Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
color_coding.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#pragma once
39
40#include <iostream>
41#include <vector>
42
43namespace pcl
44{
45
46namespace octree
47{
48
49/** \brief @b ColorCoding class
50 * \note This class encodes 8-bit color information for octree-based point cloud compression.
51 * \note
52 * \note typename: PointT: type of point used in pointcloud
53 * \author Julius Kammerl (julius@kammerl.de)
54 */
55template<typename PointT>
57{
58 // public typedefs
60 using PointCloudPtr = typename PointCloud::Ptr;
61 using PointCloudConstPtr = typename PointCloud::ConstPtr;
62
63public:
64 /** \brief Constructor.
65 *
66 * */
69 {
70 }
71
72 /** \brief Empty class constructor. */
73 virtual
75 {
76 }
77
78 /** \brief Define color bit depth of encoded color information.
79 * \param bitDepth_arg: amounts of bits for representing one color component
80 */
81 inline
82 void
83 setBitDepth (unsigned char bitDepth_arg)
84 {
85 colorBitReduction_ = static_cast<unsigned char> (8 - bitDepth_arg);
86 }
87
88 /** \brief Retrieve color bit depth of encoded color information.
89 * \return amounts of bits for representing one color component
90 */
91 inline unsigned char
93 {
94 return (static_cast<unsigned char> (8 - colorBitReduction_));
95 }
96
97 /** \brief Set amount of voxels containing point color information and reserve memory
98 * \param voxelCount_arg: amounts of voxels
99 */
100 inline void
101 setVoxelCount (unsigned int voxelCount_arg)
102 {
103 pointAvgColorDataVector_.reserve (voxelCount_arg * 3);
104 }
105
106 /** \brief Set amount of points within point cloud to be encoded and reserve memory
107 * \param pointCount_arg: amounts of points within point cloud
108 * */
109 inline
110 void
111 setPointCount (unsigned int pointCount_arg)
112 {
113 pointDiffColorDataVector_.reserve (pointCount_arg * 3);
114 }
115
116 /** \brief Initialize encoding of color information
117 * */
118 void
120 {
122
124 }
125
126 /** \brief Initialize decoding of color information
127 * */
128 void
135
136 /** \brief Get reference to vector containing averaged color data
137 * */
138 std::vector<char>&
143
144 /** \brief Get reference to vector containing differential color data
145 * */
146 std::vector<char>&
151
152 /** \brief Encode averaged color information for a subset of points from point cloud
153 * \param indexVector_arg indices defining a subset of points from points cloud
154 * \param rgba_offset_arg offset to color information
155 * \param inputCloud_arg input point cloud
156 * */
157 void
158 encodeAverageOfPoints (const Indices& indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
159 {
160 uindex_t avgRed = 0;
161 uindex_t avgGreen = 0;
162 uindex_t avgBlue = 0;
163
164 // iterate over points
165 for (const auto& idx: indexVector_arg)
166 {
167 // get color information from points
168 const char* idxPointPtr = reinterpret_cast<const char*> (&(*inputCloud_arg)[idx]);
169 const int& colorInt = *reinterpret_cast<const int*> (idxPointPtr+rgba_offset_arg);
170
171 // add color information
172 avgRed += (colorInt >> 0) & 0xFF;
173 avgGreen += (colorInt >> 8) & 0xFF;
174 avgBlue += (colorInt >> 16) & 0xFF;
175
176 }
177
178 const uindex_t len = static_cast<uindex_t> (indexVector_arg.size());
179 // calculated average color information
180 if (len > 1)
181 {
182 avgRed /= len;
183 avgGreen /= len;
184 avgBlue /= len;
185 }
186
187 // remove least significant bits
188 avgRed >>= colorBitReduction_;
189 avgGreen >>= colorBitReduction_;
190 avgBlue >>= colorBitReduction_;
191
192 // add to average color vector
193 pointAvgColorDataVector_.push_back (static_cast<char> (avgRed));
194 pointAvgColorDataVector_.push_back (static_cast<char> (avgGreen));
195 pointAvgColorDataVector_.push_back (static_cast<char> (avgBlue));
196 }
197
198 /** \brief Encode color information of a subset of points from point cloud
199 * \param indexVector_arg indices defining a subset of points from points cloud
200 * \param rgba_offset_arg offset to color information
201 * \param inputCloud_arg input point cloud
202 * */
203 void
204 encodePoints (const Indices& indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
205 {
206 uindex_t avgRed;
207 uindex_t avgGreen;
208 uindex_t avgBlue;
209
210 // initialize
211 avgRed = avgGreen = avgBlue = 0;
212
213 // iterate over points
214 for (const auto& idx: indexVector_arg)
215 {
216 // get color information from point
217 const char* idxPointPtr = reinterpret_cast<const char*> (&(*inputCloud_arg)[idx]);
218 const int& colorInt = *reinterpret_cast<const int*> (idxPointPtr+rgba_offset_arg);
219
220 // add color information
221 avgRed += (colorInt >> 0) & 0xFF;
222 avgGreen += (colorInt >> 8) & 0xFF;
223 avgBlue += (colorInt >> 16) & 0xFF;
224
225 }
226
227 const uindex_t len = static_cast<uindex_t> (indexVector_arg.size());
228 if (len > 1)
229 {
230 unsigned char diffRed;
231 unsigned char diffGreen;
232 unsigned char diffBlue;
233
234 // calculated average color information
235 avgRed /= len;
236 avgGreen /= len;
237 avgBlue /= len;
238
239 // iterate over points for differential encoding
240 for (const auto& idx: indexVector_arg)
241 {
242 const char* idxPointPtr = reinterpret_cast<const char*> (&(*inputCloud_arg)[idx]);
243 const int& colorInt = *reinterpret_cast<const int*> (idxPointPtr+rgba_offset_arg);
244
245 // extract color components and do XOR encoding with predicted average color
246 diffRed = (static_cast<unsigned char> (avgRed)) ^ static_cast<unsigned char> (((colorInt >> 0) & 0xFF));
247 diffGreen = (static_cast<unsigned char> (avgGreen)) ^ static_cast<unsigned char> (((colorInt >> 8) & 0xFF));
248 diffBlue = (static_cast<unsigned char> (avgBlue)) ^ static_cast<unsigned char> (((colorInt >> 16) & 0xFF));
249
250 // remove least significant bits
251 diffRed = static_cast<unsigned char> (diffRed >> colorBitReduction_);
252 diffGreen = static_cast<unsigned char> (diffGreen >> colorBitReduction_);
253 diffBlue = static_cast<unsigned char> (diffBlue >> colorBitReduction_);
254
255 // add to differential color vector
256 pointDiffColorDataVector_.push_back (static_cast<char> (diffRed));
257 pointDiffColorDataVector_.push_back (static_cast<char> (diffGreen));
258 pointDiffColorDataVector_.push_back (static_cast<char> (diffBlue));
259 }
260 }
261
262 // remove least significant bits from average color information
263 avgRed >>= colorBitReduction_;
264 avgGreen >>= colorBitReduction_;
265 avgBlue >>= colorBitReduction_;
266
267 // add to differential color vector
268 pointAvgColorDataVector_.push_back (static_cast<char> (avgRed));
269 pointAvgColorDataVector_.push_back (static_cast<char> (avgGreen));
270 pointAvgColorDataVector_.push_back (static_cast<char> (avgBlue));
271
272 }
273
274 /** \brief Decode color information
275 * \param outputCloud_arg output point cloud
276 * \param beginIdx_arg index indicating first point to be assigned with color information
277 * \param endIdx_arg index indicating last point to be assigned with color information
278 * \param rgba_offset_arg offset to color information
279 */
280 void
281 decodePoints (PointCloudPtr outputCloud_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg, unsigned char rgba_offset_arg)
282 {
283 assert (beginIdx_arg <= endIdx_arg);
284
285 // amount of points to be decoded
286 const index_t pointCount = endIdx_arg - beginIdx_arg;
287
288 // get averaged color information for current voxel
289 unsigned char avgRed = *(pointAvgColorDataVector_Iterator_++);
290 unsigned char avgGreen = *(pointAvgColorDataVector_Iterator_++);
291 unsigned char avgBlue = *(pointAvgColorDataVector_Iterator_++);
292
293 // invert bit shifts during encoding
294 avgRed = static_cast<unsigned char> (avgRed << colorBitReduction_);
295 avgGreen = static_cast<unsigned char> (avgGreen << colorBitReduction_);
296 avgBlue = static_cast<unsigned char> (avgBlue << colorBitReduction_);
297
298 // iterate over points
299 for (index_t i = 0; i < pointCount; i++)
300 {
301 unsigned int colorInt;
302 if (pointCount > 1)
303 {
304 // get differential color information from input vector
305 unsigned char diffRed = static_cast<unsigned char> (*(pointDiffColorDataVector_Iterator_++));
306 unsigned char diffGreen = static_cast<unsigned char> (*(pointDiffColorDataVector_Iterator_++));
307 unsigned char diffBlue = static_cast<unsigned char> (*(pointDiffColorDataVector_Iterator_++));
308
309 // invert bit shifts during encoding
310 diffRed = static_cast<unsigned char> (diffRed << colorBitReduction_);
311 diffGreen = static_cast<unsigned char> (diffGreen << colorBitReduction_);
312 diffBlue = static_cast<unsigned char> (diffBlue << colorBitReduction_);
313
314 // decode color information
315 colorInt = ((avgRed ^ diffRed) << 0) |
316 ((avgGreen ^ diffGreen) << 8) |
317 ((avgBlue ^ diffBlue) << 16);
318 }
319 else
320 {
321 // decode color information
322 colorInt = (avgRed << 0) | (avgGreen << 8) | (avgBlue << 16);
323 }
324
325 char* idxPointPtr = reinterpret_cast<char*> (&(*outputCloud_arg)[beginIdx_arg + i]);
326 int& pointColor = *reinterpret_cast<int*> (idxPointPtr+rgba_offset_arg);
327 // assign color to point from point cloud
328 pointColor=colorInt;
329 }
330 }
331
332 /** \brief Set default color to points
333 * \param outputCloud_arg output point cloud
334 * \param beginIdx_arg index indicating first point to be assigned with color information
335 * \param endIdx_arg index indicating last point to be assigned with color information
336 * \param rgba_offset_arg offset to color information
337 * */
338 void
339 setDefaultColor (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)
340 {
341 assert (beginIdx_arg <= endIdx_arg);
342
343 // amount of points to be decoded
344 unsigned int pointCount = static_cast<unsigned int> (endIdx_arg - beginIdx_arg);
345
346 // iterate over points
347 for (std::size_t i = 0; i < pointCount; i++)
348 {
349 char* idxPointPtr = reinterpret_cast<char*> (&(*outputCloud_arg)[beginIdx_arg + i]);
350 int& pointColor = *reinterpret_cast<int*> (idxPointPtr+rgba_offset_arg);
351 // assign color to point from point cloud
352 pointColor = defaultColor_;
353 }
354 }
355
356protected:
357 /** \brief Pointer to output point cloud dataset. */
358 PointCloudPtr output_;
359
360 /** \brief Vector for storing average color information */
361 std::vector<char> pointAvgColorDataVector_;
362
363 /** \brief Iterator on average color information vector */
364 std::vector<char>::const_iterator pointAvgColorDataVector_Iterator_;
365
366 /** \brief Vector for storing differential color information */
367 std::vector<char> pointDiffColorDataVector_;
368
369 /** \brief Iterator on differential color information vector */
370 std::vector<char>::const_iterator pointDiffColorDataVector_Iterator_;
371
372 /** \brief Amount of bits to be removed from color components before encoding */
373 unsigned char colorBitReduction_;
374
375 // frame header identifier
376 static const int defaultColor_;
377};
378
379// define default color
380template<typename PointT>
381const int ColorCoding<PointT>::defaultColor_ = ((255) << 0) |
382 ((255) << 8) |
383 ((255) << 16);
384
385} // namespace octree
386} // namespace pcl
387
388#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;
389
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
ColorCoding class
void decodePoints(PointCloudPtr outputCloud_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg, unsigned char rgba_offset_arg)
Decode color information.
void encodeAverageOfPoints(const Indices &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
Encode averaged color information for a subset of points from point cloud.
void initializeDecoding()
Initialize decoding of color information.
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.
std::vector< char > pointDiffColorDataVector_
Vector for storing differential color information
std::vector< char > pointAvgColorDataVector_
Vector for storing average color information
std::vector< char >::const_iterator pointAvgColorDataVector_Iterator_
Iterator on average color information vector.
void initializeEncoding()
Initialize encoding of color information.
virtual ~ColorCoding()
Empty class constructor.
unsigned char colorBitReduction_
Amount of bits to be removed from color components before encoding.
unsigned char getBitDepth()
Retrieve color bit depth of encoded color information.
ColorCoding()
Constructor.
void encodePoints(const Indices &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
Encode color information of a subset of points from point cloud.
std::vector< char >::const_iterator pointDiffColorDataVector_Iterator_
Iterator on differential color information vector.
void setVoxelCount(unsigned int voxelCount_arg)
Set amount of voxels containing point color information and reserve memory.
static const int defaultColor_
std::vector< char > & getAverageDataVector()
Get reference to vector containing averaged color data.
void setBitDepth(unsigned char bitDepth_arg)
Define color bit depth of encoded color information.
void setPointCount(unsigned int pointCount_arg)
Set amount of points within point cloud to be encoded and reserve memory.
std::vector< char > & getDifferentialDataVector()
Get reference to vector containing differential color data.
PointCloudPtr output_
Pointer to output point cloud dataset.
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120