Point Cloud Library (PCL) 1.12.1
point_coding.h
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37
38#pragma once
39
40#include <algorithm>
41#include <iostream>
42#include <vector>
43
44namespace pcl
45{
46namespace octree
47{
48/** \brief @b PointCoding class
49 * \note This class encodes 8-bit differential point information for octree-based point cloud compression.
50 * \note typename: PointT: type of point used in pointcloud
51 * \author Julius Kammerl (julius@kammerl.de)
52 */
53template<typename PointT>
55{
56 // public typedefs
58 using PointCloudPtr = typename PointCloud::Ptr;
59 using PointCloudConstPtr = typename PointCloud::ConstPtr;
60
61 public:
62 /** \brief Constructor. */
64 output_ (),
65 pointCompressionResolution_ (0.001f) // 1mm
66 {
67 }
68
69 /** \brief Empty class constructor. */
70 virtual
72 {
73 }
74
75 /** \brief Define precision of point information
76 * \param precision_arg: precision
77 */
78 inline void
79 setPrecision (float precision_arg)
80 {
81 pointCompressionResolution_ = precision_arg;
82 }
83
84 /** \brief Retrieve precision of point information
85 * \return precision
86 */
87 inline float
89 {
91 }
92
93 /** \brief Set amount of points within point cloud to be encoded and reserve memory
94 * \param pointCount_arg: amounts of points within point cloud
95 */
96 inline void
97 setPointCount (unsigned int pointCount_arg)
98 {
99 pointDiffDataVector_.reserve (pointCount_arg * 3);
100 }
101
102 /** \brief Initialize encoding of differential point */
103 void
105 {
106 pointDiffDataVector_.clear ();
107 }
108
109 /** \brief Initialize decoding of differential point */
110 void
112 {
114 }
115
116 /** \brief Get reference to vector containing differential color data */
117 std::vector<char>&
119 {
120 return (pointDiffDataVector_);
121 }
122
123 /** \brief Encode differential point information for a subset of points from point cloud
124 * \param indexVector_arg indices defining a subset of points from points cloud
125 * \param referencePoint_arg coordinates of reference point
126 * \param inputCloud_arg input point cloud
127 */
128 void
129 encodePoints (const Indices& indexVector_arg, const double* referencePoint_arg,
130 PointCloudConstPtr inputCloud_arg)
131 {
132 // iterate over points within current voxel
133 for (const auto& idx: indexVector_arg)
134 {
135 unsigned char diffX, diffY, diffZ;
136
137 // retrieve point from cloud
138 const PointT& idxPoint = (*inputCloud_arg)[idx];
139
140 // differentially encode point coordinates and truncate overflow
141 diffX = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0]) / pointCompressionResolution_))));
142 diffY = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1]) / pointCompressionResolution_))));
143 diffZ = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2]) / pointCompressionResolution_))));
144
145 // store information in differential point vector
146 pointDiffDataVector_.push_back (diffX);
147 pointDiffDataVector_.push_back (diffY);
148 pointDiffDataVector_.push_back (diffZ);
149 }
150 }
151
152 /** \brief Decode differential point information
153 * \param outputCloud_arg output point cloud
154 * \param referencePoint_arg coordinates of reference point
155 * \param beginIdx_arg index indicating first point to be assigned with color information
156 * \param endIdx_arg index indicating last point to be assigned with color information
157 */
158 void
159 decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, uindex_t beginIdx_arg,
160 uindex_t endIdx_arg)
161 {
162 assert (beginIdx_arg <= endIdx_arg);
163
164 const uindex_t pointCount = endIdx_arg - beginIdx_arg;
165
166 // iterate over points within current voxel
167 for (uindex_t i = 0; i < pointCount; i++)
168 {
169 // retrieve differential point information
170 const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
171 const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
172 const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
173
174 // retrieve point from point cloud
175 PointT& point = (*outputCloud_arg)[beginIdx_arg + i];
176
177 // decode point position
178 point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
179 point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
180 point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
181 }
182 }
183
184 protected:
185 /** \brief Pointer to output point cloud dataset. */
186 PointCloudPtr output_;
187
188 /** \brief Vector for storing differential point information */
189 std::vector<char> pointDiffDataVector_;
190
191 /** \brief Iterator on differential point information vector */
192 std::vector<char>::const_iterator pointDiffDataVectorIterator_;
193
194 /** \brief Precision of point coding*/
196};
197
198} // namespace octree
199} // namespace pcl
200
201#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
202
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
PointCoding class
Definition: point_coding.h:55
PointCoding()
Constructor.
Definition: point_coding.h:63
void encodePoints(const Indices &indexVector_arg, const double *referencePoint_arg, PointCloudConstPtr inputCloud_arg)
Encode differential point information for a subset of points from point cloud.
Definition: point_coding.h:129
void initializeEncoding()
Initialize encoding of differential point.
Definition: point_coding.h:104
std::vector< char > pointDiffDataVector_
Vector for storing differential point information
Definition: point_coding.h:189
float pointCompressionResolution_
Precision of point coding.
Definition: point_coding.h:195
void initializeDecoding()
Initialize decoding of differential point.
Definition: point_coding.h:111
void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg)
Decode differential point information.
Definition: point_coding.h:159
float getPrecision()
Retrieve precision of point information.
Definition: point_coding.h:88
virtual ~PointCoding()
Empty class constructor.
Definition: point_coding.h:71
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
Definition: point_coding.h:118
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
Definition: point_coding.h:97
std::vector< char >::const_iterator pointDiffDataVectorIterator_
Iterator on differential point information vector.
Definition: point_coding.h:192
PointCloudPtr output_
Pointer to output point cloud dataset.
Definition: point_coding.h:186
void setPrecision(float precision_arg)
Define precision of point information.
Definition: point_coding.h:79
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.