Point Cloud Library (PCL): pcl::tracking::HSVColorCoherence< PointInT

HSVColorCoherence computes coherence between the two points from the color difference between them. More...

#include <pcl/tracking/hsv_color_coherence.h>

Inheritance diagram for pcl::tracking::HSVColorCoherence< PointInT >:

Collaboration diagram for pcl::tracking::HSVColorCoherence< PointInT >:

Public Types
using	Ptr = shared_ptr< HSVColorCoherence< PointInT > >

using	ConstPtr = shared_ptr< const HSVColorCoherence< PointInT > >

Public Types inherited from pcl::tracking::PointCoherence< PointInT >
using	Ptr = shared_ptr< PointCoherence< PointInT > >

using	ConstPtr = shared_ptr< const PointCoherence< PointInT > >

Public Member Functions
	HSVColorCoherence ()
	initialize the weights of the computation. More...

void	setWeight (double weight)
	set the weight of coherence More...

double	getWeight ()
	get the weight (w) of coherence More...

void	setHWeight (double weight)
	set the hue weight (w_h) of coherence More...

double	getHWeight ()
	get the hue weight (w_h) of coherence More...

void	setSWeight (double weight)
	set the saturation weight (w_s) of coherence More...

double	getSWeight ()
	get the saturation weight (w_s) of coherence More...

void	setVWeight (double weight)
	set the value weight (w_v) of coherence More...

double	getVWeight ()
	get the value weight (w_v) of coherence More...

Public Member Functions inherited from pcl::tracking::PointCoherence< PointInT >
	PointCoherence ()=default
	empty constructor More...

virtual	~PointCoherence ()=default
	empty destructor More...

double	compute (PointInT &source, PointInT &target)
	compute coherence from the source point to the target point. More...

Protected Member Functions
double	computeCoherence (PointInT &source, PointInT &target) override
	return the color coherence between the two points. More...

Protected Member Functions inherited from pcl::tracking::PointCoherence< PointInT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

Protected Attributes
double	weight_ {1.0}
	the weight of coherence (w) More...

double	h_weight_ {1.0}
	the hue weight (w_h) More...

double	s_weight_ {1.0}
	the saturation weight (w_s) More...

double	v_weight_ {0.0}
	the value weight (w_v) More...

Protected Attributes inherited from pcl::tracking::PointCoherence< PointInT >
std::string	coherence_name_
	The coherence name. More...

Detailed Description

template<typename PointInT>
class pcl::tracking::HSVColorCoherence< PointInT >

HSVColorCoherence computes coherence between the two points from the color difference between them.

the color difference is calculated in HSV color space. the coherence is calculated by 1 / ( 1 + w * (w_h^2 * h_diff^2 + w_s^2 * s_diff^2 + w_v^2

v_diff^2))
Author
Ryohei Ueda

Definition at line 15 of file hsv_color_coherence.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT >

using pcl::tracking::HSVColorCoherence< PointInT >::ConstPtr = shared_ptr<const HSVColorCoherence<PointInT> >

Definition at line 18 of file hsv_color_coherence.h.

◆ Ptr

template<typename PointInT >

using pcl::tracking::HSVColorCoherence< PointInT >::Ptr = shared_ptr<HSVColorCoherence<PointInT> >

Definition at line 17 of file hsv_color_coherence.h.

Constructor & Destructor Documentation

◆ HSVColorCoherence()

template<typename PointInT >

pcl::tracking::HSVColorCoherence< PointInT >::HSVColorCoherence ( )

inline

initialize the weights of the computation.

weight_, h_weight_, s_weight_ default to 1.0 and v_weight_ defaults to 0.0.

Definition at line 23 of file hsv_color_coherence.h.

Member Function Documentation

◆ computeCoherence()

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::computeCoherence	(	PointInT &	source,
		PointInT &	target
	)

overrideprotectedvirtual

return the color coherence between the two points.

Parameters

[in]	source	instance of source point.
[in]	target	instance of target point.

Implements pcl::tracking::PointCoherence< PointInT >.

Definition at line 132 of file hsv_color_coherence.hpp.

References pcl::tracking::RGBValue::Blue, pcl::tracking::RGBValue::Green, pcl::tracking::RGBValue::int_value, pcl::tracking::RGBValue::Red, and pcl::tracking::RGB2HSV().

◆ getHWeight()

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::getHWeight ( )

inline

get the hue weight (w_h) of coherence

Definition at line 52 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::h_weight_.

◆ getSWeight()

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::getSWeight ( )

inline

get the saturation weight (w_s) of coherence

Definition at line 68 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::s_weight_.

◆ getVWeight()

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::getVWeight ( )

inline

get the value weight (w_v) of coherence

Definition at line 84 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::v_weight_.

◆ getWeight()

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::getWeight ( )

inline

get the weight (w) of coherence

Definition at line 36 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::weight_.

◆ setHWeight()

template<typename PointInT >

void pcl::tracking::HSVColorCoherence< PointInT >::setHWeight ( double weight )

inline

set the hue weight (w_h) of coherence

Parameters

[in] weight the hue weight (w_h) of coherence.

Definition at line 45 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::h_weight_.

◆ setSWeight()

template<typename PointInT >

void pcl::tracking::HSVColorCoherence< PointInT >::setSWeight ( double weight )

inline

set the saturation weight (w_s) of coherence

Parameters

[in] weight the saturation weight (w_s) of coherence.

Definition at line 61 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::s_weight_.

◆ setVWeight()

template<typename PointInT >

void pcl::tracking::HSVColorCoherence< PointInT >::setVWeight ( double weight )

inline

set the value weight (w_v) of coherence

Parameters

[in] weight the value weight (w_v) of coherence.

Definition at line 77 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::v_weight_.

◆ setWeight()

template<typename PointInT >

void pcl::tracking::HSVColorCoherence< PointInT >::setWeight ( double weight )

inline

set the weight of coherence

Parameters

[in] weight the weight of coherence.

Definition at line 29 of file hsv_color_coherence.h.

References pcl::tracking::HSVColorCoherence< PointInT >::weight_.

Member Data Documentation

◆ h_weight_

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::h_weight_ {1.0}

protected

the hue weight (w_h)

Definition at line 101 of file hsv_color_coherence.h.

Referenced by pcl::tracking::HSVColorCoherence< PointInT >::getHWeight(), and pcl::tracking::HSVColorCoherence< PointInT >::setHWeight().

◆ s_weight_

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::s_weight_ {1.0}

protected

the saturation weight (w_s)

Definition at line 104 of file hsv_color_coherence.h.

Referenced by pcl::tracking::HSVColorCoherence< PointInT >::getSWeight(), and pcl::tracking::HSVColorCoherence< PointInT >::setSWeight().

◆ v_weight_

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::v_weight_ {0.0}

protected

the value weight (w_v)

Definition at line 107 of file hsv_color_coherence.h.

Referenced by pcl::tracking::HSVColorCoherence< PointInT >::getVWeight(), and pcl::tracking::HSVColorCoherence< PointInT >::setVWeight().

◆ weight_

template<typename PointInT >

double pcl::tracking::HSVColorCoherence< PointInT >::weight_ {1.0}

protected

the weight of coherence (w)

Definition at line 98 of file hsv_color_coherence.h.

Referenced by pcl::tracking::HSVColorCoherence< PointInT >::getWeight(), and pcl::tracking::HSVColorCoherence< PointInT >::setWeight().

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

pcl/tracking/hsv_color_coherence.h
pcl/tracking/impl/hsv_color_coherence.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT> class pcl::tracking::HSVColorCoherence< PointInT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ HSVColorCoherence()

Member Function Documentation

◆ computeCoherence()

◆ getHWeight()

◆ getSWeight()

◆ getVWeight()

◆ getWeight()

◆ setHWeight()

◆ setSWeight()

◆ setVWeight()

◆ setWeight()

Member Data Documentation

◆ h_weight_

◆ s_weight_

◆ v_weight_

◆ weight_

template<typename PointInT>
class pcl::tracking::HSVColorCoherence< PointInT >