Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Attributes | Static Protected Attributes
pcl::octree::ColorCoding< PointT > Class Template Reference

ColorCoding class More...

#include <pcl/compression/color_coding.h>

Public Member Functions

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

Protected Attributes

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

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 (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 64 of file color_coding.h.

Constructor & Destructor Documentation

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

Constructor.

Definition at line 77 of file color_coding.h.

template<typename PointT>
virtual pcl::octree::ColorCoding< PointT >::~ColorCoding ( )
inlinevirtual

Empty class constructor.

Definition at line 85 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_argoutput point cloud
beginIdx_argindex indicating first point to be assigned with color information
endIdx_argindex indicating last point to be assigned with color information
rgba_offset_argoffset to color information

Definition at line 302 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_argindices defining a subset of points from points cloud
rgba_offset_argoffset to color information
inputCloud_arginput point cloud

Definition at line 169 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_argindices defining a subset of points from points cloud
rgba_offset_argoffset to color information
inputCloud_arginput point cloud

Definition at line 221 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 150 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 158 of file color_coding.h.

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

Initialize decoding of color information.

Definition at line 140 of file color_coding.h.

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

Initialize encoding of color information.

Definition at line 130 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_argamounts of bits for representing one color component

Definition at line 94 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_argoutput point cloud
beginIdx_argindex indicating first point to be assigned with color information
endIdx_argindex indicating last point to be assigned with color information
rgba_offset_argoffset to color information

Definition at line 363 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_argamounts of points within point cloud

Definition at line 122 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_argamounts of voxels

Definition at line 112 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 402 of file color_coding.h.

template<typename PointT>
const int pcl::octree::ColorCoding< PointT >::defaultColor_
staticprotected
Initial value:
= ((255) << 0) |
((255) << 8) |
((255) << 16)

Definition at line 405 of file color_coding.h.

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

Pointer to output point cloud dataset.

Definition at line 387 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 390 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 393 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 396 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 399 of file color_coding.h.


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