Detailed Description

template<unsigned int BYTES_REQUIRED_>
struct mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >

Definition at line 430 of file obs/CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.h>

Inheritance diagram for mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >:

Public Types
enum	{ BYTES_REQUIRED = BYTES_REQUIRED_ }

typedef mrpt::utils::uint_select_by_bytecount< BYTES_REQUIRED >::type	bitmask_t
	Automatically-determined integer type of the proper size such that all labels fit as one bit (max: 64) More...

typedef Eigen::Matrix< bitmask_t, Eigen::Dynamic, Eigen::Dynamic >	TPixelLabelMatrix
	Each pixel may be assigned between 0 and MAX_NUM_LABELS-1 'labels' by setting to 1 the corresponding i'th bit [0,MAX_NUM_LABELS-1] in the byte in pixelLabels(r,c). More...

typedef std::map< uint32_t, std::string >	TMapLabelID2Name

Public Member Functions
void	setSize (const int NROWS, const int NCOLS) MRPT_OVERRIDE
	Resizes the matrix pixelLabels to the given size, setting all bitfields to zero (that is, all pixels are assigned NONE category). More...

void	setLabel (const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE
	Mark the pixel(row,col) as classified in the category label_idx, which may be in the range 0 to MAX_NUM_LABELS-1 Note that 0 is a valid label index, it does not mean "no label". More...

void	getLabels (const int row, const int col, uint8_t &labels) MRPT_OVERRIDE

void	unsetLabel (const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE
	For the pixel(row,col), removes its classification into the category label_idx, which may be in the range 0 to 7 Note that 0 is a valid label index, it does not mean "no label". More...

void	unsetAll (const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE
	Removes all categories for pixel(row,col) More...

bool	checkLabel (const int row, const int col, uint8_t label_idx) const MRPT_OVERRIDE
	Checks whether pixel(row,col) has been clasified into category label_idx, which may be in the range 0 to 7. More...

	TPixelLabelInfo ()

const std::string &	getLabelName (unsigned int label_idx) const

void	setLabelName (unsigned int label_idx, const std::string &name)

int	checkLabelNameExistence (const std::string &name) const
	Check the existence of a label by returning its associated index. More...

void	writeToStream (mrpt::utils::CStream &out) const

Static Public Member Functions
static TPixelLabelInfoBase *	readAndBuildFromStream (mrpt::utils::CStream &in)

Public Attributes
TPixelLabelMatrix	pixelLabels

TMapLabelID2Name	pixelLabelNames
	The 'semantic' or human-friendly name of the i'th bit in pixelLabels(r,c) can be found in pixelLabelNames[i] as a std::string. More...

const uint8_t	BITFIELD_BYTES
	Minimum number of bytes required to hold MAX_NUM_DIFFERENT_LABELS bits. More...

Protected Member Functions
void	internal_readFromStream (mrpt::utils::CStream &in) MRPT_OVERRIDE

void	internal_writeToStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE

void	Print (std::ostream &out) const MRPT_OVERRIDE

Member Typedef Documentation

◆ bitmask_t

template<unsigned int BYTES_REQUIRED_>

typedef mrpt::utils::uint_select_by_bytecount<BYTES_REQUIRED>::type mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::bitmask_t

Automatically-determined integer type of the proper size such that all labels fit as one bit (max: 64)

Definition at line 437 of file obs/CObservation3DRangeScan.h.

◆ TMapLabelID2Name

typedef std::map<uint32_t,std::string> mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::TMapLabelID2Name

inherited

Definition at line 368 of file obs/CObservation3DRangeScan.h.

◆ TPixelLabelMatrix

template<unsigned int BYTES_REQUIRED_>

typedef Eigen::Matrix<bitmask_t,Eigen::Dynamic,Eigen::Dynamic> mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::TPixelLabelMatrix

Each pixel may be assigned between 0 and MAX_NUM_LABELS-1 'labels' by setting to 1 the corresponding i'th bit [0,MAX_NUM_LABELS-1] in the byte in pixelLabels(r,c).

That is, each pixel is assigned an 8*BITFIELD_BYTES bit-wide bitfield of possible categories.

See also: hasPixelLabels

Definition at line 444 of file obs/CObservation3DRangeScan.h.

Member Enumeration Documentation

◆ anonymous enum

template<unsigned int BYTES_REQUIRED_>

anonymous enum

Enumerator
BYTES_REQUIRED

Definition at line 432 of file obs/CObservation3DRangeScan.h.

Constructor & Destructor Documentation

◆ TPixelLabelInfo()

template<unsigned int BYTES_REQUIRED_>

mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::TPixelLabelInfo ( )

inline

Definition at line 469 of file obs/CObservation3DRangeScan.h.

Member Function Documentation

◆ checkLabel()

template<unsigned int BYTES_REQUIRED_>

bool mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::checkLabel	(	const int	row,
		const int	col,
		uint8_t	label_idx
	)		const

inlinevirtual

Checks whether pixel(row,col) has been clasified into category label_idx, which may be in the range 0 to 7.

See also: unsetLabel, unsetAll

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 464 of file obs/CObservation3DRangeScan.h.

◆ checkLabelNameExistence()

int mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::checkLabelNameExistence ( const std::string & name ) const

inlineinherited

Check the existence of a label by returning its associated index.

-1 if it does not exist.

Definition at line 381 of file obs/CObservation3DRangeScan.h.

◆ getLabelName()

const std::string& mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::getLabelName ( unsigned int label_idx ) const

inlineinherited

Definition at line 373 of file obs/CObservation3DRangeScan.h.

◆ getLabels()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::getLabels	(	const int	row,
		const int	col,
		uint8_t &	labels
	)

inlinevirtual

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 453 of file obs/CObservation3DRangeScan.h.

◆ internal_readFromStream()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::internal_readFromStream ( mrpt::utils::CStream & in )

inlineprotectedvirtual

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 474 of file obs/CObservation3DRangeScan.h.

◆ internal_writeToStream()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::internal_writeToStream ( mrpt::utils::CStream & out ) const

inlineprotectedvirtual

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 486 of file obs/CObservation3DRangeScan.h.

◆ Print()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::Print ( std::ostream & out ) const

inlineprotectedvirtual

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 498 of file obs/CObservation3DRangeScan.h.

◆ readAndBuildFromStream()

CObservation3DRangeScan::TPixelLabelInfoBase * CObservation3DRangeScan::TPixelLabelInfoBase::readAndBuildFromStream ( mrpt::utils::CStream & in )

staticinherited

Definition at line 1134 of file CObservation3DRangeScan.cpp.

References mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::internal_readFromStream(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

Referenced by mrpt::obs::CObservation3DRangeScan::readFromStream().

◆ setLabel()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::setLabel	(	const int	row,
		const int	col,
		uint8_t	label_idx
	)

inlinevirtual

Mark the pixel(row,col) as classified in the category label_idx, which may be in the range 0 to MAX_NUM_LABELS-1 Note that 0 is a valid label index, it does not mean "no label".

See also: unsetLabel, unsetAll

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 450 of file obs/CObservation3DRangeScan.h.

◆ setLabelName()

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::setLabelName	(	unsigned int	label_idx,
		const std::string &	name
	)

inlineinherited

Definition at line 378 of file obs/CObservation3DRangeScan.h.

◆ setSize()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::setSize	(	const int	NROWS,
		const int	NCOLS
	)

inlinevirtual

Resizes the matrix pixelLabels to the given size, setting all bitfields to zero (that is, all pixels are assigned NONE category).

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 447 of file obs/CObservation3DRangeScan.h.

◆ unsetAll()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::unsetAll	(	const int	row,
		const int	col,
		uint8_t	label_idx
	)

inlinevirtual

Removes all categories for pixel(row,col)

See also: setLabel, unsetLabel

Implements mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase.

Definition at line 461 of file obs/CObservation3DRangeScan.h.

◆ unsetLabel()

template<unsigned int BYTES_REQUIRED_>

void mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::unsetLabel	(	const int	row,
		const int	col,
		uint8_t	label_idx
	)

inlinevirtual

For the pixel(row,col), removes its classification into the category label_idx, which may be in the range 0 to 7 Note that 0 is a valid label index, it does not mean "no label".