56 template<
typename Po
intT>
132 encodePoints (
const typename std::vector<int>& indexVector_arg,
const double* referencePoint_arg,
133 PointCloudConstPtr inputCloud_arg)
135 std::size_t len = indexVector_arg.size ();
138 for (std::size_t i = 0; i < len; i++)
140 unsigned char diffX, diffY, diffZ;
143 const int& idx = indexVector_arg[i];
144 const PointT& idxPoint = (*inputCloud_arg)[idx];
147 diffX =
static_cast<unsigned char> (std::max (-127, std::min<int>(127,
static_cast<int> ((idxPoint.x - referencePoint_arg[0]) /
pointCompressionResolution_))));
148 diffY =
static_cast<unsigned char> (std::max (-127, std::min<int>(127,
static_cast<int> ((idxPoint.y - referencePoint_arg[1]) /
pointCompressionResolution_))));
149 diffZ =
static_cast<unsigned char> (std::max (-127, std::min<int>(127,
static_cast<int> ((idxPoint.z - referencePoint_arg[2]) /
pointCompressionResolution_))));
165 decodePoints (PointCloudPtr outputCloud_arg,
const double* referencePoint_arg, std::size_t beginIdx_arg,
166 std::size_t endIdx_arg)
168 assert (beginIdx_arg <= endIdx_arg);
170 unsigned int pointCount =
static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
173 for (std::size_t i = 0; i < pointCount; i++)
181 PointT& point = (*outputCloud_arg)[beginIdx_arg + i];
207 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
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()
Constructor.
void initializeEncoding()
Initialize encoding of differential point.
std::vector< char > pointDiffDataVector_
Vector for storing differential point information
float pointCompressionResolution_
Precision of point coding.
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.
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
void initializeDecoding()
Initialize decoding of differential point.
float getPrecision()
Retrieve precision of point information.
virtual ~PointCoding()
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 decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg)
Decode differential point information.
void setPrecision(float precision_arg)
Define precision of point information.
A point structure representing Euclidean xyz coordinates, and the RGB color.