point_coding.h
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#ifndef POINT_COMPRESSION_H
#define POINT_COMPRESSION_H
#include <iterator>
#include <iostream>
#include <vector>
#include <string.h>
#include <iostream>
#include <stdio.h>
#include <string.h>
namespace pcl
{
namespace octree
{
/** \brief @b PointCoding class
* \note This class encodes 8-bit differential point information for octree-based point cloud compression.
* \note typename: PointT: type of point used in pointcloud
* \author Julius Kammerl (julius@kammerl.de)
*/
template<typename PointT>
class PointCoding
{
// public typedefs
typedef pcl::PointCloud<PointT> PointCloud;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
public:
/** \brief Constructor. */
PointCoding () :
output_ (), pointDiffDataVector_ (), pointDiffDataVectorIterator_ (),
pointCompressionResolution_ (0.001f) // 1mm
{
}
/** \brief Empty class constructor. */
virtual
~PointCoding ()
{
}
/** \brief Define precision of point information
* \param precision_arg: precision
*/
inline void
setPrecision (float precision_arg)
{
pointCompressionResolution_ = precision_arg;
}
/** \brief Retrieve precision of point information
* \return precision
*/
inline float
getPrecision ()
{
return (pointCompressionResolution_);
}
/** \brief Set amount of points within point cloud to be encoded and reserve memory
* \param pointCount_arg: amounts of points within point cloud
*/
inline void
setPointCount (unsigned int pointCount_arg)
{
pointDiffDataVector_.reserve (pointCount_arg * 3);
}
/** \brief Initialize encoding of differential point */
void
initializeEncoding ()
{
pointDiffDataVector_.clear ();
}
/** \brief Initialize decoding of differential point */
void
initializeDecoding ()
{
pointDiffDataVectorIterator_ = pointDiffDataVector_.begin ();
}
/** \brief Get reference to vector containing differential color data */
std::vector<char>&
getDifferentialDataVector ()
{
return (pointDiffDataVector_);
}
/** \brief Encode differential point information for a subset of points from point cloud
* \param indexVector_arg indices defining a subset of points from points cloud
* \param referencePoint_arg coordinates of reference point
* \param inputCloud_arg input point cloud
*/
void
encodePoints (const typename std::vector<int>& indexVector_arg, const double* referencePoint_arg,
PointCloudConstPtr inputCloud_arg)
{
std::size_t i, len;
len = indexVector_arg.size ();
// iterate over points within current voxel
for (i = 0; i < len; i++)
{
unsigned char diffX, diffY, diffZ;
// retrieve point from cloud
const int& idx = indexVector_arg[i];
const PointT& idxPoint = inputCloud_arg->points[idx];
// differentially encode point coordinates and truncate overflow
diffX = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0]) / pointCompressionResolution_))));
diffY = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1]) / pointCompressionResolution_))));
diffZ = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2]) / pointCompressionResolution_))));
// store information in differential point vector
pointDiffDataVector_.push_back (diffX);
pointDiffDataVector_.push_back (diffY);
pointDiffDataVector_.push_back (diffZ);
}
}
/** \brief Decode differential point information
* \param outputCloud_arg output point cloud
* \param referencePoint_arg coordinates of reference point
* \param beginIdx_arg index indicating first point to be assiged with color information
* \param endIdx_arg index indicating last point to be assiged with color information
*/
void
decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, std::size_t beginIdx_arg,
std::size_t endIdx_arg)
{
std::size_t i;
unsigned int pointCount;
assert (beginIdx_arg <= endIdx_arg);
pointCount = static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
// iterate over points within current voxel
for (i = 0; i < pointCount; i++)
{
// retrieve differential point information
const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
// retrieve point from point cloud
PointT& point = outputCloud_arg->points[beginIdx_arg + i];
// decode point position
point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
}
}
protected:
/** \brief Pointer to output point cloud dataset. */
PointCloudPtr output_;
/** \brief Vector for storing differential point information */
std::vector<char> pointDiffDataVector_;
/** \brief Iterator on differential point information vector */
std::vector<char>::const_iterator pointDiffDataVectorIterator_;
/** \brief Precision of point coding*/
float pointCompressionResolution_;
};
}
}
#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
#endif
pcl::octree::PointCoding::getDifferentialDataVector
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
Definition: point_coding.h:123
pcl::octree::PointCoding::encodePoints
void encodePoints(const typename std::vector< int > &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:134
pcl
Definition: cloud_iterator.h:46
pcl::octree::PointCoding::pointCompressionResolution_
float pointCompressionResolution_
Precision of point coding.
Definition: point_coding.h:208
pcl::octree::PointCoding::initializeEncoding
void initializeEncoding()
Initialize encoding of differential point.
Definition: point_coding.h:109
pcl::octree::PointCoding::decodePoints
void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg)
Decode differential point information.
Definition: point_coding.h:169
pcl::octree::PointCoding
PointCoding class
Definition: point_coding.h:59
pcl::octree::PointCoding::pointDiffDataVector_
std::vector< char > pointDiffDataVector_
Vector for storing differential point information.
Definition: point_coding.h:202
pcl::octree::PointCoding::pointDiffDataVectorIterator_
std::vector< char >::const_iterator pointDiffDataVectorIterator_
Iterator on differential point information vector.
Definition: point_coding.h:205
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::octree::PointCoding::output_
PointCloudPtr output_
Pointer to output point cloud dataset.
Definition: point_coding.h:199
pcl::octree::PointCoding::~PointCoding
virtual ~PointCoding()
Empty class constructor.
Definition: point_coding.h:76
pcl::octree::PointCoding::getPrecision
float getPrecision()
Retrieve precision of point information.
Definition: point_coding.h:93
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:594
pcl::octree::PointCoding::setPointCount
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
Definition: point_coding.h:102
pcl::octree::PointCoding::initializeDecoding
void initializeDecoding()
Initialize decoding of differential point.
Definition: point_coding.h:116
pcl::octree::PointCoding::PointCoding
PointCoding()
Constructor.
Definition: point_coding.h:68
pcl::octree::PointCoding::setPrecision
void setPrecision(float precision_arg)
Define precision of point information.
Definition: point_coding.h:84