#include <pcl/compression/color_coding.h>

Inheritance diagram for pcl::octree::ColorCoding< PointT >:

Collaboration diagram for pcl::octree::ColorCoding< PointT >:

Public Member Functions
	ColorCoding ()=default
	Constructor. More...

virtual	~ColorCoding ()=default
	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 Indices &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 Indices &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, uindex_t beginIdx_arg, uindex_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_ {nullptr}
	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_ {0}
	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 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 pcl::octree::ColorCoding< PointT >::colorBitReduction_, pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_, and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::colorBitReduction_, and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::colorBitReduction_, pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_, and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_, pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_, pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_, and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_, and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::decodePoints(), pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints(), pcl::octree::ColorCoding< PointT >::encodePoints(), pcl::octree::ColorCoding< PointT >::getBitDepth(), and pcl::octree::ColorCoding< PointT >::setBitDepth().

◆ defaultColor_

template<typename PointT >

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

staticprotected

Initial value:

= ((255) << 0) |
                                               ((255) << 8) |
                                               ((255) << 16)

Definition at line 371 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints(), pcl::octree::ColorCoding< PointT >::encodePoints(), pcl::octree::ColorCoding< PointT >::getAverageDataVector(), pcl::octree::ColorCoding< PointT >::initializeDecoding(), pcl::octree::ColorCoding< PointT >::initializeEncoding(), and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::decodePoints(), and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::encodePoints(), pcl::octree::ColorCoding< PointT >::getDifferentialDataVector(), pcl::octree::ColorCoding< PointT >::initializeDecoding(), pcl::octree::ColorCoding< PointT >::initializeEncoding(), and pcl::octree::ColorCoding< PointT >::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 pcl::octree::ColorCoding< PointT >::decodePoints(), and pcl::octree::ColorCoding< PointT >::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

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

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_

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