int
main (int argc, char **argv)
{
OctreePointCloudCompression<PointXYZRGBA>* octreeCoder;
pcl::io::compression_Profiles_e compressionProfile;
bool showStatistics;
double pointResolution;
float octreeResolution;
bool doVoxelGridDownDownSampling;
unsigned int iFrameRate;
bool doColorEncoding;
unsigned int colorBitResolution;
bool bShowInputCloud;
// default values
showStatistics = false;
pointResolution = 0.001;
octreeResolution = 0.01f;
doVoxelGridDownDownSampling = false;
iFrameRate = 30;
doColorEncoding = false;
colorBitResolution = 6;
compressionProfile = pcl::io::MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR;
bShowInputCloud = false;
std::string fileName = "pc_compressed.pcc";
std::string hostName = "localhost";
bool bServerFileMode;
bool bEnDecode;
bool validArguments;
validArguments = false;
bServerFileMode = false;
bEnDecode = false;
float min_v = 0.0f, max_v = 3.0f;
pcl::console::parse_2x_arguments (argc, argv, "-minmax", min_v, max_v, false);
std::string field_name ("z");
pcl::console::parse_argument (argc, argv, "-field", field_name);
if (pcl::console::find_argument (argc, argv, "-e")>0)
bShowInputCloud = true;
if (pcl::console::find_argument (argc, argv, "-s")>0)
{
bEnDecode = true;
bServerFileMode = true;
validArguments = true;
}
if (pcl::console::parse_argument (argc, argv, "-c", hostName)>0)
{
bEnDecode = false;
bServerFileMode = true;
validArguments = true;
}
if (pcl::console::find_argument (argc, argv, "-x")>0)
{
bEnDecode = true;
bServerFileMode = false;
validArguments = true;
}
if (pcl::console::find_argument (argc, argv, "-d")>0)
{
bEnDecode = false;
bServerFileMode = false;
validArguments = true;
}
if (pcl::console::find_argument (argc, argv, "-t")>0)
showStatistics = true;
if (pcl::console::find_argument (argc, argv, "-a")>0)
{
doColorEncoding = true;
compressionProfile = pcl::io::MANUAL_CONFIGURATION;
}
if (pcl::console::find_argument (argc, argv, "-v")>0)
{
doVoxelGridDownDownSampling = true;
compressionProfile = pcl::io::MANUAL_CONFIGURATION;
}
pcl::console::parse_argument (argc, argv, "-f", fileName);
pcl::console::parse_argument (argc, argv, "-r", pointResolution);
pcl::console::parse_argument (argc, argv, "-i", iFrameRate);
pcl::console::parse_argument (argc, argv, "-o", octreeResolution);
pcl::console::parse_argument (argc, argv, "-b", colorBitResolution);
std::string profile;
if (pcl::console::parse_argument (argc, argv, "-p", profile)>0)
{
if (profile == "lowC")
compressionProfile = pcl::io::LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR;
else if (profile == "lowNC")
compressionProfile = pcl::io::LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR;
else if (profile == "medC")
compressionProfile = pcl::io::MED_RES_OFFLINE_COMPRESSION_WITH_COLOR;
else if (profile =="medNC")
compressionProfile = pcl::io::MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR;
else if (profile == "highC")
compressionProfile = pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR;
else if (profile == "highNC")
compressionProfile = pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR;
else
{
print_usage ("Unknown profile parameter..\n");
return -1;
}
if (compressionProfile != MANUAL_CONFIGURATION)
{
// apply selected compression profile
// retrieve profile settings
const pcl::io::configurationProfile_t selectedProfile = pcl::io::compressionProfiles_[compressionProfile];
// apply profile settings
pointResolution = selectedProfile.pointResolution;
octreeResolution = float (selectedProfile.octreeResolution);
doVoxelGridDownDownSampling = selectedProfile.doVoxelGridDownSampling;
iFrameRate = selectedProfile.iFrameRate;
doColorEncoding = selectedProfile.doColorEncoding;
colorBitResolution = selectedProfile.colorBitResolution;
}
}
if (pcl::console::find_argument (argc, argv, "-?")>0)
{
print_usage ("");
return 1;
}
if (!validArguments)
{
print_usage ("Please specify compression mode..\n");
return -1;
}
octreeCoder = new OctreePointCloudCompression<PointXYZRGBA> (compressionProfile, showStatistics, pointResolution,
octreeResolution, doVoxelGridDownDownSampling, iFrameRate,
doColorEncoding, static_cast<unsigned char> (colorBitResolution));
if (!bServerFileMode)
{
if (bEnDecode)
{
// ENCODING
ofstream compressedPCFile;
compressedPCFile.open (fileName.c_str(), ios::out | ios::trunc | ios::binary);
if (!bShowInputCloud)
{
EventHelper v (compressedPCFile, octreeCoder, field_name, min_v, max_v);
v.run ();
}
else
{
SimpleOpenNIViewer v (compressedPCFile, octreeCoder);
v.run ();
}
} else
{
// DECODING
ifstream compressedPCFile;
compressedPCFile.open (fileName.c_str(), ios::in | ios::binary);
compressedPCFile.seekg (0);
compressedPCFile.unsetf (ios_base::skipws);
pcl::visualization::CloudViewer viewer ("PCL Compression Viewer");
while (!compressedPCFile.eof())
{
PointCloud<PointXYZRGBA>::Ptr cloudOut (new PointCloud<PointXYZRGBA> ());
octreeCoder->decodePointCloud ( compressedPCFile, cloudOut);
viewer.showCloud (cloudOut);
}
}
} else
{
// switch to ONLINE profiles
if (compressionProfile == pcl::io::LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR)
compressionProfile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITH_COLOR;
else if (compressionProfile == pcl::io::LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR)
compressionProfile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
else if (compressionProfile == pcl::io::MED_RES_OFFLINE_COMPRESSION_WITH_COLOR)
compressionProfile = pcl::io::MED_RES_ONLINE_COMPRESSION_WITH_COLOR;
else if (compressionProfile == pcl::io::MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR)
compressionProfile = pcl::io::MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
else if (compressionProfile == pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR)
compressionProfile = pcl::io::HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR;
else if (compressionProfile == pcl::io::HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR)
compressionProfile = pcl::io::HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
if (bEnDecode)
{
// ENCODING
try
{
boost::asio::io_service io_service;
tcp::endpoint endpoint (tcp::v4 (), 6666);
tcp::acceptor acceptor (io_service, endpoint);
tcp::iostream socketStream;
std::cout << "Waiting for connection.." << std::endl;
acceptor.accept (*socketStream.rdbuf ());
std::cout << "Connected!" << std::endl;
if (!bShowInputCloud)
{
EventHelper v (socketStream, octreeCoder, field_name, min_v, max_v);
v.run ();
}
else
{
SimpleOpenNIViewer v (socketStream, octreeCoder);
v.run ();
}
std::cout << "Disconnected!" << std::endl;
boost::this_thread::sleep(boost::posix_time::seconds(3));
}
catch (std::exception& e)
{
std::cerr << e.what () << std::endl;
}
}
else
{
// DECODING
std::cout << "Connecting to: " << hostName << ".." << std::endl;
try
{
tcp::iostream socketStream (hostName.c_str (), "6666");
std::cout << "Connected!" << std::endl;
pcl::visualization::CloudViewer viewer ("Decoded Point Cloud - PCL Compression Viewer");
while (!socketStream.fail())
{
FPS_CALC ("drawing");
PointCloud<PointXYZRGBA>::Ptr cloudOut (new PointCloud<PointXYZRGBA> ());
octreeCoder->decodePointCloud (socketStream, cloudOut);
viewer.showCloud (cloudOut);
}
}
catch (std::exception& e)
{
std::cout << "Exception: " << e.what () << std::endl;
}
}
}
delete (octreeCoder);
return (0);
}
int
main (int argc, char **argv)
{
OrganizedPointCloudCompression<PointXYZRGBA>* organizedCoder;
bool showStatistics;
bool doColorEncoding;
bool bShowInputCloud;
bool bRawImageEncoding;
bool bGrayScaleConversion;
std::string fileName = "pc_compressed.pcc";
std::string hostName = "localhost";
bool bServerFileMode;
bool bEnDecode;
bool validArguments;
validArguments = false;
bServerFileMode = false;
bEnDecode = false;
showStatistics = false;
doColorEncoding = false;
bShowInputCloud = false;
bRawImageEncoding = false;
bGrayScaleConversion = false;
if (pcl::console::find_argument (argc, argv, "-e")>0)
bShowInputCloud = true;
if (pcl::console::find_argument (argc, argv, "-r")>0)
bRawImageEncoding = true;
if (pcl::console::find_argument (argc, argv, "-g")>0)
bGrayScaleConversion = true;
if (pcl::console::find_argument (argc, argv, "-s")>0)
{
bEnDecode = true;
bServerFileMode = true;
validArguments = true;
}
if (pcl::console::parse_argument (argc, argv, "-c", hostName)>0)
{
bEnDecode = false;
bServerFileMode = true;
validArguments = true;
}
if (pcl::console::find_argument (argc, argv, "-a")>0)
{
doColorEncoding = true;
}
if (pcl::console::find_argument (argc, argv, "-x")>0)
{
bEnDecode = true;
bServerFileMode = false;
validArguments = true;
}
if (pcl::console::find_argument (argc, argv, "-d")>0)
{
bEnDecode = false;
bServerFileMode = false;
validArguments = true;
}
if (pcl::console::find_argument (argc, argv, "-t")>0)
showStatistics = true;
pcl::console::parse_argument (argc, argv, "-f", fileName);
if (pcl::console::find_argument (argc, argv, "-?")>0)
{
print_usage ("");
return 1;
}
if (!validArguments)
{
print_usage ("Please specify compression mode..\n");
return -1;
}
organizedCoder = new OrganizedPointCloudCompression<PointXYZRGBA> ();
if (!bServerFileMode)
{
if (bEnDecode)
{
// ENCODING
ofstream compressedPCFile;
compressedPCFile.open (fileName.c_str(), ios::out | ios::trunc | ios::binary);
if (!bShowInputCloud)
{
EventHelper v (compressedPCFile, organizedCoder, doColorEncoding, showStatistics, bRawImageEncoding, bGrayScaleConversion);
v.run ();
}
else
{
SimpleOpenNIViewer v (compressedPCFile, organizedCoder, doColorEncoding, showStatistics, bRawImageEncoding, bGrayScaleConversion);
v.run ();
}
} else
{
// DECODING
ifstream compressedPCFile;
compressedPCFile.open (fileName.c_str(), ios::in | ios::binary);
compressedPCFile.seekg (0);
compressedPCFile.unsetf (ios_base::skipws);
pcl::visualization::CloudViewer viewer ("PCL Compression Viewer");
while (!compressedPCFile.eof())
{
PointCloud<PointXYZRGBA>::Ptr cloudOut (new PointCloud<PointXYZRGBA> ());
organizedCoder->decodePointCloud ( compressedPCFile, cloudOut );
viewer.showCloud (cloudOut);
}
}
} else
{
if (bEnDecode)
{
// ENCODING
try
{
boost::asio::io_service io_service;
tcp::endpoint endpoint (tcp::v4 (), 6666);
tcp::acceptor acceptor (io_service, endpoint);
tcp::iostream socketStream;
std::cout << "Waiting for connection.." << std::endl;
acceptor.accept (*socketStream.rdbuf ());
std::cout << "Connected!" << std::endl;
if (!bShowInputCloud)
{
EventHelper v (socketStream, organizedCoder, doColorEncoding, showStatistics, bRawImageEncoding, bGrayScaleConversion);
v.run ();
}
else
{
SimpleOpenNIViewer v (socketStream, organizedCoder, doColorEncoding, showStatistics, bRawImageEncoding, bGrayScaleConversion);
v.run ();
}
std::cout << "Disconnected!" << std::endl;
std::this_thread::sleep_for(3s);
}
catch (std::exception& e)
{
std::cerr << e.what () << std::endl;
}
}
else
{
// DECODING
std::cout << "Connecting to: " << hostName << ".." << std::endl;
try
{
tcp::iostream socketStream (hostName.c_str (), "6666");
std::cout << "Connected!" << std::endl;
pcl::visualization::CloudViewer viewer ("Decoded Point Cloud - PCL Compression Viewer");
while (!socketStream.fail())
{
FPS_CALC ("drawing");
PointCloud<PointXYZRGBA>::Ptr cloudOut (new PointCloud<PointXYZRGBA> ());
organizedCoder->decodePointCloud (socketStream, cloudOut);
viewer.showCloud (cloudOut);
}
}
catch (std::exception& e)
{
std::cout << "Exception: " << e.what () << std::endl;
}
}
}
delete (organizedCoder);
return (0);
}
