Point Cloud Library (PCL)
1.7.0
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#include <pcl/recognition/color_modality.h>
Classes | |
struct | Candidate |
Public Types | |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
ColorModality () | |
virtual | ~ColorModality () |
QuantizedMap & | getQuantizedMap () |
Returns a reference to the internally computed quantized map. More... | |
QuantizedMap & | getSpreadedQuantizedMap () |
Returns a reference to the internally computed spreaded quantized map. More... | |
void | extractFeatures (const MaskMap &mask, size_t nr_features, size_t modalityIndex, std::vector< QuantizedMultiModFeature > &features) const |
Extracts features from this modality within the specified mask. More... | |
virtual void | setInputCloud (const typename PointCloudIn::ConstPtr &cloud) |
Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method) More... | |
virtual void | processInputData () |
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QuantizableModality () | |
Constructor. More... | |
virtual | ~QuantizableModality () |
Destructor. More... | |
virtual void | extractAllFeatures (const MaskMap &mask, size_t nr_features, size_t modality_index, std::vector< QuantizedMultiModFeature > &features) const =0 |
Extracts all possible features from the modality within the specified mask. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | quantizeColors () |
void | filterQuantizedColors () |
void | computeDistanceMap (const MaskMap &input, DistanceMap &output) const |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Static Protected Member Functions | |
static int | quantizeColorOnRGBExtrema (const float r, const float g, const float b) |
Additional Inherited Members | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Definition at line 56 of file color_modality.h.
typedef pcl::PointCloud<PointInT> pcl::ColorModality< PointInT >::PointCloudIn |
Definition at line 79 of file color_modality.h.
pcl::ColorModality< PointInT >::ColorModality | ( | ) |
Definition at line 142 of file color_modality.h.
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virtual |
Definition at line 149 of file color_modality.h.
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protected |
Definition at line 486 of file color_modality.h.
References pcl::MaskMap::getData(), pcl::DistanceMap::getData(), pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), and pcl::DistanceMap::resize().
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virtual |
Extracts features from this modality within the specified mask.
[in] | mask | defines the areas where features are searched in. |
[in] | nr_features | defines the number of features to be extracted (might be less if not sufficient information is present in the modality). |
[in] | modality_index | the index which is stored in the extracted features. |
[out] | features | the destination for the extracted features. |
Implements pcl::QuantizableModality.
Definition at line 173 of file color_modality.h.
References pcl::ColorModality< PointInT >::Candidate::bin_index, pcl::ColorModality< PointInT >::Candidate::distance, pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), pcl::QuantizedMultiModFeature::modality_index, pcl::QuantizedMultiModFeature::quantized_value, pcl::QuantizedMultiModFeature::x, pcl::ColorModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::y, and pcl::ColorModality< PointInT >::Candidate::y.
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protected |
Definition at line 359 of file color_modality.h.
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inlinevirtual |
Returns a reference to the internally computed quantized map.
Implements pcl::QuantizableModality.
Definition at line 86 of file color_modality.h.
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inlinevirtual |
Returns a reference to the internally computed spreaded quantized map.
Implements pcl::QuantizableModality.
Definition at line 92 of file color_modality.h.
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virtual |
Definition at line 156 of file color_modality.h.
References pcl::QuantizedMap::spreadQuantizedMap().
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inlinestaticprotected |
Definition at line 434 of file color_modality.h.
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protected |
Definition at line 336 of file color_modality.h.
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inlinevirtual |
Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 105 of file color_modality.h.
References pcl::PCLBase< PointInT >::input_.