Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions | Protected Member Functions
pcl::SurfaceNormalModality< PointInT > Class Template Reference

Modality based on surface normals. More...

#include <pcl/recognition/surface_normal_modality.h>

+ Inheritance diagram for pcl::SurfaceNormalModality< PointInT >:

List of all members.

Classes

struct  Candidate
 Candidate for a feature (used in feature extraction methods). More...

Public Types

typedef pcl::PointCloud< PointInT > PointCloudIn

Public Member Functions

 SurfaceNormalModality ()
 Constructor.
virtual ~SurfaceNormalModality ()
 Destructor.
void setSpreadingSize (const size_t spreading_size)
 Sets the spreading size.
void setVariableFeatureNr (const bool enabled)
 Enables/disables the use of extracting a variable number of features.
pcl::PointCloud< pcl::Normal > & getSurfaceNormals ()
 Returns the surface normals.
const pcl::PointCloud
< pcl::Normal > & 
getSurfaceNormals () const
 Returns the surface normals.
QuantizedMapgetQuantizedMap ()
 Returns a reference to the internal quantized map.
QuantizedMapgetSpreadedQuantizedMap ()
 Returns a reference to the internal spreaded quantized map.
LINEMOD_OrientationMapgetOrientationMap ()
 Returns a reference to the orientation map.
void extractFeatures (const MaskMap &mask, size_t nr_features, size_t modality_index, std::vector< QuantizedMultiModFeature > &features) const
 Extracts features from this modality within the specified mask.
void extractAllFeatures (const MaskMap &mask, size_t nr_features, size_t modality_index, std::vector< QuantizedMultiModFeature > &features) const
 Extracts all possible features from the modality within the specified mask.
virtual void setInputCloud (const typename PointCloudIn::ConstPtr &cloud)
 Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
virtual void processInputData ()
 Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).
virtual void processInputDataFromFiltered ()
 Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed).

Protected Member Functions

void computeSurfaceNormals ()
 Computes the surface normals from the input cloud.
void computeAndQuantizeSurfaceNormals ()
 Computes and quantizes the surface normals.
void computeAndQuantizeSurfaceNormals2 ()
 Computes and quantizes the surface normals.
void quantizeSurfaceNormals ()
 Quantizes the surface normals.
void filterQuantizedSurfaceNormals ()
 Filters the quantized surface normals.
void computeDistanceMap (const MaskMap &input, DistanceMap &output) const
 Computes a distance map from the supplied input mask.

Detailed Description

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

Modality based on surface normals.

Author:
Stefan Holzer

Definition at line 294 of file surface_normal_modality.h.


Member Typedef Documentation

template<typename PointInT>
typedef pcl::PointCloud<PointInT> pcl::SurfaceNormalModality< PointInT >::PointCloudIn

Definition at line 329 of file surface_normal_modality.h.


Constructor & Destructor Documentation

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

Constructor.

Definition at line 492 of file surface_normal_modality.h.

template<typename PointInT >
pcl::SurfaceNormalModality< PointInT >::~SurfaceNormalModality ( ) [virtual]

Destructor.

Definition at line 508 of file surface_normal_modality.h.


Member Function Documentation

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals ( ) [protected]

Computes and quantizes the surface normals.

Definition at line 558 of file surface_normal_modality.h.

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."

Parameters:
[in]srcThe source 16-bit depth image (in mm).
[out]dstThe destination 8-bit image. Each bit represents one bin of the view cone.
distance_thresholdIgnore pixels beyond this distance.
difference_thresholdWhen computing normals, ignore contributions of pixels whose depth difference with the central pixel is above this threshold.

Definition at line 731 of file surface_normal_modality.h.

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]inputthe mask for which a distance map will be computed.
[out]outputthe destination for the distance map.

Definition at line 1586 of file surface_normal_modality.h.

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

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::computeSurfaceNormals ( ) [protected]
template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::extractAllFeatures ( const MaskMap mask,
size_t  nr_features,
size_t  modality_index,
std::vector< QuantizedMultiModFeature > &  features 
) const [virtual]

Extracts all possible features from the modality within the specified mask.

Parameters:
[in]maskdefines the areas where features are searched in.
[in]nr_featuresIGNORED (TODO: remove this parameter).
[in]modality_indexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 1244 of file surface_normal_modality.h.

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

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::extractFeatures ( const MaskMap mask,
size_t  nr_features,
size_t  modality_index,
std::vector< QuantizedMultiModFeature > &  features 
) const [virtual]

Extracts features from this modality within the specified mask.

Parameters:
[in]maskdefines the areas where features are searched in.
[in]nr_featuresdefines the number of features to be extracted (might be less if not sufficient information is present in the modality).
[in]modality_indexthe index which is stored in the extracted features.
[out]featuresthe destination for the extracted features.

Implements pcl::QuantizableModality.

Definition at line 972 of file surface_normal_modality.h.

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

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::filterQuantizedSurfaceNormals ( ) [protected]

Filters the quantized surface normals.

Definition at line 1414 of file surface_normal_modality.h.

template<typename PointInT>
LINEMOD_OrientationMap& pcl::SurfaceNormalModality< PointInT >::getOrientationMap ( ) [inline]

Returns a reference to the orientation map.

Definition at line 384 of file surface_normal_modality.h.

template<typename PointInT>
QuantizedMap& pcl::SurfaceNormalModality< PointInT >::getQuantizedMap ( ) [inline, virtual]

Returns a reference to the internal quantized map.

Implements pcl::QuantizableModality.

Definition at line 370 of file surface_normal_modality.h.

template<typename PointInT>
QuantizedMap& pcl::SurfaceNormalModality< PointInT >::getSpreadedQuantizedMap ( ) [inline, virtual]

Returns a reference to the internal spreaded quantized map.

Implements pcl::QuantizableModality.

Definition at line 377 of file surface_normal_modality.h.

template<typename PointInT>
pcl::PointCloud<pcl::Normal>& pcl::SurfaceNormalModality< PointInT >::getSurfaceNormals ( ) [inline]

Returns the surface normals.

Definition at line 356 of file surface_normal_modality.h.

template<typename PointInT>
const pcl::PointCloud<pcl::Normal>& pcl::SurfaceNormalModality< PointInT >::getSurfaceNormals ( ) const [inline]

Returns the surface normals.

Definition at line 363 of file surface_normal_modality.h.

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::processInputData ( ) [virtual]

Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).

Definition at line 514 of file surface_normal_modality.h.

References pcl::QuantizedMap::spreadQuantizedMap().

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 535 of file surface_normal_modality.h.

References pcl::QuantizedMap::spreadQuantizedMap().

template<typename PointInT >
void pcl::SurfaceNormalModality< PointInT >::quantizeSurfaceNormals ( ) [protected]

Quantizes the surface normals.

Definition at line 1373 of file surface_normal_modality.h.

template<typename PointInT>
virtual void pcl::SurfaceNormalModality< PointInT >::setInputCloud ( const typename PointCloudIn::ConstPtr cloud) [inline, virtual]

Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)

Parameters:
[in]cloudthe const boost shared pointer to a PointCloud message

Definition at line 414 of file surface_normal_modality.h.

template<typename PointInT>
void pcl::SurfaceNormalModality< PointInT >::setSpreadingSize ( const size_t  spreading_size) [inline]

Sets the spreading size.

Parameters:
[in]spreading_sizethe spreading size.

Definition at line 340 of file surface_normal_modality.h.

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]enabledspecifies whether extraction of a variable number of features will be enabled/disabled.

Definition at line 349 of file surface_normal_modality.h.


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