pcl::ColorModality< PointInT > Class Template Reference

#include <pcl/recognition/color_modality.h>

Inheritance diagram for pcl::ColorModality< PointInT >:

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Collaboration diagram for pcl::ColorModality< PointInT >:

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List of all members.

Classes
struct	Candidate
Public Types
typedef pcl::PointCloud< PointInT >	PointCloudIn
Public Member Functions
	ColorModality ()
virtual	~ColorModality ()
QuantizedMap &	getQuantizedMap ()
	Returns a reference to the internally computed quantized map.
QuantizedMap &	getSpreadedQuantizedMap ()
	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)

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Detailed Description

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

Definition at line 56 of file color_modality.h.

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Member Typedef Documentation

template<typename PointInT >

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

Definition at line 79 of file color_modality.h.

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Constructor & Destructor Documentation

template<typename PointInT >

pcl::ColorModality< PointInT >::ColorModality

(

)

[inline]

Definition at line 142 of file color_modality.h.

template<typename PointInT >

pcl::ColorModality< PointInT >::~ColorModality

(

)

[inline, virtual]

Definition at line 149 of file color_modality.h.

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Member Function Documentation

template<typename PointInT >

void pcl::ColorModality< PointInT >::computeDistanceMap	(	const MaskMap &	input,
		DistanceMap &	output
	)			const [inline, protected]

Definition at line 486 of file color_modality.h.

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

Referenced by pcl::ColorModality< PointInT >::extractFeatures().

template<typename PointInT >

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

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 173 of file color_modality.h.

References pcl::ColorModality< PointInT >::Candidate::bin_index, pcl::ColorModality< PointInT >::computeDistanceMap(), 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

(

)

[inline, protected]

Definition at line 359 of file color_modality.h.

References pcl::QuantizedMap::getData(), pcl::PCLBase< PointInT >::input_, and pcl::QuantizedMap::resize().

Referenced by pcl::ColorModality< PointInT >::processInputData().

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

(

)

[inline, virtual]

Definition at line 156 of file color_modality.h.

References pcl::ColorModality< PointInT >::filterQuantizedColors(), pcl::ColorModality< PointInT >::quantizeColors(), and 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.

Referenced by pcl::ColorModality< PointInT >::quantizeColors().

template<typename PointInT >

void pcl::ColorModality< PointInT >::quantizeColors

(

)

[inline, protected]

Definition at line 336 of file color_modality.h.

References pcl::PCLBase< PointInT >::input_, pcl::ColorModality< PointInT >::quantizeColorOnRGBExtrema(), and pcl::QuantizedMap::resize().

Referenced by pcl::ColorModality< PointInT >::processInputData().

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:

cloud

the const boost shared pointer to a PointCloud message

Definition at line 105 of file color_modality.h.

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

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

• /builddir/build/BUILD/pcl-pcl-1.7.1/recognition/include/pcl/recognition/color_modality.h