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outofcore_base_data.h
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38 
39 #ifndef PCL_OUTOFCORE_OCTREE_BASE_METADATA_H_
40 #define PCL_OUTOFCORE_OCTREE_BASE_METADATA_H_
41 
42 #include <pcl/pcl_macros.h>
43 #include <pcl/outofcore/boost.h>
44 #include <pcl/outofcore/cJSON.h>
45 
46 #include <pcl/common/eigen.h>
47 
48 #include <pcl/outofcore/metadata.h>
49 
50 //standard library
51 #include <string>
52 
53 namespace pcl
54 {
55  namespace outofcore
56  {
57  /** \class OutofcoreOctreeBaseMetadata
58  *
59  * \brief Encapsulated class to read JSON metadata into memory,
60  * and write the JSON metadata associated with the octree root
61  * node. This is global information that is not the same as the
62  * metadata for the root node. Inherits OutofcoreAbstractMetadata
63  * interface for metadata in \b pcl_outofcore.
64 
65  *
66  * This class encapsulates the outofcore base metadata
67  * serialization/deserialization. At the time it was written,
68  * this depended on cJSON to write JSON objects to disk. This
69  * class can be extended to have arbitrary JSON ascii metadata
70  * fields saved to the metadata object file on disk. The class
71  * has been encapuslated to abstract the detailso of the on-disk
72  * format from the outofcore implementation. For example, the
73  * format could be changed to XML/YAML, or any dynamic format at
74  * some point.
75  *
76  * The JSON file is formatted in the following way:
77  * \verbatim
78  {
79  "name": "nameoftree",
80  "version": 3,
81  "pointtype": "urp", #(needs to be changed*)
82  "lod": 3, #(depth of the tree
83  "numpts": [X0, X1, X2, ..., XD], #total number of points at each LOD
84  "coord_system": "ECEF" #the tree is not affected by this value
85  }
86  \endverbatim
87  *
88  * Any properties not stored in the metadata file are computed
89  * when the file is loaded. By convention, and for historical
90  * reasons from the original Urban Robotics implementation, the
91  * JSON file representing the overall tree is a JSON file named
92  * with the ".octree" extension.
93  *
94  * \ingroup outofcore
95  * \author Stephen Fox (foxstephend@gmail.com)
96  */
98  {
99  public:
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
115  getOutofcoreVersion () const;
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
122  getMetadataFilename () const;
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  virtual void
129  serializeMetadataToDisk ();
130 
131  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
132  virtual int
133  loadMetadataFromDisk ();
134  /** \brief Loads the data from a JSON file located at \ref metadata_filename_ */
135 
136  virtual int
137  loadMetadataFromDisk (const boost::filesystem::path& path_to_metadata);
138 
139  /** \brief Returns the name of the tree; this is not the same as the filename */
140  virtual std::string
141  getOctreeName ();
142  /** \brief Sets the name of the tree */
143  virtual void
144  setOctreeName (const std::string& name_arg);
145 
146  virtual std::string
147  getPointType ();
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<boost::uint64_t>&
153  getLODPoints ();
154  virtual std::vector<boost::uint64_t>
155  getLODPoints () const;
156  /** \brief Get the number of points at the given depth */
157  virtual boost::uint64_t
158  getLODPoints (const boost::uint64_t& depth_index) const;
159 
160  /** \brief Initialize the LOD vector with points all 0 */
161  virtual void
162  setLODPoints (const boost::uint64_t& depth);
163  /** \brief Copy a vector of LOD points into this metadata (dangerous!)*/
164  virtual void
165  setLODPoints (std::vector<boost::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 boost::uint64_t& lod_index_arg, const boost::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 std::string
180  getCoordinateSystem () const;
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 boost::uint64_t& depth_arg);
185  virtual boost::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 */
200  std::string coordinate_system_;
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  boost::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<boost::uint64_t> LOD_num_points_;
215 
216  /** \brief Writes the JSON metadata to a string */
217  virtual void
218  writeMetadataString (std::vector<char>& buf);
219  };
220  }//namespace outofcore
221 }//namespace pcl
222 
223 #endif // PCL_OUTOFCORE_OCTREE_BASE_METADATA_H_
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...
std::string point_type_
Delineates the point types of the field; maps to JSON "pointtype":string:
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
std::vector< boost::uint64_t > LOD_num_points_
Vector of number of points at each LOD.
std::string coordinate_system_
Coordinate system; maps to JSON "coord_sys":string.
boost::filesystem::path metadata_filename_
Metadata (JSON) file pathname (octree extension JSON file)
int outofcore_version_
Outofcore library version identifier; maps to JSON "version":int.
Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the...
boost::uint64_t levels_of_depth_
Depth of the tree (which is the number of levels of depth); maps to JSON "lod":int.