55 template<
typename Po
intT>
163 for (
const auto& idx: indexVector_arg)
166 const char* idxPointPtr =
reinterpret_cast<const char*
> (&(*inputCloud_arg)[idx]);
167 const int& colorInt = *
reinterpret_cast<const int*
> (idxPointPtr+rgba_offset_arg);
170 avgRed += (colorInt >> 0) & 0xFF;
171 avgGreen += (colorInt >> 8) & 0xFF;
172 avgBlue += (colorInt >> 16) & 0xFF;
176 const auto len =
static_cast<uindex_t> (indexVector_arg.size());
202 encodePoints (
const Indices& indexVector_arg,
unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
209 avgRed = avgGreen = avgBlue = 0;
212 for (
const auto& idx: indexVector_arg)
215 const char* idxPointPtr =
reinterpret_cast<const char*
> (&(*inputCloud_arg)[idx]);
216 const int& colorInt = *
reinterpret_cast<const int*
> (idxPointPtr+rgba_offset_arg);
219 avgRed += (colorInt >> 0) & 0xFF;
220 avgGreen += (colorInt >> 8) & 0xFF;
221 avgBlue += (colorInt >> 16) & 0xFF;
225 const auto len =
static_cast<uindex_t> (indexVector_arg.size());
228 unsigned char diffRed;
229 unsigned char diffGreen;
230 unsigned char diffBlue;
238 for (
const auto& idx: indexVector_arg)
240 const char* idxPointPtr =
reinterpret_cast<const char*
> (&(*inputCloud_arg)[idx]);
241 const int& colorInt = *
reinterpret_cast<const int*
> (idxPointPtr+rgba_offset_arg);
244 diffRed = (
static_cast<unsigned char> (avgRed)) ^
static_cast<unsigned char> (((colorInt >> 0) & 0xFF));
245 diffGreen = (
static_cast<unsigned char> (avgGreen)) ^
static_cast<unsigned char> (((colorInt >> 8) & 0xFF));
246 diffBlue = (
static_cast<unsigned char> (avgBlue)) ^
static_cast<unsigned char> (((colorInt >> 16) & 0xFF));
281 assert (beginIdx_arg <= endIdx_arg);
284 const index_t pointCount = endIdx_arg - beginIdx_arg;
297 for (
index_t i = 0; i < pointCount; i++)
299 unsigned int colorInt;
313 colorInt = ((avgRed ^ diffRed) << 0) |
314 ((avgGreen ^ diffGreen) << 8) |
315 ((avgBlue ^ diffBlue) << 16);
320 colorInt = (avgRed << 0) | (avgGreen << 8) | (avgBlue << 16);
323 char* idxPointPtr =
reinterpret_cast<char*
> (&(*outputCloud_arg)[beginIdx_arg + i]);
324 int& pointColor = *
reinterpret_cast<int*
> (idxPointPtr+rgba_offset_arg);
337 setDefaultColor (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg,
unsigned char rgba_offset_arg)
339 assert (beginIdx_arg <= endIdx_arg);
342 auto pointCount =
static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
345 for (std::size_t i = 0; i < pointCount; i++)
347 char* idxPointPtr =
reinterpret_cast<char*
> (&(*outputCloud_arg)[beginIdx_arg + i]);
348 int& pointColor = *
reinterpret_cast<int*
> (idxPointPtr+rgba_offset_arg);
378 template<
typename Po
intT>
386 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
void decodePoints(PointCloudPtr outputCloud_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg, unsigned char rgba_offset_arg)
Decode color information.
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.
std::vector< char > & getAverageDataVector()
Get reference to vector containing averaged color data.
void initializeDecoding()
Initialize decoding of 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.
std::vector< char > pointDiffColorDataVector_
Vector for storing differential color information
std::vector< char > pointAvgColorDataVector_
Vector for storing average color information
std::vector< char >::const_iterator pointAvgColorDataVector_Iterator_
Iterator on average color information vector.
void initializeEncoding()
Initialize encoding of color information.
virtual ~ColorCoding()=default
Empty class constructor.
unsigned char colorBitReduction_
Amount of bits to be removed from color components before encoding.
unsigned char getBitDepth()
Retrieve color bit depth of encoded color information.
ColorCoding()
Constructor.
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
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.
std::vector< char >::const_iterator pointDiffColorDataVector_Iterator_
Iterator on differential color information vector.
void setVoxelCount(unsigned int voxelCount_arg)
Set amount of voxels containing point color information and reserve memory.
static const int defaultColor_
void setBitDepth(unsigned char bitDepth_arg)
Define color bit depth of encoded color information.
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
PointCloudPtr output_
Pointer to output point cloud dataset.
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
IndicesAllocator<> Indices
Type used for indices in PCL.