Channel Class Reference

A Channel descriptor uses the value in a specified channel of a sensor_msgs::PointCloud as the feature value. More...

#include <channel.h>

Inheritance diagram for Channel:

List of all members.

Public Member Functions
	Channel (const std::string &channel_name)
	Instantiates the channel descriptor to use the specified channel as the feature value.
virtual void	clearShared ()
	This descriptor uses no shared precomputation, so this method has no affect.
std::string	getName () const
	Returns a string that is unique for the current param settings.
Protected Member Functions
virtual void	doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts, std::vector< std::vector< float > > &results)
	Extracts the value from the channel corresponding to the specified interest points.
virtual void	doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices, std::vector< std::vector< float > > &results)
	Extracts the average value from the channel corresponding to each point in the specified interest region.
virtual int	precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
	This descriptor requires no pre-computation, so this method has no affect.
virtual int	precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
	This descriptor requires no pre-computation, so this method has no affect.
Private Attributes
std::string	channel_name_
	The name of the channel to use.

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Detailed Description

A Channel descriptor uses the value in a specified channel of a sensor_msgs::PointCloud as the feature value.

Definition at line 68 of file channel.h.

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Constructor & Destructor Documentation

Channel::Channel

(

const std::string &

channel_name

)

Instantiates the channel descriptor to use the specified channel as the feature value.

Parameters:

channel_name

The name of the channel to use

Definition at line 42 of file channel.cpp.

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Member Function Documentation

void Channel::clearShared

(

)

[virtual]

This descriptor uses no shared precomputation, so this method has no affect.

Implements Descriptor3D.

Definition at line 52 of file channel.cpp.

void Channel::doComputation	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const geometry_msgs::Point32 * > &	interest_pts,
		std::vector< std::vector< float > > &	results
	)		[protected, virtual]

Extracts the value from the channel corresponding to the specified interest points.

If the exact interest point i cannot be found in data, then results[i].size == 0

See also:

Descriptor3D::compute

Implements Descriptor3D.

Definition at line 87 of file channel.cpp.

virtual void Channel::doComputation	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const std::vector< int > * > &	interest_region_indices,
		std::vector< std::vector< float > > &	results
	)		[protected, virtual]

Extracts the average value from the channel corresponding to each point in the specified interest region.

See also:

Descriptor3D::compute

Implements Descriptor3D.

std::string Channel::getName

(

)

const [virtual]

Returns a string that is unique for the current param settings.

Returns:

the name of this feature.

Implements Descriptor3D.

Definition at line 59 of file channel.cpp.

int Channel::precompute	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const geometry_msgs::Point32 * > &	interest_pts
	)		[protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:

0 always

Implements Descriptor3D.

Definition at line 67 of file channel.cpp.

int Channel::precompute	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const std::vector< int > * > &	interest_region_indices
	)		[protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:

0 always

Implements Descriptor3D.

Definition at line 77 of file channel.cpp.

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Member Data Documentation

std::string Channel::channel_name_ [private]

The name of the channel to use.

Definition at line 145 of file channel.h.

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

• channel.h
• channel.cpp