Point Cloud Library (PCL) 1.15.0
Loading...
Searching...
No Matches
point_coding.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#pragma once
39
40#include <algorithm>
41#include <iostream>
42#include <vector>
43
44namespace pcl
45{
46namespace octree
47{
48/** \brief @b PointCoding class
49 * \note This class encodes 8-bit differential point information for octree-based point cloud compression.
50 * \note typename: PointT: type of point used in pointcloud
51 * \author Julius Kammerl (julius@kammerl.de)
52 */
53template<typename PointT>
55{
56 // public typedefs
57 using PointCloud = pcl::PointCloud<PointT>;
58 using PointCloudPtr = typename PointCloud::Ptr;
59 using PointCloudConstPtr = typename PointCloud::ConstPtr;
60
61 public:
62 /** \brief Constructor. */
63 PointCoding () = default;
64
65 /** \brief Empty class constructor. */
66 virtual
67 ~PointCoding () = default;
68
69 /** \brief Define precision of point information
70 * \param precision_arg: precision
71 */
72 inline void
73 setPrecision (float precision_arg)
74 {
75 pointCompressionResolution_ = precision_arg;
76 }
77
78 /** \brief Retrieve precision of point information
79 * \return precision
80 */
81 inline float
83 {
85 }
86
87 /** \brief Set amount of points within point cloud to be encoded and reserve memory
88 * \param pointCount_arg: amounts of points within point cloud
89 */
90 inline void
91 setPointCount (unsigned int pointCount_arg)
92 {
93 pointDiffDataVector_.reserve (pointCount_arg * 3);
94 }
95
96 /** \brief Initialize encoding of differential point */
97 void
99 {
100 pointDiffDataVector_.clear ();
101 }
102
103 /** \brief Initialize decoding of differential point */
104 void
109
110 /** \brief Get reference to vector containing differential color data */
111 std::vector<char>&
116
117 /** \brief Encode differential point information for a subset of points from point cloud
118 * \param indexVector_arg indices defining a subset of points from points cloud
119 * \param referencePoint_arg coordinates of reference point
120 * \param inputCloud_arg input point cloud
121 */
122 void
123 encodePoints (const Indices& indexVector_arg, const double* referencePoint_arg,
124 PointCloudConstPtr inputCloud_arg)
125 {
126 // iterate over points within current voxel
127 for (const auto& idx: indexVector_arg)
128 {
129 unsigned char diffX, diffY, diffZ;
130
131 // retrieve point from cloud
132 const PointT& idxPoint = (*inputCloud_arg)[idx];
133
134 // differentially encode point coordinates and truncate overflow
135 diffX = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0]) / pointCompressionResolution_))));
136 diffY = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1]) / pointCompressionResolution_))));
137 diffZ = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2]) / pointCompressionResolution_))));
138
139 // store information in differential point vector
140 pointDiffDataVector_.push_back (diffX);
141 pointDiffDataVector_.push_back (diffY);
142 pointDiffDataVector_.push_back (diffZ);
143 }
144 }
145
146 /** \brief Decode differential point information
147 * \param outputCloud_arg output point cloud
148 * \param referencePoint_arg coordinates of reference point
149 * \param beginIdx_arg index indicating first point to be assigned with color information
150 * \param endIdx_arg index indicating last point to be assigned with color information
151 */
152 void
153 decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, uindex_t beginIdx_arg,
154 uindex_t endIdx_arg)
155 {
156 assert (beginIdx_arg <= endIdx_arg);
157
158 const uindex_t pointCount = endIdx_arg - beginIdx_arg;
159
160 // iterate over points within current voxel
161 for (uindex_t i = 0; i < pointCount; i++)
162 {
163 // retrieve differential point information
164 const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
165 const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
166 const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
167
168 // retrieve point from point cloud
169 PointT& point = (*outputCloud_arg)[beginIdx_arg + i];
170
171 // decode point position
172 point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
173 point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
174 point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
175 }
176 }
177
178 protected:
179 /** \brief Pointer to output point cloud dataset. */
180 PointCloudPtr output_{nullptr};
181
182 /** \brief Vector for storing differential point information */
183 std::vector<char> pointDiffDataVector_;
184
185 /** \brief Iterator on differential point information vector */
186 std::vector<char>::const_iterator pointDiffDataVectorIterator_;
187
188 /** \brief Precision of point coding*/
190};
191
192} // namespace octree
193} // namespace pcl
194
195#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
196
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
PointCoding class
void encodePoints(const Indices &indexVector_arg, const double *referencePoint_arg, PointCloudConstPtr inputCloud_arg)
Encode differential point information for a subset of points from point cloud.
void initializeEncoding()
Initialize encoding of differential point.
std::vector< char > pointDiffDataVector_
Vector for storing differential point information
float pointCompressionResolution_
Precision of point coding.
void initializeDecoding()
Initialize decoding of differential point.
void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg)
Decode differential point information.
float getPrecision()
Retrieve precision of point information.
PointCoding()=default
Constructor.
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
virtual ~PointCoding()=default
Empty class constructor.
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
std::vector< char >::const_iterator pointDiffDataVectorIterator_
Iterator on differential point information vector.
PointCloudPtr output_
Pointer to output point cloud dataset.
void setPrecision(float precision_arg)
Define precision of point information.
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.