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fixing several doxygen errors & adjusting octree to pcl programming s…
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…tyle guide
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@jkammerl
jkammerl committed Mar 26, 2013
1 parent 4859938 commit 9e7eb3b
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Showing 24 changed files with 2,200 additions and 2,177 deletions.
450 changes: 225 additions & 225 deletions io/include/pcl/compression/impl/octree_pointcloud_compression.hpp
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136 changes: 68 additions & 68 deletions io/include/pcl/compression/octree_pointcloud_compression.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,21 +107,21 @@ namespace pcl
const unsigned char colorBitResolution_arg = 6) :
OctreePointCloud<PointT, LeafT, BranchT, OctreeT> (octreeResolution_arg),
output_ (PointCloudPtr ()),
binaryTreeDataVector_ (),
binaryColorTreeVector_ (),
pointCountDataVector_ (),
pointCountDataVectorIterator_ (),
colorCoder_ (),
pointCoder_ (),
entropyCoder_ (),
doVoxelGridEnDecoding_ (doVoxelGridDownDownSampling_arg), iFrameRate_ (iFrameRate_arg),
iFrameCounter_ (0), frameID_ (0), pointCount_ (0), iFrame_ (true),
doColorEncoding_ (doColorEncoding_arg), cloudWithColor_ (false), dataWithColor_ (false),
pointColorOffset_ (0), bShowStatistics (showStatistics_arg),
compressedPointDataLen_ (), compressedColorDataLen_ (), selectedProfile_(compressionProfile_arg),
pointResolution_(pointResolution_arg), octreeResolution_(octreeResolution_arg),
colorBitResolution_(colorBitResolution_arg),
objectCount_(0)
binary_tree_data_vector_ (),
binary_color_tree_vector_ (),
point_count_data_vector_ (),
point_count_data_vector_iterator_ (),
color_coder_ (),
point_coder_ (),
entropy_coder_ (),
do_voxel_grid_enDecoding_ (doVoxelGridDownDownSampling_arg), i_frame_rate_ (iFrameRate_arg),
i_frame_counter_ (0), frame_ID_ (0), point_count_ (0), i_frame_ (true),
do_color_encoding_ (doColorEncoding_arg), cloud_with_color_ (false), data_with_color_ (false),
point_color_offset_ (0), b_show_statistics_ (showStatistics_arg),
compressed_point_data_len_ (), compressed_color_data_len_ (), selected_profile_(compressionProfile_arg),
point_resolution_(pointResolution_arg), octree_resolution_(octreeResolution_arg),
color_bit_resolution_(colorBitResolution_arg),
object_count_(0)
{
initialization();
}
Expand All @@ -134,32 +134,32 @@ namespace pcl

/** \brief Initialize globals */
void initialization () {
if (selectedProfile_ != MANUAL_CONFIGURATION)
if (selected_profile_ != MANUAL_CONFIGURATION)
{
// apply selected compression profile

// retrieve profile settings
const configurationProfile_t selectedProfile = compressionProfiles_[selectedProfile_];
const configurationProfile_t selectedProfile = compressionProfiles_[selected_profile_];

// apply profile settings
iFrameRate_ = selectedProfile.iFrameRate;
doVoxelGridEnDecoding_ = selectedProfile.doVoxelGridDownSampling;
i_frame_rate_ = selectedProfile.iFrameRate;
do_voxel_grid_enDecoding_ = selectedProfile.doVoxelGridDownSampling;
this->setResolution (selectedProfile.octreeResolution);
pointCoder_.setPrecision (static_cast<float> (selectedProfile.pointResolution));
doColorEncoding_ = selectedProfile.doColorEncoding;
colorCoder_.setBitDepth (selectedProfile.colorBitResolution);
point_coder_.setPrecision (static_cast<float> (selectedProfile.pointResolution));
do_color_encoding_ = selectedProfile.doColorEncoding;
color_coder_.setBitDepth (selectedProfile.colorBitResolution);

}
else
{
// configure point & color coder
pointCoder_.setPrecision (static_cast<float> (pointResolution_));
colorCoder_.setBitDepth (colorBitResolution_);
point_coder_.setPrecision (static_cast<float> (point_resolution_));
color_coder_.setBitDepth (color_bit_resolution_);
}

if (pointCoder_.getPrecision () == this->getResolution ())
if (point_coder_.getPrecision () == this->getResolution ())
//disable differential point colding
doVoxelGridEnDecoding_ = true;
do_voxel_grid_enDecoding_ = true;

}

Expand All @@ -169,7 +169,7 @@ namespace pcl
virtual void
addPointIdx (const int pointIdx_arg)
{
++objectCount_;
++object_count_;
OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::addPointIdx(pointIdx_arg);
}

Expand All @@ -196,49 +196,49 @@ namespace pcl

/** \brief Encode point cloud to output stream
* \param cloud_arg: point cloud to be compressed
* \param compressedTreeDataOut_arg: binary output stream containing compressed data
* \param compressed_tree_data_out_arg: binary output stream containing compressed data
*/
void
encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream& compressedTreeDataOut_arg);
encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream& compressed_tree_data_out_arg);

/** \brief Decode point cloud from input stream
* \param compressedTreeDataIn_arg: binary input stream containing compressed data
* \param compressed_tree_data_in_arg: binary input stream containing compressed data
* \param cloud_arg: reference to decoded point cloud
*/
void
decodePointCloud (std::istream& compressedTreeDataIn_arg, PointCloudPtr &cloud_arg);
decodePointCloud (std::istream& compressed_tree_data_in_arg, PointCloudPtr &cloud_arg);

protected:

/** \brief Write frame information to output stream
* \param compressedTreeDataOut_arg: binary output stream
* \param compressed_tree_data_out_arg: binary output stream
*/
void
writeFrameHeader (std::ostream& compressedTreeDataOut_arg);
writeFrameHeader (std::ostream& compressed_tree_data_out_arg);

/** \brief Read frame information to output stream
* \param compressedTreeDataIn_arg: binary input stream
* \param compressed_tree_data_in_arg: binary input stream
*/
void
readFrameHeader (std::istream& compressedTreeDataIn_arg);
readFrameHeader (std::istream& compressed_tree_data_in_arg);

/** \brief Synchronize to frame header
* \param compressedTreeDataIn_arg: binary input stream
* \param compressed_tree_data_in_arg: binary input stream
*/
void
syncToHeader (std::istream& compressedTreeDataIn_arg);
syncToHeader (std::istream& compressed_tree_data_in_arg);

/** \brief Apply entropy encoding to encoded information and output to binary stream
* \param compressedTreeDataOut_arg: binary output stream
* \param compressed_tree_data_out_arg: binary output stream
*/
void
entropyEncoding (std::ostream& compressedTreeDataOut_arg);
entropyEncoding (std::ostream& compressed_tree_data_out_arg);

/** \brief Entropy decoding of input binary stream and output to information vectors
* \param compressedTreeDataIn_arg: binary input stream
* \param compressed_tree_data_in_arg: binary input stream
*/
void
entropyDecoding (std::istream& compressedTreeDataIn_arg);
entropyDecoding (std::istream& compressed_tree_data_in_arg);

/** \brief Encode leaf node information during serialization
* \param leaf_arg: reference to new leaf node
Expand All @@ -259,58 +259,58 @@ namespace pcl
PointCloudPtr output_;

/** \brief Vector for storing binary tree structure */
std::vector<char> binaryTreeDataVector_;
std::vector<char> binary_tree_data_vector_;

/** \brief Interator on binary tree structure vector */
std::vector<char> binaryColorTreeVector_;
std::vector<char> binary_color_tree_vector_;

/** \brief Vector for storing points per voxel information */
std::vector<unsigned int> pointCountDataVector_;
std::vector<unsigned int> point_count_data_vector_;

/** \brief Interator on points per voxel vector */
std::vector<unsigned int>::const_iterator pointCountDataVectorIterator_;
std::vector<unsigned int>::const_iterator point_count_data_vector_iterator_;

/** \brief Color coding instance */
ColorCoding<PointT> colorCoder_;
ColorCoding<PointT> color_coder_;

/** \brief Point coding instance */
PointCoding<PointT> pointCoder_;
PointCoding<PointT> point_coder_;

/** \brief Static range coder instance */
StaticRangeCoder entropyCoder_;
StaticRangeCoder entropy_coder_;

bool doVoxelGridEnDecoding_;
uint32_t iFrameRate_;
uint32_t iFrameCounter_;
uint32_t frameID_;
uint64_t pointCount_;
bool iFrame_;
bool do_voxel_grid_enDecoding_;
uint32_t i_frame_rate_;
uint32_t i_frame_counter_;
uint32_t frame_ID_;
uint64_t point_count_;
bool i_frame_;

bool doColorEncoding_;
bool cloudWithColor_;
bool dataWithColor_;
unsigned char pointColorOffset_;
bool do_color_encoding_;
bool cloud_with_color_;
bool data_with_color_;
unsigned char point_color_offset_;

//bool activating statistics
bool bShowStatistics;
uint64_t compressedPointDataLen_;
uint64_t compressedColorDataLen_;
bool b_show_statistics_;
uint64_t compressed_point_data_len_;
uint64_t compressed_color_data_len_;

// frame header identifier
static const char* frameHeaderIdentifier_;
static const char* frame_header_identifier_;

const compression_Profiles_e selectedProfile_;
const double pointResolution_;
const double octreeResolution_;
const unsigned char colorBitResolution_;
const compression_Profiles_e selected_profile_;
const double point_resolution_;
const double octree_resolution_;
const unsigned char color_bit_resolution_;

std::size_t objectCount_;
std::size_t object_count_;

};

// define frame identifier
template<typename PointT, typename LeafT, typename BranchT, typename OctreeT>
const char* OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT>::frameHeaderIdentifier_ = "<PCL-OCT-COMPRESSED>";
const char* OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT>::frame_header_identifier_ = "<PCL-OCT-COMPRESSED>";
}

}
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