Compression-PCL-Cpp (70%)

#include <pcl/io/pcd_io.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>

int
main (int argc, char** argv)
{
    // Objects for storing the point clouds.
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr decompressedCloud(new pcl::PointCloud<pcl::PointXYZ>);

    // Read a PCD file from disk.
    pcl::io::loadPCDFile<pcl::PointXYZ> ("lobby.pcd", *cloud);



    // Octree compressor object.
    // Check /usr/include/pcl-<version>/pcl/compression/compression_profiles.h for more profiles.
    // The second parameter enables the output of information.
    pcl::io::OctreePointCloudCompression<pcl::PointXYZ> octreeCompression(pcl::io::MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, true);
    // Stringstream that will hold the compressed cloud.
    std::stringstream compressedData;

    // Compress the cloud (you would save the stream to disk).
    octreeCompression.encodePointCloud(cloud, compressedData);

    // Decompress the cloud.
    octreeCompression.decodePointCloud(compressedData, decompressedCloud);



}