Point Cloud Library (PCL)  1.12.0
point_coding.h
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37 
38 #pragma once
39 
40 #include <algorithm>
41 #include <iostream>
42 #include <vector>
43 
44 namespace pcl
45 {
46 namespace octree
47 {
48 /** \brief @b PointCoding class
49  * \note This class encodes 8-bit differential point information for octree-based point cloud compression.
50  * \note typename: PointT: type of point used in pointcloud
51  * \author Julius Kammerl (julius@kammerl.de)
52  */
53 template<typename PointT>
55 {
56  // public typedefs
58  using PointCloudPtr = typename PointCloud::Ptr;
59  using PointCloudConstPtr = typename PointCloud::ConstPtr;
60 
61  public:
62  /** \brief Constructor. */
64  output_ (),
65  pointCompressionResolution_ (0.001f) // 1mm
66  {
67  }
68 
69  /** \brief Empty class constructor. */
70  virtual
72  {
73  }
74 
75  /** \brief Define precision of point information
76  * \param precision_arg: precision
77  */
78  inline void
79  setPrecision (float precision_arg)
80  {
81  pointCompressionResolution_ = precision_arg;
82  }
83 
84  /** \brief Retrieve precision of point information
85  * \return precision
86  */
87  inline float
89  {
91  }
92 
93  /** \brief Set amount of points within point cloud to be encoded and reserve memory
94  * \param pointCount_arg: amounts of points within point cloud
95  */
96  inline void
97  setPointCount (unsigned int pointCount_arg)
98  {
99  pointDiffDataVector_.reserve (pointCount_arg * 3);
100  }
101 
102  /** \brief Initialize encoding of differential point */
103  void
105  {
106  pointDiffDataVector_.clear ();
107  }
108 
109  /** \brief Initialize decoding of differential point */
110  void
112  {
114  }
115 
116  /** \brief Get reference to vector containing differential color data */
117  std::vector<char>&
119  {
120  return (pointDiffDataVector_);
121  }
122 
123  /** \brief Encode differential point information for a subset of points from point cloud
124  * \param indexVector_arg indices defining a subset of points from points cloud
125  * \param referencePoint_arg coordinates of reference point
126  * \param inputCloud_arg input point cloud
127  */
128  void
129  encodePoints (const Indices& indexVector_arg, const double* referencePoint_arg,
130  PointCloudConstPtr inputCloud_arg)
131  {
132  // iterate over points within current voxel
133  for (const auto& idx: indexVector_arg)
134  {
135  unsigned char diffX, diffY, diffZ;
136 
137  // retrieve point from cloud
138  const PointT& idxPoint = (*inputCloud_arg)[idx];
139 
140  // differentially encode point coordinates and truncate overflow
141  diffX = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0]) / pointCompressionResolution_))));
142  diffY = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1]) / pointCompressionResolution_))));
143  diffZ = static_cast<unsigned char> (std::max (-127, std::min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2]) / pointCompressionResolution_))));
144 
145  // store information in differential point vector
146  pointDiffDataVector_.push_back (diffX);
147  pointDiffDataVector_.push_back (diffY);
148  pointDiffDataVector_.push_back (diffZ);
149  }
150  }
151 
152  /** \brief Decode differential point information
153  * \param outputCloud_arg output point cloud
154  * \param referencePoint_arg coordinates of reference point
155  * \param beginIdx_arg index indicating first point to be assigned with color information
156  * \param endIdx_arg index indicating last point to be assigned with color information
157  */
158  void
159  decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, uindex_t beginIdx_arg,
160  uindex_t endIdx_arg)
161  {
162  assert (beginIdx_arg <= endIdx_arg);
163 
164  const uindex_t pointCount = endIdx_arg - beginIdx_arg;
165 
166  // iterate over points within current voxel
167  for (uindex_t i = 0; i < pointCount; i++)
168  {
169  // retrieve differential point information
170  const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
171  const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
172  const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
173 
174  // retrieve point from point cloud
175  PointT& point = (*outputCloud_arg)[beginIdx_arg + i];
176 
177  // decode point position
178  point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
179  point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
180  point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
181  }
182  }
183 
184  protected:
185  /** \brief Pointer to output point cloud dataset. */
186  PointCloudPtr output_;
187 
188  /** \brief Vector for storing differential point information */
189  std::vector<char> pointDiffDataVector_;
190 
191  /** \brief Iterator on differential point information vector */
192  std::vector<char>::const_iterator pointDiffDataVectorIterator_;
193 
194  /** \brief Precision of point coding*/
196 };
197 
198 } // namespace octree
199 } // namespace pcl
200 
201 #define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
202 
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
PointCoding class
Definition: point_coding.h:55
PointCoding()
Constructor.
Definition: point_coding.h:63
void encodePoints(const Indices &indexVector_arg, const double *referencePoint_arg, PointCloudConstPtr inputCloud_arg)
Encode differential point information for a subset of points from point cloud.
Definition: point_coding.h:129
void initializeEncoding()
Initialize encoding of differential point.
Definition: point_coding.h:104
std::vector< char > pointDiffDataVector_
Vector for storing differential point information
Definition: point_coding.h:189
float pointCompressionResolution_
Precision of point coding.
Definition: point_coding.h:195
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
Definition: point_coding.h:118
void initializeDecoding()
Initialize decoding of differential point.
Definition: point_coding.h:111
void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg)
Decode differential point information.
Definition: point_coding.h:159
float getPrecision()
Retrieve precision of point information.
Definition: point_coding.h:88
virtual ~PointCoding()
Empty class constructor.
Definition: point_coding.h:71
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
Definition: point_coding.h:97
std::vector< char >::const_iterator pointDiffDataVectorIterator_
Iterator on differential point information vector.
Definition: point_coding.h:192
PointCloudPtr output_
Pointer to output point cloud dataset.
Definition: point_coding.h:186
void setPrecision(float precision_arg)
Define precision of point information.
Definition: point_coding.h:79
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.