Modality based on surface normals. More...

#include <pcl/recognition/surface_normal_modality.h>

Inheritance diagram for pcl::SurfaceNormalModality< PointInT >:

Collaboration 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 () override
	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...

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

QuantizedMap &	getSpreadedQuantizedMap () override
	Returns a reference to the internal spread quantized map. More...

LINEMOD_OrientationMap &	getOrientationMap ()
	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 ()=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	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 296 of file surface_normal_modality.h.

Member Typedef Documentation

◆ PointCloudIn

template<typename PointInT >

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

Definition at line 331 of file surface_normal_modality.h.

Constructor & Destructor Documentation

◆ SurfaceNormalModality()

template<typename PointInT >

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

default

Constructor.

◆ ~SurfaceNormalModality()

template<typename PointInT >

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

overridedefault

Destructor.

Member Function Documentation

◆ computeAndQuantizeSurfaceNormals()

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals

protected

Computes and quantizes the surface normals.

Definition at line 546 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."

Todo:: Should also need camera model, or at least focal lengths? Replace distance_threshold with mask?

Todo:: Magic number 1150 is focal length? This is something like f in SXGA mode, but in VGA is more like 530.

Definition at line 713 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]	input	the mask for which a distance map will be computed.
[out]	output	the destination for the distance map.

Definition at line 1565 of file surface_normal_modality.h.

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

◆ computeSurfaceNormals()

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::computeSurfaceNormals

protected

Computes the surface normals from the input cloud.

Definition at line 533 of file surface_normal_modality.h.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setDepthDependentSmoothing(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setMaxDepthChangeFactor(), and pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize().

◆ 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]	mask	defines the areas where features are searched in.
[in]	nr_features	IGNORED (TODO: remove this parameter).
[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 1223 of file surface_normal_modality.h.

References pcl::SurfaceNormalModality< PointInT >::Candidate::bin_index, pcl::geometry::distance(), pcl::SurfaceNormalModality< PointInT >::Candidate::distance, pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), pcl::QuantizedMultiModFeature::modality_index, pcl::QuantizedMultiModFeature::quantized_value, pcl::MaskMap::resize(), pcl::QuantizedMultiModFeature::x, pcl::SurfaceNormalModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::y, and pcl::SurfaceNormalModality< PointInT >::Candidate::y.

◆ 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]	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 952 of file surface_normal_modality.h.

References pcl::SurfaceNormalModality< PointInT >::Candidate::bin_index, pcl::geometry::distance(), pcl::SurfaceNormalModality< PointInT >::Candidate::distance, pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), pcl::QuantizedMultiModFeature::modality_index, pcl::QuantizedMultiModFeature::quantized_value, pcl::MaskMap::resize(), pcl::QuantizedMultiModFeature::x, pcl::SurfaceNormalModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::y, and pcl::SurfaceNormalModality< PointInT >::Candidate::y.

◆ filterQuantizedSurfaceNormals()

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::filterQuantizedSurfaceNormals

protected

Filters the quantized surface normals.

Definition at line 1393 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 386 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 372 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 379 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 358 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 365 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 502 of file surface_normal_modality.h.

References pcl::QuantizedMap::spreadQuantizedMap().

◆ 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 523 of file surface_normal_modality.h.

References pcl::QuantizedMap::spreadQuantizedMap().

◆ quantizeSurfaceNormals()

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::quantizeSurfaceNormals

protected

Quantizes the surface normals.

Definition at line 1351 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] cloud the const boost shared pointer to a PointCloud message

Definition at line 416 of file surface_normal_modality.h.

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

◆ setSpreadingSize()

template<typename PointInT >

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

inline

Sets the spreading size.

Parameters

[in] spreading_size the spreading size.

Definition at line 342 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] enabled specifies whether extraction of a variable number of features will be enabled/disabled.

Definition at line 351 of file surface_normal_modality.h.

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

pcl/recognition/surface_normal_modality.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ PointCloudIn

Constructor & Destructor Documentation

◆ SurfaceNormalModality()

◆ ~SurfaceNormalModality()

Member Function Documentation

◆ computeAndQuantizeSurfaceNormals()

◆ computeAndQuantizeSurfaceNormals2()

◆ computeDistanceMap()

◆ computeSurfaceNormals()

◆ extractAllFeatures()

◆ extractFeatures()

◆ filterQuantizedSurfaceNormals()

◆ getOrientationMap()

◆ getQuantizedMap()

◆ getSpreadedQuantizedMap()

◆ getSurfaceNormals() [1/2]

◆ getSurfaceNormals() [2/2]

◆ processInputData()

◆ processInputDataFromFiltered()

◆ quantizeSurfaceNormals()

◆ setInputCloud()

◆ setSpreadingSize()

◆ setVariableFeatureNr()

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