38 #ifndef POINT_COMPRESSION_H
39 #define POINT_COMPRESSION_H
58 template<
typename Po
intT>
63 typedef boost::shared_ptr<PointCloud> PointCloudPtr;
64 typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
134 encodePoints (
const typename std::vector<int>& indexVector_arg,
const double* referencePoint_arg,
135 PointCloudConstPtr inputCloud_arg)
139 len = indexVector_arg.size ();
142 for (i = 0; i < len; i++)
144 unsigned char diffX, diffY, diffZ;
147 const int& idx = indexVector_arg[i];
148 const PointT& idxPoint = inputCloud_arg->points[idx];
151 diffX =
static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0]) /
pointCompressionResolution_))));
152 diffY =
static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1]) /
pointCompressionResolution_))));
153 diffZ =
static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2]) /
pointCompressionResolution_))));
169 decodePoints (PointCloudPtr outputCloud_arg,
const double* referencePoint_arg, std::size_t beginIdx_arg,
170 std::size_t endIdx_arg)
173 unsigned int pointCount;
175 assert (beginIdx_arg <= endIdx_arg);
177 pointCount =
static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
180 for (i = 0; i < pointCount; i++)
188 PointT& point = outputCloud_arg->points[beginIdx_arg + i];
213 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
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.
float pointCompressionResolution_
Precision of point coding.
void initializeEncoding()
Initialize encoding of differential point.
void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg)
Decode differential point information.
std::vector< char > pointDiffDataVector_
Vector for storing differential point information.
std::vector< char >::const_iterator pointDiffDataVectorIterator_
Iterator on differential point information vector.
PointCloudPtr output_
Pointer to output point cloud dataset.
virtual ~PointCoding()
Empty class constructor.
float getPrecision()
Retrieve precision of point information.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
void initializeDecoding()
Initialize decoding of differential point.
PointCoding()
Constructor.
void setPrecision(float precision_arg)
Define precision of point information.