Point Cloud Library (PCL)
1.7.2
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Modality based on surface normals. More...
#include <pcl/recognition/surface_normal_modality.h>
Classes | |
struct | Candidate |
Candidate for a feature (used in feature extraction methods). More... | |
Public Types | |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
SurfaceNormalModality () | |
Constructor. More... | |
virtual | ~SurfaceNormalModality () |
Destructor. More... | |
void | setSpreadingSize (const size_t spreading_size) |
Sets the spreading size. More... | |
void | setVariableFeatureNr (const bool enabled) |
Enables/disables the use of extracting a variable number of features. More... | |
pcl::PointCloud< pcl::Normal > & | getSurfaceNormals () |
Returns the surface normals. More... | |
const pcl::PointCloud< pcl::Normal > & | getSurfaceNormals () const |
Returns the surface normals. More... | |
QuantizedMap & | getQuantizedMap () |
Returns a reference to the internal quantized map. More... | |
QuantizedMap & | getSpreadedQuantizedMap () |
Returns a reference to the internal spreaded quantized map. More... | |
LINEMOD_OrientationMap & | getOrientationMap () |
Returns a reference to the orientation map. More... | |
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. More... | |
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. More... | |
virtual void | setInputCloud (const typename PointCloudIn::ConstPtr &cloud) |
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... | |
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QuantizableModality () | |
Constructor. More... | |
virtual | ~QuantizableModality () |
Destructor. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | computeSurfaceNormals () |
Computes the surface normals from the input cloud. More... | |
void | computeAndQuantizeSurfaceNormals () |
Computes and quantizes the surface normals. More... | |
void | computeAndQuantizeSurfaceNormals2 () |
Computes and quantizes the surface normals. More... | |
void | quantizeSurfaceNormals () |
Quantizes the surface normals. More... | |
void | filterQuantizedSurfaceNormals () |
Filters the quantized surface normals. More... | |
void | computeDistanceMap (const MaskMap &input, DistanceMap &output) const |
Computes a distance map from the supplied input mask. More... | |
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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... | |
Additional Inherited Members | |
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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... | |
Modality based on surface normals.
Definition at line 294 of file surface_normal_modality.h.
typedef pcl::PointCloud<PointInT> pcl::SurfaceNormalModality< PointInT >::PointCloudIn |
Definition at line 329 of file surface_normal_modality.h.
pcl::SurfaceNormalModality< PointInT >::SurfaceNormalModality | ( | ) |
Constructor.
Definition at line 492 of file surface_normal_modality.h.
Referenced by pcl::SurfaceNormalModality< PointXYZT >::setInputCloud().
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Destructor.
Definition at line 508 of file surface_normal_modality.h.
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Computes and quantizes the surface normals.
Definition at line 558 of file surface_normal_modality.h.
References pcl::PointCloud< PointT >::height, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, pcl::QuantizedMap::resize(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
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Computes and quantizes the surface normals.
Compute quantized normal image from depth image.
Implements section 2.6 "Extension to Dense Depth Sensors."
Definition at line 724 of file surface_normal_modality.h.
References pcl::PCLBase< PointInT >::input_, pcl::LINEMOD_OrientationMap::resize(), and pcl::QuantizedMap::resize().
Referenced by pcl::SurfaceNormalModality< PointInT >::processInputData().
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Computes a distance map from the supplied input mask.
[in] | input | the mask for which a distance map will be computed. |
[out] | output | the destination for the distance map. |
Definition at line 1579 of file surface_normal_modality.h.
References pcl::MaskMap::getData(), pcl::DistanceMap::getData(), pcl::MaskMap::getHeight(), pcl::MaskMap::getWidth(), and pcl::DistanceMap::resize().
Referenced by pcl::SurfaceNormalModality< PointInT >::extractAllFeatures(), and pcl::SurfaceNormalModality< PointInT >::extractFeatures().
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Computes the surface normals from the input cloud.
Definition at line 545 of file surface_normal_modality.h.
References pcl::Feature< PointInT, PointOutT >::compute(), pcl::PCLBase< PointInT >::input_, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setDepthDependentSmoothing(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setMaxDepthChangeFactor(), and pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize().
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Extracts all possible features from the modality within the specified mask.
[in] | mask | defines the areas where features are searched in. |
[in] | nr_features | IGNORED (TODO: remove this parameter). |
[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 1237 of file surface_normal_modality.h.
References pcl::SurfaceNormalModality< PointInT >::Candidate::bin_index, pcl::SurfaceNormalModality< PointInT >::computeDistanceMap(), 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.
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Extracts features from this modality within the specified mask.
[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 965 of file surface_normal_modality.h.
References pcl::SurfaceNormalModality< PointInT >::Candidate::bin_index, pcl::SurfaceNormalModality< PointInT >::computeDistanceMap(), 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.
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Filters the quantized surface normals.
Definition at line 1407 of file surface_normal_modality.h.
References pcl::QuantizedMap::getData(), pcl::PCLBase< PointInT >::input_, and pcl::QuantizedMap::resize().
Referenced by pcl::SurfaceNormalModality< PointInT >::processInputData().
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Returns a reference to the orientation map.
Definition at line 384 of file surface_normal_modality.h.
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Returns a reference to the internal quantized map.
Implements pcl::QuantizableModality.
Definition at line 370 of file surface_normal_modality.h.
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Returns a reference to the internal spreaded quantized map.
Implements pcl::QuantizableModality.
Definition at line 377 of file surface_normal_modality.h.
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Returns the surface normals.
Definition at line 356 of file surface_normal_modality.h.
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Returns the surface normals.
Definition at line 363 of file surface_normal_modality.h.
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Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).
Definition at line 514 of file surface_normal_modality.h.
References pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals2(), pcl::SurfaceNormalModality< PointInT >::filterQuantizedSurfaceNormals(), and pcl::QuantizedMap::spreadQuantizedMap().
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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().
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Quantizes the surface normals.
Definition at line 1366 of file surface_normal_modality.h.
References pcl::PCLBase< PointInT >::input_, and pcl::QuantizedMap::resize().
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Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 414 of file surface_normal_modality.h.
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Sets the spreading size.
[in] | spreading_size | the spreading size. |
Definition at line 340 of file surface_normal_modality.h.
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Enables/disables the use of extracting a variable number of features.
[in] | enabled | specifies whether extraction of a variable number of features will be enabled/disabled. |
Definition at line 349 of file surface_normal_modality.h.