#include <pcl/recognition/color_modality.h>
Classes |
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| struct | Candidate |
Public Types |
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| using | PointCloudIn = pcl::PointCloud< PointInT > |
 Public Types inherited from pcl::PCLBase< PointInT > |
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| 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 |
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| ColorModality () | |
| virtual | ~ColorModality () |
| QuantizedMap & | getQuantizedMap () |
| Returns a reference to the internally computed quantized map. More... |
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| QuantizedMap & | getSpreadedQuantizedMap () |
| Returns a reference to the internally computed spread quantized map. More... |
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| 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... |
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| virtual void | setInputCloud (const typename PointCloudIn::ConstPtr &cloud) |
| Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method) More... |
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| virtual void | processInputData () |
| Public Member Functions inherited from pcl::QuantizableModality |
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| QuantizableModality () | |
| Constructor. More... |
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| virtual | ~QuantizableModality () |
| Destructor. More... |
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| 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... |
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| Public Member Functions inherited from pcl::PCLBase< PointInT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | quantizeColors () |
| void | filterQuantizedColors () |
| void | computeDistanceMap (const MaskMap &input, DistanceMap &output) const |
| Protected Member Functions inherited from pcl::PCLBase< PointInT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Static Protected Member Functions |
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| static int | quantizeColorOnRGBExtrema (const float r, const float g, const float b) |
Additional Inherited Members |
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| Protected Attributes inherited from pcl::PCLBase< PointInT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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()
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virtual |
Definition at line 152 of file color_modality.h.
Member Function Documentation
computeDistanceMap()
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protected |
Definition at line 489 of file color_modality.h.
References pcl::MaskMap::getData(), pcl::DistanceMap::getData(), pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), and pcl::DistanceMap::resize().
extractFeatures()
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virtual |
Extracts features from this modality within the specified mask.
- Parameters
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[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 176 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::QuantizedMultiModFeature::x, pcl::ColorModality< PointInT >::Candidate::x, pcl::QuantizedMultiModFeature::y, and pcl::ColorModality< PointInT >::Candidate::y.
filterQuantizedColors()
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protected |
Definition at line 362 of file color_modality.h.
getQuantizedMap()
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inlinevirtual |
Returns a reference to the internally computed quantized map.
Implements pcl::QuantizableModality.
Definition at line 89 of file color_modality.h.
getSpreadedQuantizedMap()
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inlinevirtual |
Returns a reference to the internally computed spread quantized map.
Implements pcl::QuantizableModality.
Definition at line 95 of file color_modality.h.
processInputData()
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virtual |
Definition at line 159 of file color_modality.h.
References pcl::QuantizedMap::spreadQuantizedMap().
quantizeColorOnRGBExtrema()
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inlinestaticprotected |
Definition at line 437 of file color_modality.h.
quantizeColors()
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protected |
Definition at line 339 of file color_modality.h.
setInputCloud()
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inlinevirtual |
Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
- Parameters
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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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_color_modality.html
