ColorCoding class
More...
#include <pcl/compression/color_coding.h>
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| ColorCoding () |
| Constructor. More...
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virtual | ~ColorCoding () |
| Empty class constructor. More...
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void | setBitDepth (unsigned char bitDepth_arg) |
| Define color bit depth of encoded color information. More...
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unsigned char | getBitDepth () |
| Retrieve color bit depth of encoded color information. More...
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void | setVoxelCount (unsigned int voxelCount_arg) |
| Set amount of voxels containing point color information and reserve memory. More...
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void | setPointCount (unsigned int pointCount_arg) |
| Set amount of points within point cloud to be encoded and reserve memory. More...
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void | initializeEncoding () |
| Initialize encoding of color information. More...
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void | initializeDecoding () |
| Initialize decoding of color information. More...
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std::vector< char > & | getAverageDataVector () |
| Get reference to vector containing averaged color data. More...
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std::vector< char > & | getDifferentialDataVector () |
| Get reference to vector containing differential color data. More...
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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. More...
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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. More...
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void | decodePoints (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg) |
| Decode color information. More...
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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. More...
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template<typename PointT>
class pcl::octree::ColorCoding< PointT >
ColorCoding class
- Note
- This class encodes 8-bit color information for octree-based point cloud compression.
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typename: PointT: type of point used in pointcloud
- Author
- Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)
Definition at line 61 of file color_coding.h.
◆ ColorCoding()
template<typename PointT >
◆ ~ColorCoding()
template<typename PointT >
◆ decodePoints()
template<typename PointT >
void pcl::octree::ColorCoding< PointT >::decodePoints |
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PointCloudPtr |
outputCloud_arg, |
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std::size_t |
beginIdx_arg, |
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std::size_t |
endIdx_arg, |
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unsigned char |
rgba_offset_arg |
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Decode color information.
- Parameters
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outputCloud_arg | output point cloud |
beginIdx_arg | index indicating first point to be assigned with color information |
endIdx_arg | index indicating last point to be assigned with color information |
rgba_offset_arg | offset to color information |
Definition at line 289 of file color_coding.h.
◆ encodeAverageOfPoints()
template<typename PointT >
void pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints |
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const typename std::vector< int > & |
indexVector_arg, |
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unsigned char |
rgba_offset_arg, |
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PointCloudConstPtr |
inputCloud_arg |
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Encode averaged color information for a subset of points from point cloud.
- Parameters
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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 163 of file color_coding.h.
◆ encodePoints()
template<typename PointT >
void pcl::octree::ColorCoding< PointT >::encodePoints |
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const typename std::vector< int > & |
indexVector_arg, |
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unsigned char |
rgba_offset_arg, |
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PointCloudConstPtr |
inputCloud_arg |
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inline |
Encode color information of a subset of points from point cloud.
- Parameters
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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 210 of file color_coding.h.
◆ getAverageDataVector()
template<typename PointT >
Get reference to vector containing averaged color data.
Definition at line 144 of file color_coding.h.
◆ getBitDepth()
template<typename PointT >
Retrieve color bit depth of encoded color information.
- Returns
- amounts of bits for representing one color component
Definition at line 97 of file color_coding.h.
◆ getDifferentialDataVector()
template<typename PointT >
Get reference to vector containing differential color data.
Definition at line 152 of file color_coding.h.
◆ initializeDecoding()
template<typename PointT >
Initialize decoding of color information.
Definition at line 134 of file color_coding.h.
◆ initializeEncoding()
template<typename PointT >
Initialize encoding of color information.
Definition at line 124 of file color_coding.h.
◆ setBitDepth()
template<typename PointT >
Define color bit depth of encoded color information.
- Parameters
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bitDepth_arg | amounts of bits for representing one color component |
Definition at line 88 of file color_coding.h.
◆ setDefaultColor()
template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setDefaultColor |
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PointCloudPtr |
outputCloud_arg, |
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std::size_t |
beginIdx_arg, |
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std::size_t |
endIdx_arg, |
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unsigned char |
rgba_offset_arg |
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inline |
Set default color to points.
- Parameters
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outputCloud_arg | output point cloud |
beginIdx_arg | index indicating first point to be assigned with color information |
endIdx_arg | index indicating last point to be assigned with color information |
rgba_offset_arg | offset to color information |
Definition at line 347 of file color_coding.h.
◆ setPointCount()
template<typename PointT >
Set amount of points within point cloud to be encoded and reserve memory.
- Parameters
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pointCount_arg | amounts of points within point cloud |
Definition at line 116 of file color_coding.h.
◆ setVoxelCount()
template<typename PointT >
Set amount of voxels containing point color information and reserve memory.
- Parameters
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voxelCount_arg | amounts of voxels |
Definition at line 106 of file color_coding.h.
◆ colorBitReduction_
template<typename PointT >
Amount of bits to be removed from color components before encoding.
Definition at line 381 of file color_coding.h.
◆ defaultColor_
template<typename PointT >
Initial value:= ((255) << 0) |
((255) << 8) |
((255) << 16)
Definition at line 384 of file color_coding.h.
◆ output_
template<typename PointT >
Pointer to output point cloud dataset.
Definition at line 366 of file color_coding.h.
◆ pointAvgColorDataVector_
template<typename PointT >
Vector for storing average color information
Definition at line 369 of file color_coding.h.
◆ pointAvgColorDataVector_Iterator_
template<typename PointT >
Iterator on average color information vector.
Definition at line 372 of file color_coding.h.
◆ pointDiffColorDataVector_
template<typename PointT >
Vector for storing differential color information
Definition at line 375 of file color_coding.h.
◆ pointDiffColorDataVector_Iterator_
template<typename PointT >
Iterator on differential color information vector.
Definition at line 378 of file color_coding.h.
The documentation for this class was generated from the following file: