ColorCoding class More...

#include <pcl/compression/color_coding.h>

Public Member Functions
	ColorCoding ()=default
	Constructor.
virtual	~ColorCoding ()=default
	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 Indices &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 Indices &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, uindex_t beginIdx_arg, uindex_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_ {nullptr}
	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_ {0}
	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 (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 56 of file color_coding.h.

Constructor & Destructor Documentation

◆ ColorCoding()

template<typename PointT>

pcl::octree::ColorCoding< PointT >::ColorCoding ( )

default

Constructor.

◆ ~ColorCoding()

template<typename PointT>

virtual pcl::octree::ColorCoding< PointT >::~ColorCoding ( )

virtualdefault

Empty class constructor.

Member Function Documentation

◆ decodePoints()

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::decodePoints	(	PointCloudPtr	outputCloud_arg,
		uindex_t	beginIdx_arg,
		uindex_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 assigned with color information
endIdx_arg	index indicating last point to be assigned with color information
rgba_offset_arg	offset to color information

Definition at line 276 of file color_coding.h.

References colorBitReduction_, pointAvgColorDataVector_Iterator_, and pointDiffColorDataVector_Iterator_.

◆ encodeAverageOfPoints()

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints	(	const Indices &	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 153 of file color_coding.h.

References colorBitReduction_, and pointAvgColorDataVector_.

◆ encodePoints()

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::encodePoints	(	const Indices &	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 199 of file color_coding.h.

References colorBitReduction_, pointAvgColorDataVector_, and pointDiffColorDataVector_.

◆ getAverageDataVector()

template<typename PointT>

std::vector< char > & pcl::octree::ColorCoding< PointT >::getAverageDataVector ( )

inline

Get reference to vector containing averaged color data.

Definition at line 134 of file color_coding.h.

References pointAvgColorDataVector_.

◆ getBitDepth()

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 87 of file color_coding.h.

References colorBitReduction_.

◆ getDifferentialDataVector()

template<typename PointT>

std::vector< char > & pcl::octree::ColorCoding< PointT >::getDifferentialDataVector ( )

inline

Get reference to vector containing differential color data.

Definition at line 142 of file color_coding.h.

References pointDiffColorDataVector_.

◆ initializeDecoding()

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::initializeDecoding ( )

inline

Initialize decoding of color information.

Definition at line 124 of file color_coding.h.

References pointAvgColorDataVector_, pointAvgColorDataVector_Iterator_, pointDiffColorDataVector_, and pointDiffColorDataVector_Iterator_.

◆ initializeEncoding()

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::initializeEncoding ( )

inline

Initialize encoding of color information.

Definition at line 114 of file color_coding.h.

References pointAvgColorDataVector_, and pointDiffColorDataVector_.

◆ setBitDepth()

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 78 of file color_coding.h.

References colorBitReduction_.

◆ setDefaultColor()

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 assigned with color information
endIdx_arg	index indicating last point to be assigned with color information
rgba_offset_arg	offset to color information

Definition at line 334 of file color_coding.h.

References defaultColor_.

◆ setPointCount()

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 106 of file color_coding.h.

References pointDiffColorDataVector_.

◆ setVoxelCount()

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 96 of file color_coding.h.

References pointAvgColorDataVector_.

Member Data Documentation

◆ colorBitReduction_

template<typename PointT>

unsigned char pcl::octree::ColorCoding< PointT >::colorBitReduction_ {0}

protected

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

Definition at line 368 of file color_coding.h.

Referenced by decodePoints(), encodeAverageOfPoints(), encodePoints(), getBitDepth(), and setBitDepth().

◆ defaultColor_

template<typename PointT>

const int pcl::octree::ColorCoding< PointT >::defaultColor_

staticprotected

Definition at line 371 of file color_coding.h.

Referenced by setDefaultColor().

◆ output_

template<typename PointT>

PointCloudPtr pcl::octree::ColorCoding< PointT >::output_ {nullptr}

protected

Pointer to output point cloud dataset.

Definition at line 353 of file color_coding.h.

◆ pointAvgColorDataVector_

template<typename PointT>

std::vector<char> pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_

protected

Vector for storing average color information.

Definition at line 356 of file color_coding.h.

Referenced by encodeAverageOfPoints(), encodePoints(), getAverageDataVector(), initializeDecoding(), initializeEncoding(), and setVoxelCount().

◆ pointAvgColorDataVector_Iterator_

template<typename PointT>

std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_

protected

Iterator on average color information vector.

Definition at line 359 of file color_coding.h.

Referenced by decodePoints(), and initializeDecoding().

◆ pointDiffColorDataVector_

template<typename PointT>

std::vector<char> pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_

protected

Vector for storing differential color information.

Definition at line 362 of file color_coding.h.

Referenced by encodePoints(), getDifferentialDataVector(), initializeDecoding(), initializeEncoding(), and setPointCount().

◆ pointDiffColorDataVector_Iterator_

template<typename PointT>

std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_Iterator_

protected

Iterator on differential color information vector.

Definition at line 365 of file color_coding.h.

Referenced by decodePoints(), and initializeDecoding().

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

pcl/compression/color_coding.h

Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ColorCoding()

◆ ~ColorCoding()

Member Function Documentation

◆ decodePoints()

◆ encodeAverageOfPoints()

◆ encodePoints()

◆ getAverageDataVector()

◆ getBitDepth()

◆ getDifferentialDataVector()

◆ initializeDecoding()

◆ initializeEncoding()

◆ setBitDepth()

◆ setDefaultColor()

◆ setPointCount()

◆ setVoxelCount()

Member Data Documentation

◆ colorBitReduction_

◆ defaultColor_

◆ output_

◆ pointAvgColorDataVector_

◆ pointAvgColorDataVector_Iterator_

◆ pointDiffColorDataVector_

◆ pointDiffColorDataVector_Iterator_