mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ > Struct Template Reference

Detailed Description

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

Pixel-wise semantic label struct.

See CObservation3DRangeScan::pixelLabels

Definition at line 116 of file TPixelLabelInfo.h.

#include <mrpt/obs/TPixelLabelInfo.h>

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

Public Types
using	Ptr = std::shared_ptr< TPixelLabelInfo >
using	bitmask_t = typename mrpt::uint_select_by_bytecount< BYTES_REQUIRED >::type
	Automatically-determined integer type of the proper size such that all labels fit as one bit (max: 64) More...
using	TPixelLabelMatrix = mrpt::math::CMatrixDynamic< bitmask_t >
	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...
using	TMapLabelID2Name = std::map< uint32_t, std::string >

Public Member Functions
void	setSize (const int NROWS, const int NCOLS) 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) 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) override
void	unsetLabel (const int row, const int col, uint8_t label_idx) 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, [[maybe_unused]] uint8_t label_idx) override
bool	checkLabel (const int row, const int col, uint8_t label_idx) const 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...
virtual void	unsetAll (const int row, const int col, uint8_t label_idx)=0
	Removes all categories for pixel(row,col) More...
void	writeToStream (mrpt::serialization::CArchive &out) const

Static Public Member Functions
static TPixelLabelInfoBase *	readAndBuildFromStream (mrpt::serialization::CArchive &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...

Static Public Attributes
static constexpr unsigned int	BYTES_REQUIRED = BYTES_REQUIRED_

Protected Member Functions
void	internal_readFromStream (mrpt::serialization::CArchive &in) override
void	internal_writeToStream (mrpt::serialization::CArchive &out) const override
void	Print (std::ostream &out) const override

Member Typedef Documentation

bitmask_t

template<unsigned int BYTES_REQUIRED_>

using mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::bitmask_t = typename mrpt::uint_select_by_bytecount<BYTES_REQUIRED>::type

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

Definition at line 124 of file TPixelLabelInfo.h.

Ptr

template<unsigned int BYTES_REQUIRED_>

using mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::Ptr = std::shared_ptr<TPixelLabelInfo>

Definition at line 118 of file TPixelLabelInfo.h.

TMapLabelID2Name

using mrpt::obs::TPixelLabelInfoBase::TMapLabelID2Name = std::map<uint32_t, std::string>

inherited

Definition at line 34 of file TPixelLabelInfo.h.

TPixelLabelMatrix

template<unsigned int BYTES_REQUIRED_>

using mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::TPixelLabelMatrix = mrpt::math::CMatrixDynamic<bitmask_t>

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 134 of file TPixelLabelInfo.h.

Constructor & Destructor Documentation

TPixelLabelInfo()

template<unsigned int BYTES_REQUIRED_>

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

inline

Definition at line 168 of file TPixelLabelInfo.h.

Member Function Documentation

checkLabel()

template<unsigned int BYTES_REQUIRED_>

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

inlineoverridevirtual

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::TPixelLabelInfoBase.

Definition at line 160 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels.

checkLabelNameExistence()

int mrpt::obs::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 54 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfoBase::pixelLabelNames.

getLabelName()

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

inlineinherited

Definition at line 41 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfoBase::pixelLabelNames.

getLabels()

template<unsigned int BYTES_REQUIRED_>

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

inlineoverridevirtual

Implements mrpt::obs::TPixelLabelInfoBase.

Definition at line 145 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels.

internal_readFromStream()

template<unsigned int BYTES_REQUIRED_>

void TPixelLabelInfo::internal_readFromStream ( mrpt::serialization::CArchive &  in )

overrideprotectedvirtual

Implements mrpt::obs::TPixelLabelInfoBase.

Definition at line 34 of file TPixelLabelInfo.cpp.

internal_writeToStream()

template<unsigned int BYTES_REQUIRED_>

void TPixelLabelInfo::internal_writeToStream ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Implements mrpt::obs::TPixelLabelInfoBase.

Definition at line 47 of file TPixelLabelInfo.cpp.

References out.

Print()

template<unsigned int BYTES_REQUIRED_>

template void TPixelLabelInfo::Print ( std::ostream &  out ) const

overrideprotectedvirtual

Implements mrpt::obs::TPixelLabelInfoBase.

Definition at line 115 of file TPixelLabelInfo.cpp.

References out.

readAndBuildFromStream()

TPixelLabelInfoBase * plib::readAndBuildFromStream ( mrpt::serialization::CArchive &  in )

staticinherited

Definition at line 61 of file TPixelLabelInfo.cpp.

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

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setLabel()

template<unsigned int BYTES_REQUIRED_>

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

inlineoverridevirtual

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::TPixelLabelInfoBase.

Definition at line 141 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels.

setLabelName()

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

inlineinherited

Definition at line 48 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfoBase::pixelLabelNames.

setSize()

template<unsigned int BYTES_REQUIRED_>

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

inlineoverridevirtual

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

Implements mrpt::obs::TPixelLabelInfoBase.

Definition at line 137 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels, and mrpt::math::MatrixVectorBase< Scalar, Derived >::Zero().

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unsetAll() [1/2]

virtual void mrpt::obs::TPixelLabelInfoBase::unsetAll ( const int  row, const int  col, uint8_t  label_idx  )

pure virtualinherited

Removes all categories for pixel(row,col)

See also

setLabel, unsetLabel

unsetAll() [2/2]

template<unsigned int BYTES_REQUIRED_>

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

inlineoverride

Definition at line 154 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels.

unsetLabel()

template<unsigned int BYTES_REQUIRED_>

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

inlineoverridevirtual

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".

See also

setLabel, unsetAll

Implements mrpt::obs::TPixelLabelInfoBase.

Definition at line 150 of file TPixelLabelInfo.h.

References mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels.

writeToStream()

void plib::writeToStream ( mrpt::serialization::CArchive &  out ) const

inherited

Definition at line 22 of file TPixelLabelInfo.cpp.

References out.

Member Data Documentation

BITFIELD_BYTES

const uint8_t mrpt::obs::TPixelLabelInfoBase::BITFIELD_BYTES

inherited

Minimum number of bytes required to hold MAX_NUM_DIFFERENT_LABELS bits.

Definition at line 101 of file TPixelLabelInfo.h.

BYTES_REQUIRED

template<unsigned int BYTES_REQUIRED_>

constexpr unsigned int mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::BYTES_REQUIRED = BYTES_REQUIRED_

static

Definition at line 119 of file TPixelLabelInfo.h.

pixelLabelNames

TMapLabelID2Name mrpt::obs::TPixelLabelInfoBase::pixelLabelNames

inherited

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.

Definition at line 39 of file TPixelLabelInfo.h.

Referenced by mrpt::obs::TPixelLabelInfoBase::checkLabelNameExistence(), mrpt::obs::TPixelLabelInfoBase::getLabelName(), and mrpt::obs::TPixelLabelInfoBase::setLabelName().

pixelLabels

template<unsigned int BYTES_REQUIRED_>

TPixelLabelMatrix mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::pixelLabels

Definition at line 135 of file TPixelLabelInfo.h.

Referenced by mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::checkLabel(), mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::getLabels(), mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::setLabel(), mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::setSize(), mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::unsetAll(), and mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::unsetLabel().