python-pcl-master.zip_PCL-PYTHON_deeply5zj_pcl_pcl package_pytho

# color_coding.h namespace pcl { namespace octree { using namespace std; ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /** \brief @b ColorCoding class * \note This class encodes 8-bit color information for octree-based point cloud compression. * \note * \note typename: PointT: type of point used in pointcloud * \author Julius Kammerl (julius@kammerl.de) */ ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// template<typename PointT> class ColorCoding { // public typedefs typedef pcl::PointCloud<PointT> PointCloud; typedef boost::shared_ptr<PointCloud> PointCloudPtr; typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; public: /** \brief Constructor. * * */ ColorCoding () : output_ (), pointAvgColorDataVector_ (), pointAvgColorDataVector_Iterator_ (), pointDiffColorDataVector_ (), pointDiffColorDataVector_Iterator_ (), colorBitReduction_ (0) { } /** \brief Empty class constructor. */ virtual ~ColorCoding () { } /** \brief Define color bit depth of encoded color information. * \param bitDepth_arg: amounts of bits for representing one color component */ inline void setBitDepth (unsigned char bitDepth_arg) { colorBitReduction_ = static_cast<unsigned char> (8 - bitDepth_arg); } /** \brief Retrieve color bit depth of encoded color information. * \return amounts of bits for representing one color component */ inline unsigned char getBitDepth () { return (static_cast<unsigned char> (8 - colorBitReduction_)); } /** \brief Set amount of voxels containing point color information and reserve memory * \param voxelCount_arg: amounts of voxels */ inline void setVoxelCount (unsigned int voxelCount_arg) { pointAvgColorDataVector_.reserve (voxelCount_arg * 3); } /** \brief Set amount of points within point cloud to be encoded and reserve memory * \param pointCount_arg: amounts of points within point cloud * */ inline void setPointCount (unsigned int pointCount_arg) { pointDiffColorDataVector_.reserve (pointCount_arg * 3); } /** \brief Initialize encoding of color information * */ void initializeEncoding () { pointAvgColorDataVector_.clear (); pointDiffColorDataVector_.clear (); } /** \brief Initialize decoding of color information * */ void initializeDecoding () { pointAvgColorDataVector_Iterator_ = pointAvgColorDataVector_.begin (); pointDiffColorDataVector_Iterator_ = pointDiffColorDataVector_.begin (); } /** \brief Get reference to vector containing averaged color data * */ std::vector<char>& getAverageDataVector () { return pointAvgColorDataVector_; } /** \brief Get reference to vector containing differential color data * */ std::vector<char>& getDifferentialDataVector () { return pointDiffColorDataVector_; } /** \brief Encode averaged color information for a subset of points from point cloud * \param indexVector_arg indices defining a subset of points from points cloud * \param rgba_offset_arg offset to color information * \param inputCloud_arg input point cloud * */ void encodeAverageOfPoints (const typename std::vector<int>& indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg) { std::size_t i, len; unsigned int avgRed; unsigned int avgGreen; unsigned int avgBlue; // initialize avgRed = avgGreen = avgBlue = 0; // iterate over points len = indexVector_arg.size (); for (i = 0; i < len; i++) { // get color information from points const int& idx = indexVector_arg[i]; const char* idxPointPtr = reinterpret_cast<const char*> (&inputCloud_arg->points[idx]); const int& colorInt = *reinterpret_cast<const int*> (idxPointPtr+rgba_offset_arg); // add color information avgRed += (colorInt >> 0) & 0xFF; avgGreen += (colorInt >> 8) & 0xFF; avgBlue += (colorInt >> 16) & 0xFF; } // calculated average color information if (len > 1) { avgRed /= static_cast<unsigned int> (len); avgGreen /= static_cast<unsigned int> (len); avgBlue /= static_cast<unsigned int> (len); } // remove least significant bits avgRed >>= colorBitReduction_; avgGreen >>= colorBitReduction_; avgBlue >>= colorBitReduction_; // add to average color vector pointAvgColorDataVector_.push_back (static_cast<char> (avgRed)); pointAvgColorDataVector_.push_back (static_cast<char> (avgGreen)); pointAvgColorDataVector_.push_back (static_cast<char> (avgBlue)); } /** \brief Encode color information of a subset of points from point cloud * \param indexVector_arg indices defining a subset of points from points cloud * \param rgba_offset_arg offset to color information * \param inputCloud_arg input point cloud * */ void encodePoints (const typename std::vector<int>& indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg) { std::size_t i, len; unsigned int avgRed; unsigned int avgGreen; unsigned int avgBlue; // initialize avgRed = avgGreen = avgBlue = 0; // iterate over points len = indexVector_arg.size (); for (i = 0; i < len; i++) { // get color information from point const int& idx = indexVector_arg[i]; const char* idxPointPtr = reinterpret_cast<const char*> (&inputCloud_arg->points[idx]); const int& colorInt = *reinterpret_cast<const int*> (idxPointPtr+rgba_offset_arg); // add color information avgRed += (colorInt >> 0) & 0xFF; avgGreen += (colorInt >> 8) & 0xFF; avgBlue += (colorInt >> 16) & 0xFF; } if (len > 1) { unsigned char diffRed; unsigned char diffGreen; unsigned char diffBlue; // calculated average color information avgRed /= static_cast<unsigned int> (len); avgGreen /= static_cast<unsigned int> (len); avgBlue /= static_cast<unsigned int> (len); // iterate over points for differential encoding for (i = 0; i < len; i++) { const int& idx = indexVector_arg[i]; const char* idxPointPtr = reinterpret_cast<const char*> (&inputCloud_arg->points[idx]); const int& colorInt = *reinterpret_cast<const int*> (idxPointPtr+rgba_offset_arg); // extract color components and do XOR encoding with predicted average color diffRed = (static_cast<unsigned char> (avgRed)) ^ static_cast<unsigned char> (((colorInt >> 0) & 0xFF)); diffGreen = (static_cast<unsigned char> (avgGreen)) ^ static_cast<unsigned char> (((colorInt >> 8) & 0xFF)); diffBlue = (static_cast<unsigned char> (avgBlue)) ^ static_cast<unsigned char> (((col