Public Member Functions | Protected Attributes | Static Protected Attributes

pcl::octree::ColorCoding< PointT > Class Template Reference

ColorCoding class More...

#include <pcl/compression/color_coding.h>

List of all members.

Public Member Functions

 ColorCoding ()
 Constructor.
virtual ~ColorCoding ()
 Empty class constructor.
void setBitDepth (unsigned char bitDepth_arg)
 Define color bit depth of encoded color information.
unsigned char getBitDepth ()
 Retrieve color bit depth of encoded color information.
void setVoxelCount (unsigned int voxelCount_arg)
 Set amount of voxels containing point color information and reserve memory.
void setPointCount (unsigned int pointCount_arg)
 Set amount of points within point cloud to be encoded and reserve memory.
void initializeEncoding ()
 Initialize encoding of color information.
void initializeDecoding ()
 Initialize decoding of color information.
std::vector< char > & getAverageDataVector ()
 Get reference to vector containing averaged color data.
std::vector< char > & getDifferentialDataVector ()
 Get reference to vector containing differential color data.
void encodeAverageOfPoints (const typename std::vector< int > &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
 Encode averaged color information for a subset of points from point cloud.
void encodePoints (const typename std::vector< int > &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
 Encode color information of a subset of points from point cloud.
void decodePoints (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)
 Decode color information.
void setDefaultColor (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)
 Set default color to points.

Protected Attributes

PointCloudPtr output_
 Pointer to output point cloud dataset.
std::vector< char > pointAvgColorDataVector_
 Vector for storing average color information.
std::vector< char >::const_iterator pointAvgColorDataVector_Iterator_
 Iterator on average color information vector.
std::vector< char > pointDiffColorDataVector_
 Vector for storing differential color information.
std::vector< char >::const_iterator pointDiffColorDataVector_Iterator_
 Iterator on differential color information vector.
unsigned char colorBitReduction_
 Amount of bits to be removed from color components before encoding.

Static Protected Attributes

static const int defaultColor_

Detailed Description

template<typename PointT>
class pcl::octree::ColorCoding< PointT >

ColorCoding class

Note:
This class encodes 8-bit color information for octree-based point cloud compression.
typename: PointT: type of point used in pointcloud
Author:
Julius Kammerl (julius@kammerl.de)

Definition at line 63 of file color_coding.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::octree::ColorCoding< PointT >::ColorCoding (  )  [inline]

Constructor.

Definition at line 76 of file color_coding.h.

template<typename PointT >
virtual pcl::octree::ColorCoding< PointT >::~ColorCoding (  )  [inline, virtual]

Empty class constructor.

Definition at line 83 of file color_coding.h.


Member Function Documentation

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::decodePoints ( PointCloudPtr  outputCloud_arg,
std::size_t  beginIdx_arg,
std::size_t  endIdx_arg,
unsigned char  rgba_offset_arg 
) [inline]

Decode color information.

Parameters:
outputCloud_arg output point cloud
beginIdx_arg index indicating first point to be assiged with color information
endIdx_arg index indicating last point to be assiged with color information
rgba_offset_arg offset to color information

Definition at line 303 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints ( const typename std::vector< int > &  indexVector_arg,
unsigned char  rgba_offset_arg,
PointCloudConstPtr  inputCloud_arg 
) [inline]

Encode averaged color information for a subset of points from point cloud.

Parameters:
indexVector_arg indices defining a subset of points from points cloud
rgba_offset_arg offset to color information
inputCloud_arg input point cloud

Definition at line 170 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::encodePoints ( const typename std::vector< int > &  indexVector_arg,
unsigned char  rgba_offset_arg,
PointCloudConstPtr  inputCloud_arg 
) [inline]

Encode color information of a subset of points from point cloud.

Parameters:
indexVector_arg indices defining a subset of points from points cloud
rgba_offset_arg offset to color information
inputCloud_arg input point cloud

Definition at line 222 of file color_coding.h.

template<typename PointT >
std::vector<char>& pcl::octree::ColorCoding< PointT >::getAverageDataVector (  )  [inline]

Get reference to vector containing averaged color data.

Definition at line 151 of file color_coding.h.

template<typename PointT >
unsigned char pcl::octree::ColorCoding< PointT >::getBitDepth (  )  [inline]

Retrieve color bit depth of encoded color information.

Returns:
amounts of bits for representing one color component

Definition at line 103 of file color_coding.h.

template<typename PointT >
std::vector<char>& pcl::octree::ColorCoding< PointT >::getDifferentialDataVector (  )  [inline]

Get reference to vector containing differential color data.

Definition at line 159 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::initializeDecoding (  )  [inline]

Initialize decoding of color information.

Definition at line 141 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::initializeEncoding (  )  [inline]

Initialize encoding of color information.

Definition at line 131 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setBitDepth ( unsigned char  bitDepth_arg  )  [inline]

Define color bit depth of encoded color information.

Parameters:
bitDepth_arg,: amounts of bits for representing one color component

Definition at line 92 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setDefaultColor ( PointCloudPtr  outputCloud_arg,
std::size_t  beginIdx_arg,
std::size_t  endIdx_arg,
unsigned char  rgba_offset_arg 
) [inline]

Set default color to points.

Parameters:
outputCloud_arg output point cloud
beginIdx_arg index indicating first point to be assiged with color information
endIdx_arg index indicating last point to be assiged with color information
rgba_offset_arg offset to color information

Definition at line 364 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setPointCount ( unsigned int  pointCount_arg  )  [inline]

Set amount of points within point cloud to be encoded and reserve memory.

Parameters:
pointCount_arg,: amounts of points within point cloud

Definition at line 123 of file color_coding.h.

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setVoxelCount ( unsigned int  voxelCount_arg  )  [inline]

Set amount of voxels containing point color information and reserve memory.

Parameters:
voxelCount_arg,: amounts of voxels

Definition at line 113 of file color_coding.h.


Member Data Documentation

template<typename PointT >
unsigned char pcl::octree::ColorCoding< PointT >::colorBitReduction_ [protected]

Amount of bits to be removed from color components before encoding.

Definition at line 404 of file color_coding.h.

template<typename PointT >
const int pcl::octree::ColorCoding< PointT >::defaultColor_ [static, protected]
Initial value:
 ((255) << 0) |
                                                   ((255) << 8) |
                                                   ((255) << 16)

Definition at line 407 of file color_coding.h.

template<typename PointT >
PointCloudPtr pcl::octree::ColorCoding< PointT >::output_ [protected]

Pointer to output point cloud dataset.

Definition at line 389 of file color_coding.h.

template<typename PointT >
std::vector<char> pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_ [protected]

Vector for storing average color information.

Definition at line 392 of file color_coding.h.

template<typename PointT >
std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_ [protected]

Iterator on average color information vector.

Definition at line 395 of file color_coding.h.

template<typename PointT >
std::vector<char> pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_ [protected]

Vector for storing differential color information.

Definition at line 398 of file color_coding.h.

template<typename PointT >
std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_Iterator_ [protected]

Iterator on differential color information vector.

Definition at line 401 of file color_coding.h.


The documentation for this class was generated from the following file: