PCL教程指南-Point Cloud Compression(八叉树压缩点云数据)

PCL教程指南-Point Cloud Compression(八叉树压缩点云数据)

• 官方原文档
• 针对点云数据量问题,应用八叉树数据结构,进行编码压缩。
• 对原文档代码进行解读，并详细介绍压缩参数和意义，及其他扩展内容

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <stdio.h>
#include <sstream>
#include <stdlib.h>

#ifdef WIN32
# define sleep(x) Sleep((x)*1000)
#endif

class SimpleOpenNIViewer
{
public:
//构造函数，C++独特语法糖，直接赋值到viewer
  SimpleOpenNIViewer () :
    viewer (" Point Cloud Compression Example")
  {
  }
//传入常数指针(常数指针的好处请见本博客内《C++与Java区别》）
  void
  cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
  {
    if (!viewer.wasStopped ())
    {
      // 字符串流保存压缩的数据
      std::stringstream compressedData;
      // 初始化输出点云数据
      pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOut (new pcl::PointCloud<pcl::PointXYZRGBA> ());
	
      //编码压缩点云
      PointCloudEncoder->encodePointCloud (cloud, compressedData);

      // 反编译输出点云数据
      PointCloudDecoder->decodePointCloud (compressedData, cloudOut);


      // 可视化
      viewer.showCloud (cloudOut);
    }
  }

  void
  run ()
  {

    bool showStatistics = true;

    // 完整配置对象在: /io/include/pcl/compression/compression_profiles.h
    //枚举类型，里面包括压缩配置(分辨率，在/离线，颜色信息)
    pcl::io::compression_Profiles_e compressionProfile = pcl::io::MED_RES_ONLINE_COMPRESSION_WITH_COLOR;

    // 实例化编码与解码对象，并赋值配置，showStatistics为显示压缩统计信息
    PointCloudEncoder = new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> (compressionProfile, showStatistics);
    PointCloudDecoder = new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> ();

    // OpenNi设备捕获接口
    pcl::Grabber* interface = new pcl::OpenNIGrabber ();

    // 定义回调函数，用于设备回调
    std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
      [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };

    //连接所需信号的回调函数。在这种情况下，它是一个带有颜色值的点云
    boost::signals2::connection c = interface->registerCallback (f);

    // 开始接收点云
    interface->start ();

    while (!viewer.wasStopped ())
    {
      sleep (1);
    }

    interface->stop ();

    // 释放内存
    delete (PointCloudEncoder);
    delete (PointCloudDecoder);

  }
//全局对象
  pcl::visualization::CloudViewer viewer;

  pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA>* PointCloudEncoder;
  pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA>* PointCloudDecoder;

};

int
main (int argc, char **argv)
{
  SimpleOpenNIViewer v;
  v.run ();

  return (0);
}

代码解释与扩展

1.openni

• openni是一种多媒体与平台直接的标准传输API接口，用于将硬件数据导入到计算机中。

2.压缩编码类相关解读

• pcl::io::compression_Profiles_e 是压缩配置项的一个枚举类型包括以下部分：

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 

此配置作用是封装了压缩编码类的所有参数，提供预置参数值，列举出其中源码部分：

  // PROFILE: LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
        0.01, /* pointResolution = */
        0.01, /* octreeResolution = */
        true, /* doVoxelGridDownDownSampling = */
        50, /* iFrameRate = */
        4, /* colorBitResolution = */
        false /* doColorEncoding = */
 // PROFILE: MED_RES_ONLINE_COMPRESSION_WITH_COLOR
         0.005, /* pointResolution = */
         0.01, /* octreeResolution = */
         false, /* doVoxelGridDownDownSampling = */
         40, /* iFrameRate = */
         5, /* colorBitResolution = */
         true /* doColorEncoding = */

• 压缩编码类pcl::io::OctreePointCloudCompression构造函数参数含义：

pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::OctreePointCloudCompression	(	

compression_Profiles_e 	compressionProfile_arg = MED_RES_ONLINE_COMPRESSION_WITH_COLOR,//定义压缩配置文件
bool 	showStatistics_arg = false,//获取压缩统计信息
const double 	pointResolution_arg = 0.001,//点坐标精度
const double 	octreeResolution_arg = 0.01,//最低八叉树级别的八叉树分辨率
bool 	doVoxelGridDownDownSampling_arg = false,//是否进行体素网格降采样
const unsigned int 	iFrameRate_arg = 30,//编码率
bool 	doColorEncoding_arg = true,//颜色编码
const unsigned char 	colorBitResolution_arg = 6 //颜色位分辨率
)		

与上一节对比可以看到pcl::io::compression_Profiles_e其实就是直接输入预置参数，而用户也可以自定义

• 编码原理
  • range coder based on Dmitry Subbotin’s carry-less implementation (http://www.compression.ru/ds/)

3.回调函数问题

• 解释其中代码含义

 std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
      [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };

• std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)>是函数模板用法，用于创建一个函数对象，void即返回值(此处为空），(const pcl::PointCloudpcl::PointXYZRGBA::ConstPtr&)即输入参数(此处为一个常数指针)
• [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); }此处则为C++的lambda匿名函数，形式为[captures] (params) -> ret {Statments;} ，其中[this]即截取当前类中的this指针，即函数内部可以使用this中内容。此处匿名函数即调用了用户定义的压缩方法。