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

#include <pcl/recognition/color_modality.h>

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

List of all members.

Classes

struct  Candidate

Public Types

typedef pcl::PointCloud< PointInT > PointCloudIn

Public Member Functions

 ColorModality ()
virtual ~ColorModality ()
QuantizedMapgetQuantizedMap ()
 Returns a reference to the internally computed quantized map.
QuantizedMapgetSpreadedQuantizedMap ()
 Returns a reference to the internally computed spreaded quantized map.
void extractFeatures (const MaskMap &mask, size_t nr_features, size_t modalityIndex, std::vector< QuantizedMultiModFeature > &features) const
 Extracts features from this 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 ()

Protected Member Functions

void quantizeColors ()
void filterQuantizedColors ()
void computeDistanceMap (const MaskMap &input, DistanceMap &output) const

Static Protected Member Functions

static int quantizeColorOnRGBExtrema (const float r, const float g, const float b)

Detailed Description

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

Definition at line 56 of file color_modality.h.


Member Typedef Documentation

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

Definition at line 79 of file color_modality.h.


Constructor & Destructor Documentation

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

Definition at line 142 of file color_modality.h.

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

Definition at line 149 of file color_modality.h.


Member Function Documentation

template<typename PointInT >
void pcl::ColorModality< PointInT >::computeDistanceMap ( const MaskMap input,
DistanceMap output 
) const [protected]
template<typename PointInT >
void pcl::ColorModality< 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 173 of file color_modality.h.

References pcl::ColorModality< PointInT >::Candidate::bin_index, 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.

template<typename PointInT >
void pcl::ColorModality< PointInT >::filterQuantizedColors ( ) [protected]

Definition at line 359 of file color_modality.h.

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

Returns a reference to the internally computed quantized map.

Implements pcl::QuantizableModality.

Definition at line 86 of file color_modality.h.

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

Returns a reference to the internally computed spreaded quantized map.

Implements pcl::QuantizableModality.

Definition at line 92 of file color_modality.h.

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

Definition at line 156 of file color_modality.h.

References pcl::QuantizedMap::spreadQuantizedMap().

template<typename PointInT >
int pcl::ColorModality< PointInT >::quantizeColorOnRGBExtrema ( const float  r,
const float  g,
const float  b 
) [inline, static, protected]

Definition at line 434 of file color_modality.h.

template<typename PointInT >
void pcl::ColorModality< PointInT >::quantizeColors ( ) [protected]

Definition at line 336 of file color_modality.h.

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

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

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 105 of file color_modality.h.

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


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