Point Cloud Library (PCL) 1.15.0
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compression_profiles.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Willow Garage, Inc. nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *
34 * Author: Julius Kammerl (julius@kammerl.de)
35 */
36
37#pragma once
38
39namespace pcl
40{
41 namespace io
42 {
43
67
68 // compression configuration profile
70 {
72 const double octreeResolution;
74 unsigned int iFrameRate;
75 const unsigned char colorBitResolution;
77 };
78
79 // predefined configuration parameters
81 {
82 // PROFILE: LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
83 0.01, /* pointResolution = */
84 0.01, /* octreeResolution = */
85 true, /* doVoxelGridDownDownSampling = */
86 50, /* iFrameRate = */
87 4, /* colorBitResolution = */
88 false /* doColorEncoding = */
89 }, {
90 // PROFILE: LOW_RES_ONLINE_COMPRESSION_WITH_COLOR
91 0.01, /* pointResolution = */
92 0.01, /* octreeResolution = */
93 true, /* doVoxelGridDownDownSampling = */
94 50, /* iFrameRate = */
95 4, /* colorBitResolution = */
96 true /* doColorEncoding = */
97 }, {
98 // PROFILE: MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
99 0.005, /* pointResolution = */
100 0.01, /* octreeResolution = */
101 false, /* doVoxelGridDownDownSampling = */
102 40, /* iFrameRate = */
103 5, /* colorBitResolution = */
104 false /* doColorEncoding = */
105 }, {
106 // PROFILE: MED_RES_ONLINE_COMPRESSION_WITH_COLOR
107 0.005, /* pointResolution = */
108 0.01, /* octreeResolution = */
109 false, /* doVoxelGridDownDownSampling = */
110 40, /* iFrameRate = */
111 5, /* colorBitResolution = */
112 true /* doColorEncoding = */
113 }, {
114 // PROFILE: HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
115 0.0001, /* pointResolution = */
116 0.01, /* octreeResolution = */
117 false, /* doVoxelGridDownDownSampling = */
118 30, /* iFrameRate = */
119 7, /* colorBitResolution = */
120 false /* doColorEncoding = */
121 }, {
122 // PROFILE: HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR
123 0.0001, /* pointResolution = */
124 0.01, /* octreeResolution = */
125 false, /* doVoxelGridDownDownSampling = */
126 30, /* iFrameRate = */
127 7, /* colorBitResolution = */
128 true /* doColorEncoding = */
129 }, {
130 // PROFILE: LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
131 0.01, /* pointResolution = */
132 0.01, /* octreeResolution = */
133 true, /* doVoxelGridDownDownSampling = */
134 100, /* iFrameRate = */
135 4, /* colorBitResolution = */
136 false /* doColorEncoding = */
137 }, {
138 // PROFILE: LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR
139 0.01, /* pointResolution = */
140 0.01, /* octreeResolution = */
141 true, /* doVoxelGridDownDownSampling = */
142 100, /* iFrameRate = */
143 4, /* colorBitResolution = */
144 true /* doColorEncoding = */
145 }, {
146 // PROFILE: MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
147 0.005, /* pointResolution = */
148 0.005, /* octreeResolution = */
149 true, /* doVoxelGridDownDownSampling = */
150 100, /* iFrameRate = */
151 5, /* colorBitResolution = */
152 false /* doColorEncoding = */
153 }, {
154 // PROFILE: MED_RES_OFFLINE_COMPRESSION_WITH_COLOR
155 0.005, /* pointResolution = */
156 0.01, /* octreeResolution = */
157 false, /* doVoxelGridDownDownSampling = */
158 100, /* iFrameRate = */
159 5, /* colorBitResolution = */
160 true /* doColorEncoding = */
161 }, {
162 // PROFILE: HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
163 0.0001, /* pointResolution = */
164 0.0001, /* octreeResolution = */
165 true, /* doVoxelGridDownDownSampling = */
166 100, /* iFrameRate = */
167 8, /* colorBitResolution = */
168 false /* doColorEncoding = */
169 }, {
170 // PROFILE: HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR
171 0.0001, /* pointResolution = */
172 0.01, /* octreeResolution = */
173 false, /* doVoxelGridDownDownSampling = */
174 100, /* iFrameRate = */
175 8, /* colorBitResolution = */
176 true /* doColorEncoding = */
177 }};
178
179 }
180}
const struct configurationProfile_t compressionProfiles_[COMPRESSION_PROFILE_COUNT]
@ HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR
@ LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
@ HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
@ MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
@ LOW_RES_ONLINE_COMPRESSION_WITH_COLOR
@ LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR
@ MED_RES_ONLINE_COMPRESSION_WITH_COLOR
@ MED_RES_OFFLINE_COMPRESSION_WITH_COLOR
@ LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
@ HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR
@ HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
@ MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR