Point Cloud Library (PCL) 1.13.0
outofcore_base_data.h
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38
39#pragma once
40
41#include <pcl/memory.h>
42#include <pcl/pcl_macros.h>
43#include <pcl/outofcore/cJSON.h>
44
45#include <pcl/outofcore/metadata.h>
46
47//standard library
48#include <string>
49
50namespace pcl
51{
52 namespace outofcore
53 {
54 /** \class OutofcoreOctreeBaseMetadata
55 *
56 * \brief Encapsulated class to read JSON metadata into memory,
57 * and write the JSON metadata associated with the octree root
58 * node. This is global information that is not the same as the
59 * metadata for the root node. Inherits OutofcoreAbstractMetadata
60 * interface for metadata in \b pcl_outofcore.
61
62 *
63 * This class encapsulates the outofcore base metadata
64 * serialization/deserialization. At the time it was written,
65 * this depended on cJSON to write JSON objects to disk. This
66 * class can be extended to have arbitrary JSON ascii metadata
67 * fields saved to the metadata object file on disk. The class
68 * has been encapuslated to abstract the detailso of the on-disk
69 * format from the outofcore implementation. For example, the
70 * format could be changed to XML/YAML, or any dynamic format at
71 * some point.
72 *
73 * The JSON file is formatted in the following way:
74 * \verbatim
75 {
76 "name": "nameoftree",
77 "version": 3,
78 "pointtype": "urp", #(needs to be changed*)
79 "lod": 3, #(depth of the tree
80 "numpts": [X0, X1, X2, ..., XD], #total number of points at each LOD
81 "coord_system": "ECEF" #the tree is not affected by this value
82 }
83 \endverbatim
84 *
85 * Any properties not stored in the metadata file are computed
86 * when the file is loaded. By convention, and for historical
87 * reasons from the original Urban Robotics implementation, the
88 * JSON file representing the overall tree is a JSON file named
89 * with the ".octree" extension.
90 *
91 * \ingroup outofcore
92 * \author Stephen Fox (foxstephend@gmail.com)
93 */
95 {
96 public:
97 using Ptr = shared_ptr<OutofcoreOctreeBaseMetadata>;
98 using ConstPtr = shared_ptr<const OutofcoreOctreeBaseMetadata>;
99
100 /** \brief Empty constructor */
102 /** \brief Load metadata from disk
103 *
104 * \param[in] path_arg Location of JSON metadata file to load from disk
105 */
106 OutofcoreOctreeBaseMetadata (const boost::filesystem::path& path_arg);
107 /** \brief Default destructor*/
109
110 /** \brief Copy constructor */
112
113 /** \brief et the outofcore version read from the "version" field of the JSON object */
114 int
116 /** \brief Set the outofcore version stored in the "version" field of the JSON object */
117 void
118 setOutofcoreVersion (const int version);
119
120 /** \brief Gets the name of the JSON file */
121 boost::filesystem::path
123 /** \brief Sets the name of the JSON file */
124 void
125 setMetadataFilename (const boost::filesystem::path& path_to_metadata);
126
127 /** \brief Writes the data to a JSON file located at \ref metadata_filename_ */
128 void
130
131 /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
132 virtual int
134 /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
135
136 int
137 loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata) override;
138
139 /** \brief Returns the name of the tree; this is not the same as the filename */
140 virtual std::string
142 /** \brief Sets the name of the tree */
143 virtual void
144 setOctreeName (const std::string& name_arg);
145
146 virtual std::string
148 /** \brief Sets a single string identifying the point type of this tree */
149 virtual void
150 setPointType (const std::string& point_type_arg);
151
152 virtual std::vector<std::uint64_t>&
154 virtual std::vector<std::uint64_t>
155 getLODPoints () const;
156 /** \brief Get the number of points at the given depth */
157 virtual std::uint64_t
158 getLODPoints (const std::uint64_t& depth_index) const;
159
160 /** \brief Initialize the LOD vector with points all 0 */
161 virtual void
162 setLODPoints (const std::uint64_t& depth);
163 /** \brief Copy a vector of LOD points into this metadata (dangerous!)*/
164 virtual void
165 setLODPoints (std::vector<std::uint64_t>& lod_points_arg);
166
167 /** \brief Set the number of points at lod_index_arg manually
168 * \param[in] lod_index_arg the depth at which this increments the number of LOD points
169 * \param[in] num_points_arg The number of points to store at that LOD
170 * \param[in] increment If true, increments the number of points at the LOD rather than overwriting the number of points
171 */
172 virtual void
173 setLODPoints (const std::uint64_t& lod_index_arg, const std::uint64_t& num_points_arg, const bool increment=true);
174
175 /** \brief Set information about the coordinate system */
176 virtual void
177 setCoordinateSystem (const std::string& coordinate_system);
178 /** \brief Get metadata information about the coordinate system */
179 virtual const std::string&
181
182 /** \brief Set the depth of the tree corresponding to JSON "lod:number". This should always be equal to LOD_num_points_.size()-1 */
183 virtual void
184 setDepth (const std::uint64_t& depth_arg);
185 virtual std::uint64_t
186 getDepth () const;
187
188 /** \brief Provide operator overload to stream ascii file data*/
189 friend std::ostream&
190 operator<<(std::ostream& os, const OutofcoreOctreeBaseMetadata& metadata_arg);
191
192 protected:
193 /** \brief Metadata (JSON) file pathname (octree extension JSON file) */
194 boost::filesystem::path metadata_filename_;
195
196 /** \brief Outofcore library version identifier; maps to JSON "version":int */
198
199 /** \brief Coordinate system; maps to JSON "coord_sys":string */
201
202 /** \brief Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":string*/
203 std::string tree_name_;
204
205 /** \brief Delineates the point types of the field; maps to JSON "pointtype":string:
206 * \note This is inconsistent with "point type" fields used in PCLPointCloud2 and in other places in PCL
207 */
208 std::string point_type_;
209
210 /** \brief Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int*/
211 std::uint64_t levels_of_depth_;
212
213 /** \brief Vector of number of points at each LOD. For a tree with no LOD, all fields will be zero except for the field indexed by LOD_points_[levels_of_depth]; maps to JSON "numpts":int array*/
214 std::vector<std::uint64_t> LOD_num_points_;
215
216 /** \brief Writes the JSON metadata to a string */
217 void
218 writeMetadataString (std::vector<char>& buf) override;
219 };
220 }//namespace outofcore
221}//namespace pcl
Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the...
~OutofcoreOctreeBaseMetadata() override
Default destructor.
shared_ptr< const OutofcoreOctreeBaseMetadata > ConstPtr
int outofcore_version_
Outofcore library version identifier; maps to JSON "version":int.
OutofcoreOctreeBaseMetadata(const OutofcoreOctreeBaseMetadata &orig)
Copy constructor.
virtual void setOctreeName(const std::string &name_arg)
Sets the name of the tree.
virtual void setPointType(const std::string &point_type_arg)
Sets a single string identifying the point type of this tree.
void setOutofcoreVersion(const int version)
Set the outofcore version stored in the "version" field of the JSON object.
void setMetadataFilename(const boost::filesystem::path &path_to_metadata)
Sets the name of the JSON file.
boost::filesystem::path metadata_filename_
Metadata (JSON) file pathname (octree extension JSON file)
virtual std::uint64_t getLODPoints(const std::uint64_t &depth_index) const
Get the number of points at the given depth.
shared_ptr< OutofcoreOctreeBaseMetadata > Ptr
virtual std::uint64_t getDepth() const
virtual int loadMetadataFromDisk()
Loads the data from a JSON file located at metadata_filename_.
std::string coordinate_system_
Coordinate system; maps to JSON "coord_sys":string.
virtual void setDepth(const std::uint64_t &depth_arg)
Set the depth of the tree corresponding to JSON "lod:number".
std::string point_type_
Delineates the point types of the field; maps to JSON "pointtype":string:
std::vector< std::uint64_t > LOD_num_points_
Vector of number of points at each LOD.
virtual std::vector< std::uint64_t > & getLODPoints()
OutofcoreOctreeBaseMetadata(const boost::filesystem::path &path_arg)
Load metadata from disk.
virtual void setCoordinateSystem(const std::string &coordinate_system)
Set information about the coordinate system.
boost::filesystem::path getMetadataFilename() const
Gets the name of the JSON file.
int getOutofcoreVersion() const
et the outofcore version read from the "version" field of the JSON object
virtual void setLODPoints(std::vector< std::uint64_t > &lod_points_arg)
Copy a vector of LOD points into this metadata (dangerous!)
virtual std::string getOctreeName()
Returns the name of the tree; this is not the same as the filename.
virtual void setLODPoints(const std::uint64_t &lod_index_arg, const std::uint64_t &num_points_arg, const bool increment=true)
Set the number of points at lod_index_arg manually.
int loadMetadataFromDisk(const boost::filesystem::path &path_to_metadata) override
Loads the data from a JSON file located at metadata_filename_.
void writeMetadataString(std::vector< char > &buf) override
Writes the JSON metadata to a string.
std::uint64_t levels_of_depth_
Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int.
void serializeMetadataToDisk() override
Writes the data to a JSON file located at metadata_filename_.
virtual void setLODPoints(const std::uint64_t &depth)
Initialize the LOD vector with points all 0.
std::string tree_name_
Name of the tree (which could be used, for example, as the name of a layer); maps to JSON "name":stri...
virtual std::vector< std::uint64_t > getLODPoints() const
virtual const std::string & getCoordinateSystem() const
Get metadata information about the coordinate system.
Defines functions, macros and traits for allocating and using memory.
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323