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compression_profiles.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Julius Kammerl (julius@kammerl.de)
*/
#pragma once
namespace pcl
{
namespace io
{
enum compression_Profiles_e
{
LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR,
LOW_RES_ONLINE_COMPRESSION_WITH_COLOR,
MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR,
MED_RES_ONLINE_COMPRESSION_WITH_COLOR,
HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR,
HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR,
LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR,
LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR,
MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR,
MED_RES_OFFLINE_COMPRESSION_WITH_COLOR,
HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR,
HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR,
COMPRESSION_PROFILE_COUNT,
MANUAL_CONFIGURATION
};
// compression configuration profile
struct configurationProfile_t
{
double pointResolution;
const double octreeResolution;
bool doVoxelGridDownSampling;
unsigned int iFrameRate;
const unsigned char colorBitResolution;
bool doColorEncoding;
};
// predefined configuration parameters
const struct configurationProfile_t compressionProfiles_[COMPRESSION_PROFILE_COUNT] = {
{
// PROFILE: LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
0.01, /* pointResolution = */
0.01, /* octreeResolution = */
true, /* doVoxelGridDownDownSampling = */
50, /* iFrameRate = */
4, /* colorBitResolution = */
false /* doColorEncoding = */
}, {
// PROFILE: LOW_RES_ONLINE_COMPRESSION_WITH_COLOR
0.01, /* pointResolution = */
0.01, /* octreeResolution = */
true, /* doVoxelGridDownDownSampling = */
50, /* iFrameRate = */
4, /* colorBitResolution = */
true /* doColorEncoding = */
}, {
// PROFILE: MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
0.005, /* pointResolution = */
0.01, /* octreeResolution = */
false, /* doVoxelGridDownDownSampling = */
40, /* iFrameRate = */
5, /* colorBitResolution = */
false /* doColorEncoding = */
}, {
// PROFILE: MED_RES_ONLINE_COMPRESSION_WITH_COLOR
0.005, /* pointResolution = */
0.01, /* octreeResolution = */
false, /* doVoxelGridDownDownSampling = */
40, /* iFrameRate = */
5, /* colorBitResolution = */
true /* doColorEncoding = */
}, {
// PROFILE: HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
0.0001, /* pointResolution = */
0.01, /* octreeResolution = */
false, /* doVoxelGridDownDownSampling = */
30, /* iFrameRate = */
7, /* colorBitResolution = */
false /* doColorEncoding = */
}, {
// PROFILE: HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR
0.0001, /* pointResolution = */
0.01, /* octreeResolution = */
false, /* doVoxelGridDownDownSampling = */
30, /* iFrameRate = */
7, /* colorBitResolution = */
true /* doColorEncoding = */
}, {
// PROFILE: LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
0.01, /* pointResolution = */
0.01, /* octreeResolution = */
true, /* doVoxelGridDownDownSampling = */
100, /* iFrameRate = */
4, /* colorBitResolution = */
false /* doColorEncoding = */
}, {
// PROFILE: LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR
0.01, /* pointResolution = */
0.01, /* octreeResolution = */
true, /* doVoxelGridDownDownSampling = */
100, /* iFrameRate = */
4, /* colorBitResolution = */
true /* doColorEncoding = */
}, {
// PROFILE: MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
0.005, /* pointResolution = */
0.005, /* octreeResolution = */
true, /* doVoxelGridDownDownSampling = */
100, /* iFrameRate = */
5, /* colorBitResolution = */
false /* doColorEncoding = */
}, {
// PROFILE: MED_RES_OFFLINE_COMPRESSION_WITH_COLOR
0.005, /* pointResolution = */
0.01, /* octreeResolution = */
false, /* doVoxelGridDownDownSampling = */
100, /* iFrameRate = */
5, /* colorBitResolution = */
true /* doColorEncoding = */
}, {
// PROFILE: HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
0.0001, /* pointResolution = */
0.0001, /* octreeResolution = */
true, /* doVoxelGridDownDownSampling = */
100, /* iFrameRate = */
8, /* colorBitResolution = */
false /* doColorEncoding = */
}, {
// PROFILE: HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR
0.0001, /* pointResolution = */
0.01, /* octreeResolution = */
false, /* doVoxelGridDownDownSampling = */
100, /* iFrameRate = */
8, /* colorBitResolution = */
true /* doColorEncoding = */
}};
}
}
pcl::io::compressionProfiles_
const struct configurationProfile_t compressionProfiles_[COMPRESSION_PROFILE_COUNT]
Definition compression_profiles.h:80
pcl::io::compression_Profiles_e
compression_Profiles_e
Definition compression_profiles.h:45
pcl::io::MANUAL_CONFIGURATION
@ MANUAL_CONFIGURATION
Definition compression_profiles.h:65
pcl::io::COMPRESSION_PROFILE_COUNT
@ COMPRESSION_PROFILE_COUNT
Definition compression_profiles.h:64
pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR
@ HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR
Definition compression_profiles.h:62
pcl::io::LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
@ LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
Definition compression_profiles.h:46
pcl::io::HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
@ HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
Definition compression_profiles.h:52
pcl::io::MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
@ MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
Definition compression_profiles.h:58
pcl::io::LOW_RES_ONLINE_COMPRESSION_WITH_COLOR
@ LOW_RES_ONLINE_COMPRESSION_WITH_COLOR
Definition compression_profiles.h:47
pcl::io::LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR
@ LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR
Definition compression_profiles.h:56
pcl::io::MED_RES_ONLINE_COMPRESSION_WITH_COLOR
@ MED_RES_ONLINE_COMPRESSION_WITH_COLOR
Definition compression_profiles.h:50
pcl::io::MED_RES_OFFLINE_COMPRESSION_WITH_COLOR
@ MED_RES_OFFLINE_COMPRESSION_WITH_COLOR
Definition compression_profiles.h:59
pcl::io::LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
@ LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
Definition compression_profiles.h:55
pcl::io::HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR
@ HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR
Definition compression_profiles.h:53
pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
@ HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
Definition compression_profiles.h:61
pcl::io::MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
@ MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
Definition compression_profiles.h:49
pcl
Definition convolution.h:46
pcl::io::configurationProfile_t
Definition compression_profiles.h:70
pcl::io::configurationProfile_t::iFrameRate
unsigned int iFrameRate
Definition compression_profiles.h:74
pcl::io::configurationProfile_t::doVoxelGridDownSampling
bool doVoxelGridDownSampling
Definition compression_profiles.h:73
pcl::io::configurationProfile_t::pointResolution
double pointResolution
Definition compression_profiles.h:71
pcl::io::configurationProfile_t::octreeResolution
const double octreeResolution
Definition compression_profiles.h:72
pcl::io::configurationProfile_t::doColorEncoding
bool doColorEncoding
Definition compression_profiles.h:76
pcl::io::configurationProfile_t::colorBitResolution
const unsigned char colorBitResolution
Definition compression_profiles.h:75