Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 * Range Coder based on Dmitry Subbotin's carry-less implementation (http://www.compression.ru/ds/) 00036 * Added optimized symbol lookup and added implementation for static range coding (uses fixed precomputed frequency table) 00037 * 00038 * Author: Julius Kammerl (julius@kammerl.de) 00039 */ 00040 00041 #ifndef __PCL_IO_RANGECODING__ 00042 #define __PCL_IO_RANGECODING__ 00043 00044 #include <map> 00045 #include <iostream> 00046 #include <vector> 00047 #include <string> 00048 #include <algorithm> 00049 #include <math.h> 00050 #include <stdio.h> 00051 #include <boost/cstdint.hpp> 00052 00053 namespace pcl 00054 { 00055 00056 using boost::uint8_t; 00057 using boost::uint32_t; 00058 using boost::uint64_t; 00059 00061 00067 00068 class AdaptiveRangeCoder 00069 { 00070 00071 public: 00072 00074 AdaptiveRangeCoder () 00075 { 00076 00077 } 00078 00080 virtual 00081 ~AdaptiveRangeCoder () 00082 { 00083 00084 } 00085 00091 unsigned long 00092 encodeCharVectorToStream (const std::vector<char>& inputByteVector_arg, std::ostream& outputByteStream_arg); 00093 00099 unsigned long 00100 decodeStreamToCharVector (std::istream& inputByteStream_arg, std::vector<char>& outputByteVector_arg); 00101 00102 protected: 00103 typedef boost::uint32_t DWord; // 4 bytes 00104 00105 private: 00108 std::vector<char> outputCharVector_; 00109 00110 }; 00111 00113 00119 00120 class StaticRangeCoder 00121 { 00122 00123 public: 00124 00126 StaticRangeCoder () 00127 { 00128 cFreqTable_.resize (65537); 00129 } 00130 00132 virtual 00133 ~StaticRangeCoder () 00134 { 00135 00136 } 00137 00143 unsigned long 00144 encodeIntVectorToStream (std::vector<unsigned int>& inputIntVector_arg, std::ostream& outputByterStream_arg); 00145 00151 unsigned long 00152 decodeStreamToIntVector (std::istream& inputByteStream_arg, std::vector<unsigned int>& outputIntVector_arg); 00153 00159 unsigned long 00160 encodeCharVectorToStream (const std::vector<char>& inputByteVector_arg, std::ostream& outputByteStream_arg); 00161 00167 unsigned long 00168 decodeStreamToCharVector (std::istream& inputByteStream_arg, std::vector<char>& outputByteVector_arg); 00169 00170 protected: 00171 typedef boost::uint32_t DWord; // 4 bytes 00172 00177 inline double 00178 Log2 (double n_arg) 00179 { 00180 return log (n_arg) / log (2.0); 00181 } 00182 00183 private: 00186 std::vector<uint64_t> cFreqTable_; 00187 00190 std::vector<char> outputCharVector_; 00191 00192 }; 00193 } 00194 00195 00196 //#include "impl/entropy_range_coder.hpp" 00197 00198 #endif 00199