Modality based on surface normals. More...

#include <surface_normal_modality.h>

Inheritance diagram for pcl::SurfaceNormalModality< PointInT >:

Classes
struct	Candidate
	Candidate for a feature (used in feature extraction methods). More...
Public Types
typedef pcl::PointCloud< PointInT >	PointCloudIn
Public Member Functions
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.
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.
LINEMOD_OrientationMap &	getOrientationMap ()
	Returns a reference to the orientation map.
QuantizedMap &	getQuantizedMap ()
	Returns a reference to the internal quantized map.
QuantizedMap &	getSpreadedQuantizedMap ()
	Returns a reference to the internal spreaded quantized map.
pcl::PointCloud< pcl::Normal > &	getSurfaceNormals ()
	Returns the surface normals.
const pcl::PointCloud < pcl::Normal > &	getSurfaceNormals () const
	Returns the surface normals.
virtual void	processInputData ()
	Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).
virtual void	processInputDataFromFiltered ()
	Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed).
virtual void	setInputCloud (const typename PointCloudIn::ConstPtr &cloud)
	Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
void	setSpreadingSize (const size_t spreading_size)
	Sets the spreading size.
void	setVariableFeatureNr (const bool enabled)
	Enables/disables the use of extracting a variable number of features.
	SurfaceNormalModality ()
	Constructor.
virtual	~SurfaceNormalModality ()
	Destructor.
Protected Member Functions
void	computeAndQuantizeSurfaceNormals ()
	Computes and quantizes the surface normals.
void	computeAndQuantizeSurfaceNormals2 ()
	Computes and quantizes the surface normals.
void	computeDistanceMap (const MaskMap &input, DistanceMap &output) const
	Computes a distance map from the supplied input mask.
void	computeSurfaceNormals ()
	Computes the surface normals from the input cloud.
void	filterQuantizedSurfaceNormals ()
	Filters the quantized surface normals.
void	quantizeSurfaceNormals ()
	Quantizes the surface normals.
Private Attributes
float	feature_distance_threshold_
	The feature distance threshold.
pcl::QuantizedMap	filtered_quantized_surface_normals_
	Filtered quantized surface normals.
float	min_distance_to_border_
	Minimum distance of a feature to a border.
QuantizedNormalLookUpTable	normal_lookup_
	Look-up-table for quantizing surface normals.
pcl::QuantizedMap	quantized_surface_normals_
	Quantized surface normals.
pcl::QuantizedMap	spreaded_quantized_surface_normals_
	Spreaded quantized surface normals.
size_t	spreading_size_
	The spreading size.
pcl::LINEMOD_OrientationMap	surface_normal_orientations_
	Map containing surface normal orientations.
pcl::PointCloud< pcl::Normal >	surface_normals_
	Point cloud holding the computed surface normals.
bool	variable_feature_nr_
	Determines whether variable numbers of features are extracted or not.

Detailed Description

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

Modality based on surface normals.

Author:: Stefan Holzer

Definition at line 294 of file surface_normal_modality.h.

Member Typedef Documentation

template<typename PointInT>

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

Definition at line 329 of file surface_normal_modality.h.

Constructor & Destructor Documentation

template<typename PointInT >

pcl::SurfaceNormalModality< PointInT >::SurfaceNormalModality ( )

Constructor.

Definition at line 492 of file surface_normal_modality.h.

template<typename PointInT >

pcl::SurfaceNormalModality< PointInT >::~SurfaceNormalModality ( ) [virtual]

Destructor.

Definition at line 508 of file surface_normal_modality.h.

Member Function Documentation

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals ( ) [protected]

Computes and quantizes the surface normals.

Definition at line 558 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::computeAndQuantizeSurfaceNormals2 ( ) [protected]

Computes and quantizes the surface normals.

Compute quantized normal image from depth image.

Implements section 2.6 "Extension to Dense Depth Sensors."

Parameters:

[in]	src	The source 16-bit depth image (in mm).
[out]	dst	The destination 8-bit image. Each bit represents one bin of the view cone.
	distance_threshold	Ignore pixels beyond this distance.
	difference_threshold	When computing normals, ignore contributions of pixels whose depth difference with the central pixel is above this threshold.

Todo:: Should also need camera model, or at least focal lengths? Replace distance_threshold with mask?

Todo:: Magic number 1150 is focal length? This is something like f in SXGA mode, but in VGA is more like 530.

Definition at line 731 of file surface_normal_modality.h.

template<typename PointInT >

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

Computes a distance map from the supplied input mask.

Parameters:

[in]	input	the mask for which a distance map will be computed.
[out]	output	the destination for the distance map.

Definition at line 1586 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::computeSurfaceNormals ( ) [protected]

Computes the surface normals from the input cloud.

Definition at line 545 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::extractAllFeatures	(	const MaskMap &	mask,
		size_t	nr_features,
		size_t	modality_index,
		std::vector< QuantizedMultiModFeature > &	features
	)		const `[virtual]`

Extracts all possible features from the modality within the specified mask.

Parameters:

[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 1244 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< 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]	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 972 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::filterQuantizedSurfaceNormals ( ) [protected]

Filters the quantized surface normals.

Definition at line 1414 of file surface_normal_modality.h.

template<typename PointInT>

LINEMOD_OrientationMap& pcl::SurfaceNormalModality< PointInT >::getOrientationMap ( ) [inline]

Returns a reference to the orientation map.

Definition at line 384 of file surface_normal_modality.h.

template<typename PointInT>

QuantizedMap& pcl::SurfaceNormalModality< PointInT >::getQuantizedMap ( ) [inline, virtual]

Returns a reference to the internal quantized map.

Implements pcl::QuantizableModality.

Definition at line 370 of file surface_normal_modality.h.

template<typename PointInT>

QuantizedMap& pcl::SurfaceNormalModality< PointInT >::getSpreadedQuantizedMap ( ) [inline, virtual]

Returns a reference to the internal spreaded quantized map.

Implements pcl::QuantizableModality.

Definition at line 377 of file surface_normal_modality.h.

template<typename PointInT>

pcl::PointCloud<pcl::Normal>& pcl::SurfaceNormalModality< PointInT >::getSurfaceNormals ( ) [inline]

Returns the surface normals.

Definition at line 356 of file surface_normal_modality.h.

template<typename PointInT>

const pcl::PointCloud<pcl::Normal>& pcl::SurfaceNormalModality< PointInT >::getSurfaceNormals ( ) const [inline]

Returns the surface normals.

Definition at line 363 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::processInputData ( ) [virtual]

Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).

Definition at line 514 of file surface_normal_modality.h.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::processInputDataFromFiltered ( ) [virtual]

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.

template<typename PointInT >

void pcl::SurfaceNormalModality< PointInT >::quantizeSurfaceNormals ( ) [protected]

Quantizes the surface normals.

Definition at line 1373 of file surface_normal_modality.h.

template<typename PointInT>

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

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

Parameters:

[in] cloud the const boost shared pointer to a PointCloud message

Definition at line 414 of file surface_normal_modality.h.

template<typename PointInT>

void pcl::SurfaceNormalModality< PointInT >::setSpreadingSize ( const size_t spreading_size ) [inline]

Sets the spreading size.

Parameters:

[in] spreading_size the spreading size.

Definition at line 340 of file surface_normal_modality.h.

template<typename PointInT>

void pcl::SurfaceNormalModality< PointInT >::setVariableFeatureNr ( const bool enabled ) [inline]

Enables/disables the use of extracting a variable number of features.

Parameters:

[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.

Member Data Documentation

template<typename PointInT>

float pcl::SurfaceNormalModality< PointInT >::feature_distance_threshold_ [private]

The feature distance threshold.

Definition at line 463 of file surface_normal_modality.h.

template<typename PointInT>

pcl::QuantizedMap pcl::SurfaceNormalModality< PointInT >::filtered_quantized_surface_normals_ [private]

Filtered quantized surface normals.

Definition at line 478 of file surface_normal_modality.h.

template<typename PointInT>

float pcl::SurfaceNormalModality< PointInT >::min_distance_to_border_ [private]

Minimum distance of a feature to a border.

Definition at line 465 of file surface_normal_modality.h.

template<typename PointInT>

QuantizedNormalLookUpTable pcl::SurfaceNormalModality< PointInT >::normal_lookup_ [private]

Look-up-table for quantizing surface normals.

Definition at line 468 of file surface_normal_modality.h.

template<typename PointInT>

pcl::QuantizedMap pcl::SurfaceNormalModality< PointInT >::quantized_surface_normals_ [private]

Quantized surface normals.

Definition at line 476 of file surface_normal_modality.h.

template<typename PointInT>

pcl::QuantizedMap pcl::SurfaceNormalModality< PointInT >::spreaded_quantized_surface_normals_ [private]

Spreaded quantized surface normals.

Definition at line 480 of file surface_normal_modality.h.

template<typename PointInT>

size_t pcl::SurfaceNormalModality< PointInT >::spreading_size_ [private]

The spreading size.

Definition at line 471 of file surface_normal_modality.h.

template<typename PointInT>

pcl::LINEMOD_OrientationMap pcl::SurfaceNormalModality< PointInT >::surface_normal_orientations_ [private]

Map containing surface normal orientations.

Definition at line 483 of file surface_normal_modality.h.

template<typename PointInT>

pcl::PointCloud<pcl::Normal> pcl::SurfaceNormalModality< PointInT >::surface_normals_ [private]

Point cloud holding the computed surface normals.

Definition at line 474 of file surface_normal_modality.h.

template<typename PointInT>

bool pcl::SurfaceNormalModality< PointInT >::variable_feature_nr_ [private]

Determines whether variable numbers of features are extracted or not.

Definition at line 460 of file surface_normal_modality.h.

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

surface_normal_modality.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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