Point Cloud Library (PCL)  1.14.1
outofcore_node_data.h
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36  * $Id: outofcore_node_data.h 6915 2012-08-22 10:54:21Z stfox88 $
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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/common/eigen.h>
46 
47 #include <boost/filesystem.hpp>
48 
49 #include <ostream>
50 
51 namespace pcl
52 {
53  namespace outofcore
54  {
55  /** \class OutofcoreOctreeNodeMetadata
56  *
57  * \brief Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each
58  * node.
59  *
60  * This class encapsulates the outofcore node metadata
61  * serialization/deserialization. At the time it was written,
62  * this depended on cJSON to write JSON objects to disk. This
63  * class can be extended to have arbitrary ascii metadata fields
64  * saved to the metadata object file on disk.
65  *
66  * The JSON file is formatted in the following way:
67  * \verbatim
68  {
69  "version": 3,
70  "bb_min": [xxx,yyy,zzz],
71  "bb_max": [xxx,yyy,zzz],
72  "bin": "path_to_data.pcd"
73  }
74  \endverbatim
75  *
76  * Any properties not stored in the metadata file are computed
77  * when the file is loaded (e.g. \ref midpoint_xyz_). By
78  * convention, the JSON files are stored on disk with .oct_idx
79  * extension.
80  *
81  * \ingroup outofcore
82  * \author Stephen Fox (foxstephend@gmail.com)
83  */
84  class PCL_EXPORTS OutofcoreOctreeNodeMetadata
85  {
86 
87  public:
88  //public typedefs
89  using Ptr = shared_ptr<OutofcoreOctreeNodeMetadata>;
90  using ConstPtr = shared_ptr<const OutofcoreOctreeNodeMetadata>;
91 
92  /** \brief Empty constructor */
95 
96  /** \brief Copy constructor */
98 
99  /** \brief Get the lower bounding box corner */
100  const Eigen::Vector3d&
101  getBoundingBoxMin () const;
102  /** \brief Set the lower bounding box corner */
103  void
104  setBoundingBoxMin (const Eigen::Vector3d& min_bb);
105  /** \brief Get the upper bounding box corner */
106  const Eigen::Vector3d&
107  getBoundingBoxMax () const;
108  /** \brief Set the upper bounding box corner */
109  void
110  setBoundingBoxMax (const Eigen::Vector3d& max_bb);
111 
112  /** \brief Get the lower and upper corners of the bounding box enclosing this node */
113  void
114  getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const;
115  /** \brief Set the lower and upper corners of the bounding box */
116  void
117  setBoundingBox (const Eigen::Vector3d& min_bb, const Eigen::Vector3d& max_bb);
118 
119  /** \brief Get the directory path name; this is the parent_path of */
120  const boost::filesystem::path&
121  getDirectoryPathname () const;
122  /** \brief Set the directory path name */
123  void
124  setDirectoryPathname (const boost::filesystem::path& directory_pathname);
125 
126  /** \brief Get the path to the PCD file */
127  const boost::filesystem::path&
128  getPCDFilename () const;
129  /** \brief Set the point filename; extension .pcd */
130  void
131  setPCDFilename (const boost::filesystem::path& point_filename);
132 
133  /** \brief et the outofcore version read from the "version" field of the JSON object */
134  int
135  getOutofcoreVersion () const;
136  /** \brief Set the outofcore version stored in the "version" field of the JSON object */
137  void
138  setOutofcoreVersion (const int version);
139 
140  /** \brief Sets the name of the JSON file */
141  const boost::filesystem::path&
142  getMetadataFilename () const;
143  /** \brief Gets the name of the JSON file */
144  void
145  setMetadataFilename (const boost::filesystem::path& path_to_metadata);
146 
147  /** \brief Get the midpoint of this node's bounding box */
148  const Eigen::Vector3d&
149  getVoxelCenter () const;
150 
151  /** \brief Writes the data to a JSON file located at \ref metadata_filename_ */
152  void
153  serializeMetadataToDisk ();
154 
155  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
156  int
157  loadMetadataFromDisk ();
158  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
159  int
160  loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata);
161 
162  friend
163  std::ostream& operator<<(std::ostream& os, const OutofcoreOctreeNodeMetadata& metadata_arg);
164 
165  protected:
166  /** \brief The X,Y,Z axes-aligned minimum corner for the bounding box */
167  Eigen::Vector3d min_bb_;
168  /** \brief The X,Y,Z axes-aligned maximum corner for the bounding box */
169  Eigen::Vector3d max_bb_;
170  /** \brief Path to PCD file (i.e. "bin"ary point data) */
171  boost::filesystem::path binary_point_filename_;
172  /** \brief Voxel center; not stored on disk */
173  Eigen::Vector3d midpoint_xyz_;
174  /** \brief Directory this metadata belongs in */
175  boost::filesystem::path directory_;
176  /** \brief Metadata (JSON) file pathname (oct_idx extension JSON file) */
177  boost::filesystem::path metadata_filename_;
178  /** \brief Outofcore library version identifier */
179  int outofcore_version_{0};
180 
181  /** \brief Computes the midpoint; used when bounding box is changed */
182  inline void
184  {
185  midpoint_xyz_ = (this->max_bb_ + this->min_bb_)/static_cast<double>(2.0);
186  }
187  };
188  }//namespace outofcore
189 }//namespace pcl
shared_ptr< OutofcoreOctreeNodeMetadata > Ptr
boost::filesystem::path binary_point_filename_
Path to PCD file (i.e.
shared_ptr< const OutofcoreOctreeNodeMetadata > ConstPtr
boost::filesystem::path directory_
Directory this metadata belongs in.
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
Eigen::Vector3d max_bb_
The X,Y,Z axes-aligned maximum corner for the bounding box.
boost::filesystem::path metadata_filename_
Metadata (JSON) file pathname (oct_idx extension JSON file)
Eigen::Vector3d midpoint_xyz_
Voxel center; not stored on disk.
void updateVoxelCenter()
Computes the midpoint; used when bounding box is changed.
Eigen::Vector3d min_bb_
The X,Y,Z axes-aligned minimum corner for the bounding box.
Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node...