Point Cloud Library (PCL)
1.3.1
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Class for extracting interest regions from unstructured point clouds, based on a multi scale statistical approach. More...
#include <pcl/features/statistical_multiscale_interest_region_extraction.h>
Public Types | |
typedef boost::shared_ptr < std::vector< int > > | IndicesPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
StatisticalMultiscaleInterestRegionExtraction () | |
Empty constructor. | |
void | generateCloudGraph () |
Method that generates the underlying nearest neighbor graph based on the input point cloud. | |
void | computeRegionsOfInterest (std::list< IndicesPtr > &rois) |
The method to be called in order to run the algorithm and produce the resulting set of regions of interest. | |
void | setScalesVector (std::vector< float > &scale_values) |
Method for setting the scale parameters for the algorithm. | |
std::vector< float > | getScalesVector () |
Method for getting the scale parameters vector. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
Class for extracting interest regions from unstructured point clouds, based on a multi scale statistical approach.
Please refer to the following publications for more details: Ranjith Unnikrishnan and Martial Hebert Multi-Scale Interest Regions from Unorganized Point Clouds Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) June, 2008
Statistical Approaches to Multi-scale Point Cloud Processing Ranjith Unnikrishnan PhD Thesis The Robotics Institute Carnegie Mellon University May, 2008
typedef boost::shared_ptr<std::vector<int> > pcl::StatisticalMultiscaleInterestRegionExtraction::IndicesPtr |
Definition at line 69 of file statistical_multiscale_interest_region_extraction.h.
typedef pcl::PointCloud<PointT> pcl::PCLBase::PointCloud [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::Filter, pcl::SegmentDifferences, pcl::LabeledEuclideanClusterExtraction, pcl::registration::ELCH, pcl::SACSegmentation, and pcl::registration::IncrementalRegistration.
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase::PointCloudConstPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::Filter, pcl::SegmentDifferences, pcl::LabeledEuclideanClusterExtraction, pcl::registration::ELCH, pcl::SACSegmentation, and pcl::registration::IncrementalRegistration.
Definition at line 76 of file pcl_base.h.
typedef PointCloud::Ptr pcl::PCLBase::PointCloudPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::Filter, pcl::SegmentDifferences, pcl::LabeledEuclideanClusterExtraction, pcl::registration::ELCH, pcl::SACSegmentation, and pcl::registration::IncrementalRegistration.
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 78 of file pcl_base.h.
pcl::StatisticalMultiscaleInterestRegionExtraction::StatisticalMultiscaleInterestRegionExtraction | ( | ) | [inline] |
Empty constructor.
Definition at line 72 of file statistical_multiscale_interest_region_extraction.h.
void pcl::StatisticalMultiscaleInterestRegionExtraction::computeRegionsOfInterest | ( | std::list< IndicesPtr > & | rois | ) |
The method to be called in order to run the algorithm and produce the resulting set of regions of interest.
Definition at line 119 of file statistical_multiscale_interest_region_extraction.hpp.
void pcl::StatisticalMultiscaleInterestRegionExtraction::generateCloudGraph | ( | ) |
Method that generates the underlying nearest neighbor graph based on the input point cloud.
Definition at line 50 of file statistical_multiscale_interest_region_extraction.hpp.
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
std::vector<float> pcl::StatisticalMultiscaleInterestRegionExtraction::getScalesVector | ( | ) | [inline] |
Method for getting the scale parameters vector.
Definition at line 95 of file statistical_multiscale_interest_region_extraction.h.
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::StatisticalMultiscaleInterestRegionExtraction::setScalesVector | ( | std::vector< float > & | scale_values | ) | [inline] |
Method for setting the scale parameters for the algorithm.
scale_values | vector of scales to determine the size of each scaling step |
Definition at line 91 of file statistical_multiscale_interest_region_extraction.h.