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ColorCoding class More...

#include <pcl/compression/color_coding.h>

Public Member Functions
ColorCoding ()
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_
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 ( )
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 279 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 156 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 202 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 137 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 90 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 145 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 127 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 117 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 81 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 337 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 109 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 99 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_
protected

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

Definition at line 371 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 374 of file color_coding.h.

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

output_

template<typename PointT >
PointCloudPtr pcl::octree::ColorCoding< PointT >::output_
protected

Pointer to output point cloud dataset.

Definition at line 356 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 359 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 362 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 365 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 368 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:

© 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