point_coding.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2011-2012, Willow Garage, Inc.
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Willow Garage, Inc. nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  */
00037 
00038 #ifndef POINT_COMPRESSION_H
00039 #define POINT_COMPRESSION_H
00040 
00041 #include <iterator>
00042 #include <iostream>
00043 #include <vector>
00044 #include <string.h>
00045 #include <iostream>
00046 #include <stdio.h>
00047 #include <string.h>
00048 
00049 namespace pcl
00050 {
00051   namespace octree
00052   {
00058     template<typename PointT>
00059     class PointCoding
00060     {
00061         // public typedefs
00062         typedef pcl::PointCloud<PointT> PointCloud;
00063         typedef boost::shared_ptr<PointCloud> PointCloudPtr;
00064         typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
00065 
00066       public:
00068         PointCoding () :
00069           output_ (), pointDiffDataVector_ (), pointDiffDataVectorIterator_ (), 
00070           pointCompressionResolution_ (0.001f) // 1mm
00071         {
00072         }
00073 
00075         virtual
00076         ~PointCoding ()
00077         {
00078         }
00079 
00083         inline void
00084         setPrecision (float precision_arg)
00085         {
00086           pointCompressionResolution_ = precision_arg;
00087         }
00088 
00092         inline float
00093         getPrecision ()
00094         {
00095           return (pointCompressionResolution_);
00096         }
00097 
00101         inline void
00102         setPointCount (unsigned int pointCount_arg)
00103         {
00104           pointDiffDataVector_.reserve (pointCount_arg * 3);
00105         }
00106 
00108         void
00109         initializeEncoding ()
00110         {
00111           pointDiffDataVector_.clear ();
00112         }
00113 
00115         void
00116         initializeDecoding ()
00117         {
00118           pointDiffDataVectorIterator_ = pointDiffDataVector_.begin ();
00119         }
00120 
00122         std::vector<char>&
00123         getDifferentialDataVector ()
00124         {
00125           return (pointDiffDataVector_);
00126         }
00127 
00133         void
00134         encodePoints (const typename std::vector<int>& indexVector_arg, const double* referencePoint_arg,
00135                       PointCloudConstPtr inputCloud_arg)
00136         {
00137           std::size_t i, len;
00138 
00139           len = indexVector_arg.size ();
00140 
00141           // iterate over points within current voxel
00142           for (i = 0; i < len; i++)
00143           {
00144             unsigned char diffX, diffY, diffZ;
00145 
00146             // retrieve point from cloud
00147             const int& idx = indexVector_arg[i];
00148             const PointT& idxPoint = inputCloud_arg->points[idx];
00149 
00150             // differentially encode point coordinates and truncate overflow
00151             diffX = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0])  / pointCompressionResolution_))));
00152             diffY = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1])  / pointCompressionResolution_))));
00153             diffZ = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2])  / pointCompressionResolution_))));
00154 
00155             // store information in differential point vector
00156             pointDiffDataVector_.push_back (diffX);
00157             pointDiffDataVector_.push_back (diffY);
00158             pointDiffDataVector_.push_back (diffZ);
00159           }
00160         }
00161 
00168         void
00169         decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, std::size_t beginIdx_arg,
00170                       std::size_t endIdx_arg)
00171         {
00172           std::size_t i;
00173           unsigned int pointCount;
00174 
00175           assert (beginIdx_arg <= endIdx_arg);
00176 
00177           pointCount = static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
00178 
00179           // iterate over points within current voxel
00180           for (i = 0; i < pointCount; i++)
00181           {
00182             // retrieve differential point information
00183             const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
00184             const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
00185             const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
00186 
00187             // retrieve point from point cloud
00188             PointT& point = outputCloud_arg->points[beginIdx_arg + i];
00189 
00190             // decode point position
00191             point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
00192             point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
00193             point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
00194           }
00195         }
00196 
00197       protected:
00199         PointCloudPtr output_;
00200 
00202         std::vector<char> pointDiffDataVector_;
00203 
00205         std::vector<char>::const_iterator pointDiffDataVectorIterator_;
00206 
00208         float pointCompressionResolution_;
00209     };
00210   }
00211 }
00212 
00213 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
00214 
00215 #endif


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:31:02