#include <pcl/recognition/color_modality.h>
Inheritance diagram for pcl::ColorModality< PointInT >:
Collaboration 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 = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| ColorModality () | |
| virtual | ~ColorModality ()=default |
| QuantizedMap & | getQuantizedMap () |
| Returns a reference to the internally computed quantized map. More... | |
| QuantizedMap & | getSpreadedQuantizedMap () |
| Returns a reference to the internally computed spread quantized map. More... | |
| void | extractFeatures (const MaskMap &mask, std::size_t nr_features, std::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, std::size_t nr_features, std::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 ()=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 | 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 59 of file color_modality.h.
Member Typedef Documentation
◆ PointCloudIn
| using pcl::ColorModality< PointInT >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 82 of file color_modality.h.
Constructor & Destructor Documentation
◆ ColorModality()
| pcl::ColorModality< PointInT >::ColorModality |
Definition at line 145 of file color_modality.h.
◆ ~ColorModality()
|
virtualdefault |
Member Function Documentation
◆ computeDistanceMap()
|
protected |
Definition at line 482 of file color_modality.h.
References pcl::DistanceMap::getData(), pcl::MaskMap::getData(), pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), and pcl::DistanceMap::resize().
◆ extractFeatures()
|
virtual |
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] 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 170 of file color_modality.h.
References pcl::ColorModality< PointInT >::Candidate::bin_index, pcl::geometry::distance(), pcl::ColorModality< PointInT >::Candidate::distance, pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), pcl::QuantizedMultiModFeature::modality_index, pcl::QuantizedMultiModFeature::quantized_value, pcl::ColorModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::x, pcl::ColorModality< PointInT >::Candidate::y, and pcl::QuantizedMultiModFeature::y.
◆ filterQuantizedColors()
|
protected |
Definition at line 355 of file color_modality.h.
◆ getQuantizedMap()
|
inlinevirtual |
Returns a reference to the internally computed quantized map.
Implements pcl::QuantizableModality.
Definition at line 89 of file color_modality.h.
◆ getSpreadedQuantizedMap()
|
inlinevirtual |
Returns a reference to the internally computed spread quantized map.
Implements pcl::QuantizableModality.
Definition at line 95 of file color_modality.h.
◆ processInputData()
|
virtual |
Definition at line 153 of file color_modality.h.
References pcl::QuantizedMap::spreadQuantizedMap().
◆ quantizeColorOnRGBExtrema()
|
inlinestaticprotected |
Definition at line 430 of file color_modality.h.
◆ quantizeColors()
|
protected |
Definition at line 332 of file color_modality.h.
◆ setInputCloud()
|
inlinevirtual |
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 108 of file color_modality.h.
References pcl::PCLBase< PointInT >::input_.
The documentation for this class was generated from the following file:
- pcl/recognition/color_modality.h