ColorCoding class More...

#include <color_coding.h>

Public Member Functions
	ColorCoding ()
	Constructor.
void	decodePoints (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)
	Decode color information.
void	encodeAverageOfPoints (const typename std::vector< int > &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
	Encode averaged color information for a subset of points from point cloud.
void	encodePoints (const typename std::vector< int > &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
	Encode color information of a subset of points from point cloud.
std::vector< char > &	getAverageDataVector ()
	Get reference to vector containing averaged color data.
unsigned char	getBitDepth ()
	Retrieve color bit depth of encoded color information.
std::vector< char > &	getDifferentialDataVector ()
	Get reference to vector containing differential color data.
void	initializeDecoding ()
	Initialize decoding of color information.
void	initializeEncoding ()
	Initialize encoding of color information.
void	setBitDepth (unsigned char bitDepth_arg)
	Define color bit depth of encoded 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.
void	setPointCount (unsigned int pointCount_arg)
	Set amount of points within point cloud to be encoded and reserve memory.
void	setVoxelCount (unsigned int voxelCount_arg)
	Set amount of voxels containing point color information and reserve memory.
virtual	~ColorCoding ()
	Empty class constructor.
Protected Attributes
unsigned char	colorBitReduction_
	Amount of bits to be removed from color components before encoding.
PointCloudPtr	output_
	Pointer to output point cloud dataset.
std::vector< char >	pointAvgColorDataVector_
	Vector for storing average color information.
std::vector< char >::const_iterator	pointAvgColorDataVector_Iterator_
	Iterator on average color information vector.
std::vector< char >	pointDiffColorDataVector_
	Vector for storing differential color information.
std::vector< char >::const_iterator	pointDiffColorDataVector_Iterator_
	Iterator on differential color information vector.
Static Protected Attributes
static const int	defaultColor_
Private Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr

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 (julius@kammerl.de)

Definition at line 64 of file color_coding.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::octree::ColorCoding< PointT >::PointCloud [private]

Definition at line 68 of file color_coding.h.

template<typename PointT>

typedef boost::shared_ptr<const PointCloud> pcl::octree::ColorCoding< PointT >::PointCloudConstPtr [private]

Definition at line 70 of file color_coding.h.

template<typename PointT>

typedef boost::shared_ptr<PointCloud> pcl::octree::ColorCoding< PointT >::PointCloudPtr [private]

Definition at line 69 of file color_coding.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::octree::ColorCoding< PointT >::ColorCoding ( ) [inline]

Constructor.

Definition at line 77 of file color_coding.h.

template<typename PointT>

virtual pcl::octree::ColorCoding< PointT >::~ColorCoding ( ) [inline, virtual]

Empty class constructor.

Definition at line 85 of file color_coding.h.

Member Function Documentation

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::decodePoints	(	PointCloudPtr	outputCloud_arg,
		std::size_t	beginIdx_arg,
		std::size_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 assiged with color information
endIdx_arg	index indicating last point to be assiged with color information
rgba_offset_arg	offset to color information

Definition at line 303 of file color_coding.h.

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints	(	const typename std::vector< int > &	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 170 of file color_coding.h.

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::encodePoints	(	const typename std::vector< int > &	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 222 of file color_coding.h.

template<typename PointT>

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

Get reference to vector containing averaged color data.

Definition at line 151 of file color_coding.h.

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 104 of file color_coding.h.

template<typename PointT>

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

Get reference to vector containing differential color data.

Definition at line 159 of file color_coding.h.

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::initializeDecoding ( ) [inline]

Initialize decoding of color information.

Definition at line 141 of file color_coding.h.

template<typename PointT>

void pcl::octree::ColorCoding< PointT >::initializeEncoding ( ) [inline]

Initialize encoding of color information.

Definition at line 131 of file color_coding.h.

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 94 of file color_coding.h.

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 assiged with color information
endIdx_arg	index indicating last point to be assiged with color information
rgba_offset_arg	offset to color information

Definition at line 364 of file color_coding.h.

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 123 of file color_coding.h.

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 113 of file color_coding.h.

Member Data Documentation

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 403 of file color_coding.h.

template<typename PointT>

const int pcl::octree::ColorCoding< PointT >::defaultColor_ [static, protected]

Initial value:

 ((255) << 0) |
                                                   ((255) << 8) |
                                                   ((255) << 16)

Definition at line 406 of file color_coding.h.

template<typename PointT>

PointCloudPtr pcl::octree::ColorCoding< PointT >::output_ [protected]

Pointer to output point cloud dataset.

Definition at line 388 of file color_coding.h.

template<typename PointT>

std::vector<char> pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_ [protected]

Vector for storing average color information.

Definition at line 391 of file color_coding.h.

template<typename PointT>

std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_ [protected]

Iterator on average color information vector.

Definition at line 394 of file color_coding.h.

template<typename PointT>

std::vector<char> pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_ [protected]

Vector for storing differential color information.

Definition at line 397 of file color_coding.h.

template<typename PointT>

std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_Iterator_ [protected]

Iterator on differential color information vector.

Definition at line 400 of file color_coding.h.

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

color_coding.h

Public Member Functions

Protected Attributes

Static Protected Attributes

Private Types

Detailed Description

template<typename PointT> class pcl::octree::ColorCoding< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::octree::ColorCoding< PointT >