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

Modality based on surface normals. More...

#include <pcl/recognition/surface_normal_modality.h>

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

Classes

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

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 = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 SurfaceNormalModality ()
 Constructor. More...
 
 ~SurfaceNormalModality ()
 Destructor. More...
 
void setSpreadingSize (const std::size_t spreading_size)
 Sets the spreading size. More...
 
void setVariableFeatureNr (const bool enabled)
 Enables/disables the use of extracting a variable number of features. More...
 
pcl::PointCloud< pcl::Normal > & getSurfaceNormals ()
 Returns the surface normals. More...
 
const pcl::PointCloud< pcl::Normal > & getSurfaceNormals () const
 Returns the surface normals. More...
 
QuantizedMapgetQuantizedMap () override
 Returns a reference to the internal quantized map. More...
 
QuantizedMapgetSpreadedQuantizedMap () override
 Returns a reference to the internal spread quantized map. More...
 
LINEMOD_OrientationMapgetOrientationMap ()
 Returns a reference to the orientation map. More...
 
void extractFeatures (const MaskMap &mask, std::size_t nr_features, std::size_t modality_index, 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 modality_index, 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 computeSurfaceNormals ()
 Computes the surface normals from the input cloud. More...
 
void computeAndQuantizeSurfaceNormals ()
 Computes and quantizes the surface normals. More...
 
void computeAndQuantizeSurfaceNormals2 ()
 Computes and quantizes the surface normals. More...
 
void quantizeSurfaceNormals ()
 Quantizes the surface normals. More...
 
void filterQuantizedSurfaceNormals ()
 Filters the quantized surface normals. More...
 
void computeDistanceMap (const MaskMap &input, DistanceMap &output) const
 Computes a distance map from the supplied input mask. 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...
 

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::SurfaceNormalModality< PointInT >

Modality based on surface normals.

Author
Stefan Holzer

Definition at line 291 of file surface_normal_modality.h.

Member Typedef Documentation

◆ PointCloudIn

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

Definition at line 326 of file surface_normal_modality.h.

Constructor & Destructor Documentation

◆ SurfaceNormalModality()

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

Constructor.

Definition at line 489 of file surface_normal_modality.h.

Referenced by pcl::SurfaceNormalModality< PointXYZT >::setInputCloud().

◆ ~SurfaceNormalModality()

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

Destructor.

Definition at line 499 of file surface_normal_modality.h.

Member Function Documentation

◆ computeAndQuantizeSurfaceNormals()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals ( )
protected

Computes and quantizes the surface normals.

Definition at line 549 of file surface_normal_modality.h.

◆ computeAndQuantizeSurfaceNormals2()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals2 ( )
protected

Computes and quantizes the surface normals.

Compute quantized normal image from depth image.

Implements section 2.6 "Extension to Dense Depth Sensors."

Definition at line 715 of file surface_normal_modality.h.

◆ computeDistanceMap()

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

Computes a distance map from the supplied input mask.

Parameters
[in]inputthe mask for which a distance map will be computed.
[out]outputthe destination for the distance map.

Definition at line 1570 of file surface_normal_modality.h.

◆ computeSurfaceNormals()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::computeSurfaceNormals ( )
protected

Computes the surface normals from the input cloud.

Definition at line 536 of file surface_normal_modality.h.

◆ extractAllFeatures()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::extractAllFeatures ( const MaskMap mask,
std::size_t  nr_features,
std::size_t  modality_index,
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]modality_indexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 1228 of file surface_normal_modality.h.

◆ extractFeatures()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::extractFeatures ( const MaskMap mask,
std::size_t  nr_features,
std::size_t  modality_index,
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]modality_indexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 956 of file surface_normal_modality.h.

◆ filterQuantizedSurfaceNormals()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::filterQuantizedSurfaceNormals ( )
protected

Filters the quantized surface normals.

Definition at line 1398 of file surface_normal_modality.h.

◆ getOrientationMap()

template<typename PointInT>
LINEMOD_OrientationMap& pcl::SurfaceNormalModality< PointInT >::getOrientationMap ( )
inline

Returns a reference to the orientation map.

Definition at line 381 of file surface_normal_modality.h.

◆ getQuantizedMap()

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

Returns a reference to the internal quantized map.

Implements pcl::QuantizableModality.

Definition at line 367 of file surface_normal_modality.h.

◆ getSpreadedQuantizedMap()

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

Returns a reference to the internal spread quantized map.

Implements pcl::QuantizableModality.

Definition at line 374 of file surface_normal_modality.h.

◆ getSurfaceNormals() [1/2]

template<typename PointInT>
pcl::PointCloud<pcl::Normal>& pcl::SurfaceNormalModality< PointInT >::getSurfaceNormals ( )
inline

Returns the surface normals.

Definition at line 353 of file surface_normal_modality.h.

◆ getSurfaceNormals() [2/2]

template<typename PointInT>
const pcl::PointCloud<pcl::Normal>& pcl::SurfaceNormalModality< PointInT >::getSurfaceNormals ( ) const
inline

Returns the surface normals.

Definition at line 360 of file surface_normal_modality.h.

◆ processInputData()

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

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

Definition at line 505 of file surface_normal_modality.h.

◆ processInputDataFromFiltered()

template<typename PointInT >
void pcl::SurfaceNormalModality< 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 526 of file surface_normal_modality.h.

◆ quantizeSurfaceNormals()

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::quantizeSurfaceNormals ( )
protected

Quantizes the surface normals.

Definition at line 1357 of file surface_normal_modality.h.

◆ setInputCloud()

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

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

Parameters
[in]cloudthe const boost shared pointer to a PointCloud message

Definition at line 411 of file surface_normal_modality.h.

◆ setSpreadingSize()

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

Sets the spreading size.

Parameters
[in]spreading_sizethe spreading size.

Definition at line 337 of file surface_normal_modality.h.

◆ setVariableFeatureNr()

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

Enables/disables the use of extracting a variable number of features.

Parameters
[in]enabledspecifies whether extraction of a variable number of features will be enabled/disabled.

Definition at line 346 of file surface_normal_modality.h.


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