point_coding.h

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#ifndef POINT_COMPRESSION_H
#define POINT_COMPRESSION_H

#include <iterator>
#include <iostream>
#include <vector>
#include <string.h>
#include <iostream>
#include <stdio.h>
#include <string.h>

namespace pcl
{
  namespace octree
  {
    template<typename PointT>
    class PointCoding
    {
        // public typedefs
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef boost::shared_ptr<PointCloud> PointCloudPtr;
        typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

      public:
        PointCoding () :
          output_ (), pointDiffDataVector_ (), pointDiffDataVectorIterator_ (), 
          pointCompressionResolution_ (0.001f) // 1mm
        {
        }

        virtual
        ~PointCoding ()
        {
        }

        inline void
        setPrecision (float precision_arg)
        {
          pointCompressionResolution_ = precision_arg;
        }

        inline float
        getPrecision ()
        {
          return (pointCompressionResolution_);
        }

        inline void
        setPointCount (unsigned int pointCount_arg)
        {
          pointDiffDataVector_.reserve (pointCount_arg * 3);
        }

        void
        initializeEncoding ()
        {
          pointDiffDataVector_.clear ();
        }

        void
        initializeDecoding ()
        {
          pointDiffDataVectorIterator_ = pointDiffDataVector_.begin ();
        }

        std::vector<char>&
        getDifferentialDataVector ()
        {
          return (pointDiffDataVector_);
        }

        void
        encodePoints (const typename std::vector<int>& indexVector_arg, const double* referencePoint_arg,
                      PointCloudConstPtr inputCloud_arg)
        {
          std::size_t i, len;

          len = indexVector_arg.size ();

          // iterate over points within current voxel
          for (i = 0; i < len; i++)
          {
            unsigned char diffX, diffY, diffZ;

            // retrieve point from cloud
            const int& idx = indexVector_arg[i];
            const PointT& idxPoint = inputCloud_arg->points[idx];

            // differentially encode point coordinates and truncate overflow
            diffX = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.x - referencePoint_arg[0])  / pointCompressionResolution_))));
            diffY = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.y - referencePoint_arg[1])  / pointCompressionResolution_))));
            diffZ = static_cast<unsigned char> (max (-127, min<int>(127, static_cast<int> ((idxPoint.z - referencePoint_arg[2])  / pointCompressionResolution_))));

            // store information in differential point vector
            pointDiffDataVector_.push_back (diffX);
            pointDiffDataVector_.push_back (diffY);
            pointDiffDataVector_.push_back (diffZ);
          }
        }

        void
        decodePoints (PointCloudPtr outputCloud_arg, const double* referencePoint_arg, std::size_t beginIdx_arg,
                      std::size_t endIdx_arg)
        {
          std::size_t i;
          unsigned int pointCount;

          assert (beginIdx_arg <= endIdx_arg);

          pointCount = static_cast<unsigned int> (endIdx_arg - beginIdx_arg);

          // iterate over points within current voxel
          for (i = 0; i < pointCount; i++)
          {
            // retrieve differential point information
            const unsigned char& diffX = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
            const unsigned char& diffY = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));
            const unsigned char& diffZ = static_cast<unsigned char> (*(pointDiffDataVectorIterator_++));

            // retrieve point from point cloud
            PointT& point = outputCloud_arg->points[beginIdx_arg + i];

            // decode point position
            point.x = static_cast<float> (referencePoint_arg[0] + diffX * pointCompressionResolution_);
            point.y = static_cast<float> (referencePoint_arg[1] + diffY * pointCompressionResolution_);
            point.z = static_cast<float> (referencePoint_arg[2] + diffZ * pointCompressionResolution_);
          }
        }

      protected:
        PointCloudPtr output_;

        std::vector<char> pointDiffDataVector_;

        std::vector<char>::const_iterator pointDiffDataVectorIterator_;

        float pointCompressionResolution_;
    };
  }
}

#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding<T>;

#endif