PointCloudLibrary

#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 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_
	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 56 of file color_coding.h.

Constructor & Destructor Documentation

ColorCoding()

template<typename PointT >

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

inline

Constructor.

Definition at line 67 of file color_coding.h.

~ColorCoding()

template<typename PointT >

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

inlinevirtual

Empty class constructor.

Definition at line 74 of file color_coding.h.

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 281 of file color_coding.h.

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 158 of file color_coding.h.

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 204 of file color_coding.h.

getAverageDataVector()

template<typename PointT >

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

inline

Get reference to vector containing averaged color data.

Definition at line 139 of file color_coding.h.

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 92 of file color_coding.h.

getDifferentialDataVector()

template<typename PointT >

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

inline

Get reference to vector containing differential color data.

Definition at line 147 of file color_coding.h.

initializeDecoding()

template<typename PointT >

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

inline

Initialize decoding of color information.

Definition at line 129 of file color_coding.h.

initializeEncoding()

template<typename PointT >

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

inline

Initialize encoding of color information.

Definition at line 119 of file color_coding.h.

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 83 of file color_coding.h.

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 339 of file color_coding.h.

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 111 of file color_coding.h.

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 101 of file color_coding.h.

Member Data Documentation

colorBitReduction_

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 373 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< pcl::PointXYZRGB >::decodePoints(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::encodeAverageOfPoints(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::encodePoints(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::getBitDepth(), and pcl::octree::ColorCoding< pcl::PointXYZRGB >::setBitDepth().

defaultColor_

template<typename PointT >

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

staticprotected

Initial value:

= ((255) << 0) |

((255) << 8) |

((255) << 16)

Definition at line 376 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< pcl::PointXYZRGB >::setDefaultColor().

output_

template<typename PointT >

PointCloudPtr pcl::octree::ColorCoding< PointT >::output_

protected

Pointer to output point cloud dataset.

Definition at line 358 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 361 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< pcl::PointXYZRGB >::encodeAverageOfPoints(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::encodePoints(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::getAverageDataVector(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::initializeDecoding(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::initializeEncoding(), and pcl::octree::ColorCoding< pcl::PointXYZRGB >::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 364 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< pcl::PointXYZRGB >::decodePoints(), and pcl::octree::ColorCoding< pcl::PointXYZRGB >::initializeDecoding().

pointDiffColorDataVector_

template<typename PointT >

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

protected

Vector for storing differential color information

Definition at line 367 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< pcl::PointXYZRGB >::encodePoints(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::getDifferentialDataVector(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::initializeDecoding(), pcl::octree::ColorCoding< pcl::PointXYZRGB >::initializeEncoding(), and pcl::octree::ColorCoding< pcl::PointXYZRGB >::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 370 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< pcl::PointXYZRGB >::decodePoints(), and pcl::octree::ColorCoding< pcl::PointXYZRGB >::initializeDecoding().

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

pcl/compression/color_coding.h

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1octree_1_1_color_coding.html

Name	PointCloudLibrary
Version
Badge
Last Updated	2021-12-29T19:25:09Z

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 >