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::ColorModality< PointInT > Class Template Reference

#include <pcl/recognition/color_modality.h>

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

Classes

struct  Candidate
 

Public Types

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

 ColorModality ()
 
virtual ~ColorModality ()
 
QuantizedMapgetQuantizedMap ()
 Returns a reference to the internally computed quantized map. More...
 
QuantizedMapgetSpreadedQuantizedMap ()
 Returns a reference to the internally computed spread 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 ()
 
- Public Member Functions inherited from pcl::QuantizableModality
 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...
 
- 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 quantizeColors ()
 
void filterQuantizedColors ()
 
void computeDistanceMap (const MaskMap &input, DistanceMap &output) const
 
- 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 int quantizeColorOnRGBExtrema (const float r, const float g, const float b)
 

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::ColorModality< PointInT >

Definition at line 55 of file color_modality.h.

Member Typedef Documentation

◆ PointCloudIn

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

Definition at line 78 of file color_modality.h.

Constructor & Destructor Documentation

◆ ColorModality()

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

Definition at line 141 of file color_modality.h.

◆ ~ColorModality()

template<typename PointInT >
pcl::ColorModality< PointInT >::~ColorModality ( )
virtual

Definition at line 148 of file color_modality.h.

Member Function Documentation

◆ computeDistanceMap()

template<typename PointInT >
void pcl::ColorModality< PointInT >::computeDistanceMap ( const MaskMap input,
DistanceMap output 
) const
protected

◆ extractFeatures()

template<typename PointInT >
void pcl::ColorModality< PointInT >::extractFeatures ( const MaskMap mask,
size_t  nr_features,
size_t  modality_index,
std::vector< QuantizedMultiModFeature > &  features 
) const
virtual

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]modality_indexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 172 of file color_modality.h.

References pcl::ColorModality< PointInT >::Candidate::bin_index, pcl::ColorModality< PointInT >::computeDistanceMap(), pcl::geometry::distance(), 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.

Referenced by pcl::ColorModality< PointInT >::getSpreadedQuantizedMap().

◆ filterQuantizedColors()

template<typename PointInT >
void pcl::ColorModality< PointInT >::filterQuantizedColors ( )
protected

◆ getQuantizedMap()

template<typename PointInT >
QuantizedMap& pcl::ColorModality< PointInT >::getQuantizedMap ( )
inlinevirtual

Returns a reference to the internally computed quantized map.

Implements pcl::QuantizableModality.

Definition at line 85 of file color_modality.h.

◆ getSpreadedQuantizedMap()

template<typename PointInT >
QuantizedMap& pcl::ColorModality< PointInT >::getSpreadedQuantizedMap ( )
inlinevirtual

Returns a reference to the internally computed spread quantized map.

Implements pcl::QuantizableModality.

Definition at line 91 of file color_modality.h.

References pcl::ColorModality< PointInT >::extractFeatures().

◆ processInputData()

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

◆ quantizeColorOnRGBExtrema()

template<typename PointInT >
int pcl::ColorModality< PointInT >::quantizeColorOnRGBExtrema ( const float  r,
const float  g,
const float  b 
)
inlinestaticprotected

◆ quantizeColors()

template<typename PointInT >
void pcl::ColorModality< PointInT >::quantizeColors ( )
protected

◆ setInputCloud()

template<typename PointInT >
virtual void pcl::ColorModality< PointInT >::setInputCloud ( const typename PointCloudIn::ConstPtr cloud)
inlinevirtual

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