uint32_t height_
The image height, as read from the file. More...
std::string image_type_identifier_
The image type string, as read from the file. More...
CameraParameters parameters_
Internal set of camera parameters. More...

Detailed Description

PCL-LZF image format reader.

The PCL-LZF image format is nothing else but a LZF-modified compression over an existing file type (e.g., PNG). However, in certain situations, like RGB data for example, an [RGBRGB...RGB] array will be first reordered into [RR...RGG...GBB...B] in order to ensure better compression.

The current list of compressors/decompressors include:

  • LZF compressed 24-bit [RR...RGG...GBB...B] data
  • LZF compressed 8-bit Bayer data
  • LZF compressed 16-bit YUV422 data
  • LZF compressed 16-bit depth data

Please note that files found using the above mentioned extensions will be treated as such. Inherit from this class and overwrite the I/O methods if you plan to change this behavior.

The main advantage of using the PCL-LZF image I/O routines is a very good file size versus I/O speed ratio. Tests performed using LZF, Snappy, ZIP, GZ2, BZIP2, as well as PNG, JPEG, and TIFF compression have shown that the internal PCL LZF methods provide the best score for the types of applications PCL is suited for.

Author
Radu B. Rusu

Definition at line 85 of file lzf_image_io.h.

Constructor & Destructor Documentation

LZFImageReader()

pcl::io::LZFImageReader::LZFImageReader ( )

Empty constructor.

~LZFImageReader()

virtual pcl::io::LZFImageReader::~LZFImageReader ( )
inlinevirtual

Empty destructor.

Definition at line 91 of file lzf_image_io.h.

Member Function Documentation

decompress()

bool pcl::io::LZFImageReader::decompress ( const std::vector< char > & input,
std::vector< char > & output
)
protected

Realtime LZF decompression.

Parameters
[in] input the array to decompress
[out] output the decompressed array
Returns
true if operation successful, false otherwise

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

getHeight()

std::uint32_t pcl::io::LZFImageReader::getHeight ( ) const
inline

Get the image height as read from disk.

Definition at line 124 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

getImageType()

std::string pcl::io::LZFImageReader::getImageType ( ) const
inline

Get the type of the image read from disk.

Definition at line 131 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

getParameters()

CameraParameters pcl::io::LZFImageReader::getParameters ( ) const
inline

Get the camera parameters currently being used returns a CameraParameters struct.

Definition at line 110 of file lzf_image_io.h.

getWidth()

std::uint32_t pcl::io::LZFImageReader::getWidth ( ) const
inline

Get the image width as read from disk.

Definition at line 117 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

loadImageBlob()

bool pcl::io::LZFImageReader::loadImageBlob ( const std::string & filename,
std::vector< char > & data,
std::uint32_t & uncompressed_size
)
protected

Load a compressed image array from disk.

Parameters
[in] filename the file name to load the data from
[out] data the size of the data
uncompressed_size
Returns
an array filled with the data loaded from disk, NULL if error

Referenced by pcl::io::LZFDepth16ImageReader::read(), pcl::io::LZFRGB24ImageReader::read(), pcl::io::LZFYUV422ImageReader::read(), pcl::io::LZFBayer8ImageReader::read(), pcl::io::LZFDepth16ImageReader::readOMP(), pcl::io::LZFRGB24ImageReader::readOMP(), pcl::io::LZFYUV422ImageReader::readOMP(), and pcl::io::LZFBayer8ImageReader::readOMP().

readParameters() [1/2]

bool pcl::io::LZFImageReader::readParameters ( const std::string & filename )

Read camera parameters from a given file and store them internally.

Returns
true if operation successful, false otherwise

readParameters() [2/2]

virtual bool pcl::io::LZFImageReader::readParameters ( std::istream & )
inlineprotectedvirtual

Read camera parameters from a given stream and store them internally.

Returns
true if operation successful, false otherwise

Reimplemented in pcl::io::LZFRGB24ImageReader, and pcl::io::LZFDepth16ImageReader.

Definition at line 141 of file lzf_image_io.h.

setParameters()

void pcl::io::LZFImageReader::setParameters ( const CameraParameters & parameters )
inline

Read the parameters from a struct instead.

Parameters
[in] parameters Camera parameters to use

Definition at line 102 of file lzf_image_io.h.

Member Data Documentation

height_

std::uint32_t pcl::io::LZFImageReader::height_
protected

The image height, as read from the file.

Definition at line 167 of file lzf_image_io.h.

image_type_identifier_

std::string pcl::io::LZFImageReader::image_type_identifier_
protected

The image type string, as read from the file.

Definition at line 170 of file lzf_image_io.h.

parameters_

CameraParameters pcl::io::LZFImageReader::parameters_
protected

Internal set of camera parameters.

Definition at line 173 of file lzf_image_io.h.

Referenced by pcl::io::LZFDepth16ImageReader::read(), and pcl::io::LZFDepth16ImageReader::readOMP().

width_

std::uint32_t pcl::io::LZFImageReader::width_
protected

The image width, as read from the file.

Definition at line 164 of file lzf_image_io.h.

The documentation for this class was generated from the following file:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1io_1_1_l_z_f_image_reader.html