Point Cloud Library (PCL)  1.13.1-dev
point_coding.h
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37 
38 #pragma once
39 
40 #include <algorithm>
41 #include <iostream>
42 #include <vector>
43 
44 namespace pcl
45 {
46 namespace octree
47 {
48 /** \brief @b PointCoding class
49  * \note This class encodes 8-bit differential point information for octree-based point cloud compression.
50  * \note typename: PointT: type of point used in pointcloud
51  * \author Julius Kammerl (julius@kammerl.de)
52  */
53 template<typename PointT>
55 {
56  // public typedefs
58  using PointCloudPtr = typename PointCloud::Ptr;
59  using PointCloudConstPtr = typename PointCloud::ConstPtr;
60 
61  public:
62  /** \brief Constructor. */
64  output_ (),
65  pointCompressionResolution_ (0.001f) // 1mm
66  {
67  }
68 
69  /** \brief Empty class constructor. */
70  virtual
71  ~PointCoding () = default;
72 
73  /** \brief Define precision of point information
74  * \param precision_arg: precision
75  */
76  inline void
77  setPrecision (float precision_arg)
78  {
79  pointCompressionResolution_ = precision_arg;
80  }
81 
82  /** \brief Retrieve precision of point information
83  * \return precision
84  */
85  inline float
87  {
89  }
90 
91  /** \brief Set amount of points within point cloud to be encoded and reserve memory
92  * \param pointCount_arg: amounts of points within point cloud
93  */
94  inline void
95  setPointCount (unsigned int pointCount_arg)
96  {
97  pointDiffDataVector_.reserve (pointCount_arg * 3);
98  }
99 
100  /** \brief Initialize encoding of differential point */
101  void
103  {
104  pointDiffDataVector_.clear ();
105  }
106 
107  /** \brief Initialize decoding of differential point */
108  void
110  {
112  }
113 
114  /** \brief Get reference to vector containing differential color data */
115  std::vector<char>&
117  {
118  return (pointDiffDataVector_);
119  }
120 
121  /** \brief Encode differential point information for a subset of points from point cloud
122  * \param indexVector_arg indices defining a subset of points from points cloud
123  * \param referencePoint_arg coordinates of reference point
124  * \param inputCloud_arg input point cloud
125  */
126  void
127  encodePoints (const Indices& indexVector_arg, const double* referencePoint_arg,
128  PointCloudConstPtr inputCloud_arg)
129  {
130  // iterate over points within current voxel
131  for (const auto& idx: indexVector_arg)
132  {
133  unsigned char diffX, diffY, diffZ;
134 
135  // retrieve point from cloud
136  const PointT& idxPoint = (*inputCloud_arg)[idx];
137 
138  // differentially encode point coordinates and truncate overflow
139  diffX = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0]) / pointCompressionResolution_))));
140  diffY = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1]) / pointCompressionResolution_))));
141  diffZ = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2]) / pointCompressionResolution_))));
142 
143  // store information in differential point vector
144  pointDiffDataVector_.push_back (diffX);
145  pointDiffDataVector_.push_back (diffY);
146  pointDiffDataVector_.push_back (diffZ);
147  }
148  }
149 
150  /** \brief Decode differential point information
151  * \param outputCloud_arg output point cloud
152  * \param referencePoint_arg coordinates of reference point
153  * \param beginIdx_arg index indicating first point to be assigned with color information
154  * \param endIdx_arg index indicating last point to be assigned with color information
155  */
156  void
157  decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, uindex_t beginIdx_arg,
158  uindex_t endIdx_arg)
159  {
160  assert (beginIdx_arg <= endIdx_arg);
161 
162  const uindex_t pointCount = endIdx_arg - beginIdx_arg;
163 
164  // iterate over points within current voxel
165  for (uindex_t i = 0; i < pointCount; i++)
166  {
167  // retrieve differential point information
168  const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
169  const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
170  const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
171 
172  // retrieve point from point cloud
173  PointT& point = (*outputCloud_arg)[beginIdx_arg + i];
174 
175  // decode point position
176  point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
177  point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
178  point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
179  }
180  }
181 
182  protected:
183  /** \brief Pointer to output point cloud dataset. */
184  PointCloudPtr output_;
185 
186  /** \brief Vector for storing differential point information */
187  std::vector<char> pointDiffDataVector_;
188 
189  /** \brief Iterator on differential point information vector */
190  std::vector<char>::const_iterator pointDiffDataVectorIterator_;
191 
192  /** \brief Precision of point coding*/
194 };
195 
196 } // namespace octree
197 } // namespace pcl
198 
199 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
200 
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
PointCoding class
Definition: point_coding.h:55
PointCoding()
Constructor.
Definition: point_coding.h:63
void encodePoints(const Indices &indexVector_arg, const double *referencePoint_arg, PointCloudConstPtr inputCloud_arg)
Encode differential point information for a subset of points from point cloud.
Definition: point_coding.h:127
void initializeEncoding()
Initialize encoding of differential point.
Definition: point_coding.h:102
std::vector< char > pointDiffDataVector_
Vector for storing differential point information
Definition: point_coding.h:187
float pointCompressionResolution_
Precision of point coding.
Definition: point_coding.h:193
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
Definition: point_coding.h:116
void initializeDecoding()
Initialize decoding of differential point.
Definition: point_coding.h:109
void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg)
Decode differential point information.
Definition: point_coding.h:157
float getPrecision()
Retrieve precision of point information.
Definition: point_coding.h:86
virtual ~PointCoding()=default
Empty class constructor.
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
Definition: point_coding.h:95
std::vector< char >::const_iterator pointDiffDataVectorIterator_
Iterator on differential point information vector.
Definition: point_coding.h:190
PointCloudPtr output_
Pointer to output point cloud dataset.
Definition: point_coding.h:184
void setPrecision(float precision_arg)
Define precision of point information.
Definition: point_coding.h:77
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.