Point Cloud Library (PCL)  1.9.1-dev
List of all members | Classes | Public Types | Public Member Functions | Protected Member Functions | Static Protected Member Functions
pcl::ColorGradientModality< PointInT > Class Template Reference

Modality based on max-RGB gradients. More...

#include <pcl/recognition/color_gradient_modality.h>

+ Inheritance diagram for pcl::ColorGradientModality< PointInT >:

Classes

struct  Candidate
 Candidate for a feature (used in feature extraction methods). More...
 

Public Types

enum  FeatureSelectionMethod { MASK_BORDER_HIGH_GRADIENTS, MASK_BORDER_EQUALLY, DISTANCE_MAGNITUDE_SCORE }
 Different methods for feature selection/extraction. More...
 
using PointCloudIn = pcl::PointCloud< PointInT >
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

Public Member Functions

 ColorGradientModality ()
 Constructor. More...
 
 ~ColorGradientModality ()
 Destructor. More...
 
void setGradientMagnitudeThreshold (const float threshold)
 Sets the threshold for the gradient magnitude which is used when quantizing the data. More...
 
void setGradientMagnitudeThresholdForFeatureExtraction (const float threshold)
 Sets the threshold for the gradient magnitude which is used for feature extraction. More...
 
void setFeatureSelectionMethod (const FeatureSelectionMethod method)
 Sets the feature selection method. More...
 
void setSpreadingSize (const std::size_t spreading_size)
 Sets the spreading size for spreading the quantized data. More...
 
void setVariableFeatureNr (const bool enabled)
 Sets whether variable feature numbers for feature extraction is enabled. More...
 
QuantizedMapgetQuantizedMap () override
 Returns a reference to the internally computed quantized map. More...
 
QuantizedMapgetSpreadedQuantizedMap () override
 Returns a reference to the internally computed spread quantized map. More...
 
pcl::PointCloud< pcl::GradientXY > & getMaxColorGradients ()
 Returns a point cloud containing the max-RGB gradients. More...
 
void extractFeatures (const MaskMap &mask, std::size_t nr_features, std::size_t modalityIndex, std::vector< QuantizedMultiModFeature > &features) const override
 Extracts features from this modality within the specified mask. More...
 
void extractAllFeatures (const MaskMap &mask, std::size_t nr_features, std::size_t modalityIndex, std::vector< QuantizedMultiModFeature > &features) const override
 Extracts all possible features from the modality within the specified mask. More...
 
void setInputCloud (const typename PointCloudIn::ConstPtr &cloud) override
 Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method) More...
 
virtual void processInputData ()
 Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading). More...
 
virtual void processInputDataFromFiltered ()
 Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed). More...
 
- Public Member Functions inherited from pcl::QuantizableModality
 QuantizableModality ()
 Constructor. More...
 
virtual ~QuantizableModality ()
 Destructor. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 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 () const
 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void computeGaussianKernel (const std::size_t kernel_size, const float sigma, std::vector< float > &kernel_values)
 Computes the Gaussian kernel used for smoothing. More...
 
void computeMaxColorGradients (const typename pcl::PointCloud< pcl::RGB >::ConstPtr &cloud)
 Computes the max-RGB gradients for the specified cloud. More...
 
void computeMaxColorGradientsSobel (const typename pcl::PointCloud< pcl::RGB >::ConstPtr &cloud)
 Computes the max-RGB gradients for the specified cloud using sobel. More...
 
void quantizeColorGradients ()
 Quantizes the color gradients. More...
 
void filterQuantizedColorGradients ()
 Filters the quantized gradients. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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 void erode (const pcl::MaskMap &mask_in, pcl::MaskMap &mask_out)
 Erodes a mask. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::PCLBase< PointInT >
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...
 

Detailed Description

template<typename PointInT>
class pcl::ColorGradientModality< PointInT >

Modality based on max-RGB gradients.

Author
Stefan Holzer

Definition at line 57 of file color_gradient_modality.h.

Member Typedef Documentation

◆ PointCloudIn

template<typename PointInT>
using pcl::ColorGradientModality< PointInT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 84 of file color_gradient_modality.h.

Member Enumeration Documentation

◆ FeatureSelectionMethod

template<typename PointInT>
enum pcl::ColorGradientModality::FeatureSelectionMethod

Different methods for feature selection/extraction.

Enumerator
MASK_BORDER_HIGH_GRADIENTS 
MASK_BORDER_EQUALLY 
DISTANCE_MAGNITUDE_SCORE 

Definition at line 87 of file color_gradient_modality.h.

Constructor & Destructor Documentation

◆ ColorGradientModality()

template<typename PointInT >
pcl::ColorGradientModality< PointInT >::ColorGradientModality ( )

Constructor.

Definition at line 276 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::setInputCloud().

◆ ~ColorGradientModality()

template<typename PointInT >
pcl::ColorGradientModality< PointInT >::~ColorGradientModality ( )

Member Function Documentation

◆ computeGaussianKernel()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::computeGaussianKernel ( const std::size_t  kernel_size,
const float  sigma,
std::vector< float > &  kernel_values 
)
protected

Computes the Gaussian kernel used for smoothing.

Parameters
[in]kernel_sizethe size of the Gaussian kernel.
[in]sigmathe sigma.
[out]kernel_valuesthe destination for the values of the kernel.

Definition at line 296 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::setInputCloud(), and pcl::ColorGradientModality< PointRGBT >::~ColorGradientModality().

◆ computeMaxColorGradients()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::computeMaxColorGradients ( const typename pcl::PointCloud< pcl::RGB >::ConstPtr &  cloud)
protected

Computes the max-RGB gradients for the specified cloud.

Parameters
[in]cloudthe cloud for which the gradients are computed.

Definition at line 748 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::extractAllFeatures(), and pcl::ColorGradientModality< PointRGBT >::setInputCloud().

◆ computeMaxColorGradientsSobel()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::computeMaxColorGradientsSobel ( const typename pcl::PointCloud< pcl::RGB >::ConstPtr &  cloud)
protected

Computes the max-RGB gradients for the specified cloud using sobel.

Parameters
[in]cloudthe cloud for which the gradients are computed.

Definition at line 835 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::computeMaxColorGradients(), and pcl::ColorGradientModality< PointRGBT >::setInputCloud().

◆ erode()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::erode ( const pcl::MaskMap mask_in,
pcl::MaskMap mask_out 
)
staticprotected

Erodes a mask.

Parameters
[in]mask_inthe mask which will be eroded.
[out]mask_outthe destination for the eroded mask.

Definition at line 1090 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::filterQuantizedColorGradients(), and pcl::ColorGradientModality< PointRGBT >::setInputCloud().

◆ extractAllFeatures()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::extractAllFeatures ( const MaskMap mask,
std::size_t  nr_features,
std::size_t  modalityIndex,
std::vector< QuantizedMultiModFeature > &  features 
) const
overridevirtual

Extracts all possible features from the modality within the specified mask.

Parameters
[in]maskdefines the areas where features are searched in.
[in]nr_featuresIGNORED (TODO: remove this parameter).
[in]modalityIndexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 698 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::extractFeatures(), and pcl::ColorGradientModality< PointRGBT >::getMaxColorGradients().

◆ extractFeatures()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::extractFeatures ( const MaskMap mask,
std::size_t  nr_features,
std::size_t  modalityIndex,
std::vector< QuantizedMultiModFeature > &  features 
) const
overridevirtual

Extracts features from this modality within the specified mask.

Parameters
[in]maskdefines the areas where features are searched in.
[in]nr_featuresdefines the number of features to be extracted (might be less if not sufficient information is present in the modality).
[in]modalityIndexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 412 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::getMaxColorGradients(), and pcl::ColorGradientModality< PointRGBT >::processInputDataFromFiltered().

◆ filterQuantizedColorGradients()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::filterQuantizedColorGradients ( )
protected

◆ getMaxColorGradients()

template<typename PointInT>
pcl::PointCloud<pcl::GradientXY>& pcl::ColorGradientModality< PointInT >::getMaxColorGradients ( )
inline

Returns a point cloud containing the max-RGB gradients.

Definition at line 160 of file color_gradient_modality.h.

◆ getQuantizedMap()

template<typename PointInT>
QuantizedMap& pcl::ColorGradientModality< PointInT >::getQuantizedMap ( )
inlineoverridevirtual

Returns a reference to the internally computed quantized map.

Implements pcl::QuantizableModality.

Definition at line 146 of file color_gradient_modality.h.

◆ getSpreadedQuantizedMap()

template<typename PointInT>
QuantizedMap& pcl::ColorGradientModality< PointInT >::getSpreadedQuantizedMap ( )
inlineoverridevirtual

Returns a reference to the internally computed spread quantized map.

Implements pcl::QuantizableModality.

Definition at line 153 of file color_gradient_modality.h.

◆ processInputData()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::processInputData ( )
virtual

Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).

Definition at line 342 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::computeGaussianKernel(), and pcl::ColorGradientModality< PointRGBT >::setInputCloud().

◆ processInputDataFromFiltered()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::processInputDataFromFiltered ( )
virtual

Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed).

Definition at line 400 of file color_gradient_modality.h.

Referenced by pcl::ColorGradientModality< PointRGBT >::processInputData(), and pcl::ColorGradientModality< PointRGBT >::setInputCloud().

◆ quantizeColorGradients()

template<typename PointInT >
void pcl::ColorGradientModality< PointInT >::quantizeColorGradients ( )
protected

◆ setFeatureSelectionMethod()

template<typename PointInT>
void pcl::ColorGradientModality< PointInT >::setFeatureSelectionMethod ( const FeatureSelectionMethod  method)
inline

Sets the feature selection method.

Parameters
[in]methodthe feature selection method.

Definition at line 123 of file color_gradient_modality.h.

◆ setGradientMagnitudeThreshold()

template<typename PointInT>
void pcl::ColorGradientModality< PointInT >::setGradientMagnitudeThreshold ( const float  threshold)
inline

Sets the threshold for the gradient magnitude which is used when quantizing the data.

Gradients with a smaller magnitude are ignored.

Parameters
[in]thresholdthe new gradient magnitude threshold.

Definition at line 104 of file color_gradient_modality.h.

◆ setGradientMagnitudeThresholdForFeatureExtraction()

template<typename PointInT>
void pcl::ColorGradientModality< PointInT >::setGradientMagnitudeThresholdForFeatureExtraction ( const float  threshold)
inline

Sets the threshold for the gradient magnitude which is used for feature extraction.

Gradients with a smaller magnitude are ignored.

Parameters
[in]thresholdthe new gradient magnitude threshold.

Definition at line 114 of file color_gradient_modality.h.

◆ setInputCloud()

template<typename PointInT>
void pcl::ColorGradientModality< PointInT >::setInputCloud ( const typename PointCloudIn::ConstPtr cloud)
inlineoverride

Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)

Parameters
cloudthe const boost shared pointer to a PointCloud message

Definition at line 190 of file color_gradient_modality.h.

◆ setSpreadingSize()

template<typename PointInT>
void pcl::ColorGradientModality< PointInT >::setSpreadingSize ( const std::size_t  spreading_size)
inline

Sets the spreading size for spreading the quantized data.

Definition at line 130 of file color_gradient_modality.h.

◆ setVariableFeatureNr()

template<typename PointInT>
void pcl::ColorGradientModality< PointInT >::setVariableFeatureNr ( const bool  enabled)
inline

Sets whether variable feature numbers for feature extraction is enabled.

Parameters
[in]enabledenables/disables variable feature numbers for feature extraction.

Definition at line 139 of file color_gradient_modality.h.


The documentation for this class was generated from the following file: