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

#include <pcl/recognition/color_gradient_modality.h>

Inheritance diagram for pcl::ColorGradientModality< PointInT >:

Collaboration 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 = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	ColorGradientModality ()
	Constructor. More...

	~ColorGradientModality () override
	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...

QuantizedMap &	getQuantizedMap () override
	Returns a reference to the internally computed quantized map. More...

QuantizedMap &	getSpreadedQuantizedMap () 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 ()=default
	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	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 275 of file color_gradient_modality.h.

◆ ~ColorGradientModality()

template<typename PointInT >

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

overridedefault

Destructor.

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_size	the size of the Gaussian kernel.
[in]	sigma	the sigma.
[out]	kernel_values	the destination for the values of the kernel.

Definition at line 289 of file color_gradient_modality.h.

◆ 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] cloud the cloud for which the gradients are computed.

Definition at line 741 of file color_gradient_modality.h.

References pcl::GradientXY::angle, pcl::PointCloud< PointT >::height, pcl::GradientXY::magnitude, pcl::PointCloud< PointT >::width, pcl::GradientXY::x, and pcl::GradientXY::y.

◆ 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] cloud the cloud for which the gradients are computed.

Definition at line 828 of file color_gradient_modality.h.

References pcl::GradientXY::angle, pcl::PointCloud< PointT >::height, pcl::GradientXY::magnitude, pcl::PointCloud< PointT >::width, pcl::GradientXY::x, and pcl::GradientXY::y.

◆ 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_in	the mask which will be eroded.
[out]	mask_out	the destination for the eroded mask.

Definition at line 1083 of file color_gradient_modality.h.

References pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), and pcl::MaskMap::resize().

◆ 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]	mask	defines the areas where features are searched in.
[in]	nr_features	IGNORED (TODO: remove this parameter).
[in]	modalityIndex	the index which is stored in the extracted features.
[out]	features	the destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 691 of file color_gradient_modality.h.

References pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), pcl::ColorGradientModality< PointInT >::Candidate::gradient, pcl::GradientXY::magnitude, pcl::QuantizedMultiModFeature::modality_index, pcl::QuantizedMultiModFeature::quantized_value, pcl::ColorGradientModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::x, pcl::ColorGradientModality< PointInT >::Candidate::y, and pcl::QuantizedMultiModFeature::y.

◆ 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]	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]	modalityIndex	the index which is stored in the extracted features.
[out]	features	the destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 405 of file color_gradient_modality.h.

References pcl::geometry::distance(), pcl::MaskMap::getDifferenceMask(), pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), pcl::ColorGradientModality< PointInT >::Candidate::gradient, pcl::GradientXY::magnitude, pcl::QuantizedMultiModFeature::modality_index, pcl::QuantizedMultiModFeature::quantized_value, pcl::ColorGradientModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::x, pcl::ColorGradientModality< PointInT >::Candidate::y, and pcl::QuantizedMultiModFeature::y.

◆ filterQuantizedColorGradients()

template<typename PointInT >

void pcl::ColorGradientModality< PointInT >::filterQuantizedColorGradients

protected

Filters the quantized gradients.

Definition at line 1013 of file color_gradient_modality.h.

◆ 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 335 of file color_gradient_modality.h.

References pcl::filters::Convolution< PointIn, PointOut >::convolve(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::filters::Convolution< PointIn, PointOut >::setInputCloud(), pcl::filters::Convolution< PointIn, PointOut >::setKernel(), pcl::QuantizedMap::spreadQuantizedMap(), and pcl::PointCloud< PointT >::width.

◆ 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 393 of file color_gradient_modality.h.

References pcl::QuantizedMap::spreadQuantizedMap().

◆ quantizeColorGradients()

template<typename PointInT >

void pcl::ColorGradientModality< PointInT >::quantizeColorGradients

protected

Quantizes the color gradients.

Definition at line 950 of file color_gradient_modality.h.

◆ setFeatureSelectionMethod()

template<typename PointInT >

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

inline

Sets the feature selection method.

Parameters

[in] method the 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] threshold the 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] threshold the 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

cloud the const boost shared pointer to a PointCloud message

Definition at line 190 of file color_gradient_modality.h.

References pcl::PCLBase< PointInT >::input_.

◆ 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] enabled enables/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:

pcl/recognition/color_gradient_modality.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ PointCloudIn

Member Enumeration Documentation

◆ FeatureSelectionMethod

Constructor & Destructor Documentation

◆ ColorGradientModality()

◆ ~ColorGradientModality()

Member Function Documentation

◆ computeGaussianKernel()

◆ computeMaxColorGradients()

◆ computeMaxColorGradientsSobel()

◆ erode()

◆ extractAllFeatures()

◆ extractFeatures()

◆ filterQuantizedColorGradients()

◆ getMaxColorGradients()

◆ getQuantizedMap()

◆ getSpreadedQuantizedMap()

◆ processInputData()

◆ processInputDataFromFiltered()

◆ quantizeColorGradients()

◆ setFeatureSelectionMethod()

◆ setGradientMagnitudeThreshold()

◆ setGradientMagnitudeThresholdForFeatureExtraction()

◆ setInputCloud()

◆ setSpreadingSize()

◆ setVariableFeatureNr()

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