A Channel descriptor uses the value in a specified channel of a sensor_msgs::PointCloud as the feature value. More...
#include <channel.h>
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. | |
Detailed Description
A Channel descriptor uses the value in a specified channel of a sensor_msgs::PointCloud as the feature value.
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.
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.
Member Data Documentation
std::string Channel::channel_name_ [private] |
The documentation for this class was generated from the following files: