38 #ifndef COLOR_COMPRESSION_H
39 #define COLOR_COMPRESSION_H
63 template<
typename Po
intT>
69 typedef boost::shared_ptr<PointCloud> PointCloudPtr;
70 typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
78 output_ (), pointAvgColorDataVector_ (), pointAvgColorDataVector_Iterator_ (),
79 pointDiffColorDataVector_ (), pointDiffColorDataVector_Iterator_ (), colorBitReduction_ (0)
96 colorBitReduction_ =
static_cast<unsigned char> (8 - bitDepth_arg);
105 return (
static_cast<unsigned char> (8 - colorBitReduction_));
114 pointAvgColorDataVector_.reserve (voxelCount_arg * 3);
124 pointDiffColorDataVector_.reserve (pointCount_arg * 3);
132 pointAvgColorDataVector_.clear ();
134 pointDiffColorDataVector_.clear ();
142 pointAvgColorDataVector_Iterator_ = pointAvgColorDataVector_.begin ();
144 pointDiffColorDataVector_Iterator_ = pointDiffColorDataVector_.begin ();
152 return pointAvgColorDataVector_;
160 return pointDiffColorDataVector_;
169 encodeAverageOfPoints (
const typename std::vector<int>& indexVector_arg,
unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
174 unsigned int avgGreen;
175 unsigned int avgBlue;
178 avgRed = avgGreen = avgBlue = 0;
181 len = indexVector_arg.size ();
182 for (i = 0; i < len; i++)
185 const int& idx = indexVector_arg[i];
186 const char* idxPointPtr =
reinterpret_cast<const char*
> (&inputCloud_arg->points[idx]);
187 const int& colorInt = *
reinterpret_cast<const int*
> (idxPointPtr+rgba_offset_arg);
190 avgRed += (colorInt >> 0) & 0xFF;
191 avgGreen += (colorInt >> 8) & 0xFF;
192 avgBlue += (colorInt >> 16) & 0xFF;
199 avgRed /=
static_cast<unsigned int> (len);
200 avgGreen /=
static_cast<unsigned int> (len);
201 avgBlue /=
static_cast<unsigned int> (len);
205 avgRed >>= colorBitReduction_;
206 avgGreen >>= colorBitReduction_;
207 avgBlue >>= colorBitReduction_;
210 pointAvgColorDataVector_.push_back (
static_cast<char> (avgRed));
211 pointAvgColorDataVector_.push_back (
static_cast<char> (avgGreen));
212 pointAvgColorDataVector_.push_back (
static_cast<char> (avgBlue));
221 encodePoints (
const typename std::vector<int>& indexVector_arg,
unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
226 unsigned int avgGreen;
227 unsigned int avgBlue;
230 avgRed = avgGreen = avgBlue = 0;
233 len = indexVector_arg.size ();
234 for (i = 0; i < len; i++)
237 const int& idx = indexVector_arg[i];
238 const char* idxPointPtr =
reinterpret_cast<const char*
> (&inputCloud_arg->points[idx]);
239 const int& colorInt = *
reinterpret_cast<const int*
> (idxPointPtr+rgba_offset_arg);
242 avgRed += (colorInt >> 0) & 0xFF;
243 avgGreen += (colorInt >> 8) & 0xFF;
244 avgBlue += (colorInt >> 16) & 0xFF;
250 unsigned char diffRed;
251 unsigned char diffGreen;
252 unsigned char diffBlue;
255 avgRed /=
static_cast<unsigned int> (len);
256 avgGreen /=
static_cast<unsigned int> (len);
257 avgBlue /=
static_cast<unsigned int> (len);
260 for (i = 0; i < len; i++)
262 const int& idx = indexVector_arg[i];
263 const char* idxPointPtr =
reinterpret_cast<const char*
> (&inputCloud_arg->points[idx]);
264 const int& colorInt = *
reinterpret_cast<const int*
> (idxPointPtr+rgba_offset_arg);
267 diffRed = (
static_cast<unsigned char> (avgRed)) ^
static_cast<unsigned char> (((colorInt >> 0) & 0xFF));
268 diffGreen = (
static_cast<unsigned char> (avgGreen)) ^
static_cast<unsigned char> (((colorInt >> 8) & 0xFF));
269 diffBlue = (
static_cast<unsigned char> (avgBlue)) ^
static_cast<unsigned char> (((colorInt >> 16) & 0xFF));
272 diffRed =
static_cast<unsigned char> (diffRed >> colorBitReduction_);
273 diffGreen =
static_cast<unsigned char> (diffGreen >> colorBitReduction_);
274 diffBlue =
static_cast<unsigned char> (diffBlue >> colorBitReduction_);
277 pointDiffColorDataVector_.push_back (
static_cast<char> (diffRed));
278 pointDiffColorDataVector_.push_back (
static_cast<char> (diffGreen));
279 pointDiffColorDataVector_.push_back (
static_cast<char> (diffBlue));
284 avgRed >>= colorBitReduction_;
285 avgGreen >>= colorBitReduction_;
286 avgBlue >>= colorBitReduction_;
289 pointAvgColorDataVector_.push_back (
static_cast<char> (avgRed));
290 pointAvgColorDataVector_.push_back (
static_cast<char> (avgGreen));
291 pointAvgColorDataVector_.push_back (
static_cast<char> (avgBlue));
302 decodePoints (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg,
unsigned char rgba_offset_arg)
305 unsigned int pointCount;
306 unsigned int colorInt;
308 assert (beginIdx_arg <= endIdx_arg);
311 pointCount =
static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
314 unsigned char avgRed = *(pointAvgColorDataVector_Iterator_++);
315 unsigned char avgGreen = *(pointAvgColorDataVector_Iterator_++);
316 unsigned char avgBlue = *(pointAvgColorDataVector_Iterator_++);
319 avgRed =
static_cast<unsigned char> (avgRed << colorBitReduction_);
320 avgGreen =
static_cast<unsigned char> (avgGreen << colorBitReduction_);
321 avgBlue =
static_cast<unsigned char> (avgBlue << colorBitReduction_);
324 for (i = 0; i < pointCount; i++)
329 unsigned char diffRed =
static_cast<unsigned char> (*(pointDiffColorDataVector_Iterator_++));
330 unsigned char diffGreen =
static_cast<unsigned char> (*(pointDiffColorDataVector_Iterator_++));
331 unsigned char diffBlue =
static_cast<unsigned char> (*(pointDiffColorDataVector_Iterator_++));
334 diffRed =
static_cast<unsigned char> (diffRed << colorBitReduction_);
335 diffGreen =
static_cast<unsigned char> (diffGreen << colorBitReduction_);
336 diffBlue =
static_cast<unsigned char> (diffBlue << colorBitReduction_);
339 colorInt = ((avgRed ^ diffRed) << 0) |
340 ((avgGreen ^ diffGreen) << 8) |
341 ((avgBlue ^ diffBlue) << 16);
346 colorInt = (avgRed << 0) | (avgGreen << 8) | (avgBlue << 16);
349 char* idxPointPtr =
reinterpret_cast<char*
> (&outputCloud_arg->points[beginIdx_arg + i]);
350 int& pointColor = *
reinterpret_cast<int*
> (idxPointPtr+rgba_offset_arg);
363 setDefaultColor (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg,
unsigned char rgba_offset_arg)
366 unsigned int pointCount;
368 assert (beginIdx_arg <= endIdx_arg);
371 pointCount =
static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
374 for (i = 0; i < pointCount; i++)
376 char* idxPointPtr =
reinterpret_cast<char*
> (&outputCloud_arg->points[beginIdx_arg + i]);
377 int& pointColor = *
reinterpret_cast<int*
> (idxPointPtr+rgba_offset_arg);
379 pointColor = defaultColor_;
410 template<
typename Po
intT>
418 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;