Modality based on max-RGB gradients. More...
#include <pcl/recognition/color_gradient_modality.h>
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 () | |
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... |
|
const PointCloudConstPtr | 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... |
|
const IndicesConstPtr | 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.
Definition at line 57 of file color_gradient_modality.h.
Member Typedef Documentation
PointCloudIn
using pcl::ColorGradientModality< PointInT >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 84 of file color_gradient_modality.h.
Member Enumeration Documentation
FeatureSelectionMethod
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()
pcl::ColorGradientModality< PointInT >::ColorGradientModality |
Constructor.
Definition at line 276 of file color_gradient_modality.h.
~ColorGradientModality()
pcl::ColorGradientModality< PointInT >::~ColorGradientModality |
Destructor.
Definition at line 289 of file color_gradient_modality.h.
Member Function Documentation
computeGaussianKernel()
|
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 296 of file color_gradient_modality.h.
computeMaxColorGradients()
|
protected |
Computes the max-RGB gradients for the specified cloud.
- Parameters
-
[in] cloud the cloud for which the gradients are computed.
Definition at line 748 of file color_gradient_modality.h.
computeMaxColorGradientsSobel()
|
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 835 of file color_gradient_modality.h.
erode()
|
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 1090 of file color_gradient_modality.h.
extractAllFeatures()
|
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 698 of file color_gradient_modality.h.
extractFeatures()
|
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 412 of file color_gradient_modality.h.
filterQuantizedColorGradients()
|
protected |
Filters the quantized gradients.
Definition at line 1020 of file color_gradient_modality.h.
getMaxColorGradients()
|
inline |
Returns a point cloud containing the max-RGB gradients.
Definition at line 160 of file color_gradient_modality.h.
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()
|
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()
|
virtual |
Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).
Definition at line 342 of file color_gradient_modality.h.
processInputDataFromFiltered()
|
virtual |
Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed).
Definition at line 400 of file color_gradient_modality.h.
quantizeColorGradients()
|
protected |
Quantizes the color gradients.
Definition at line 957 of file color_gradient_modality.h.
setFeatureSelectionMethod()
|
inline |
Sets the feature selection method.
- Parameters
-
[in] method the feature selection method.
Definition at line 123 of file color_gradient_modality.h.
setGradientMagnitudeThreshold()
|
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()
|
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()
|
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.
setSpreadingSize()
|
inline |
Sets the spreading size for spreading the quantized data.
Definition at line 130 of file color_gradient_modality.h.
setVariableFeatureNr()
|
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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_color_gradient_modality.html