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. More...
#include <statistical_multiscale_interest_region_extraction.h>
Public Types | |
| typedef boost::shared_ptr < const StatisticalMultiscaleInterestRegionExtraction < PointT > > | ConstPtr |
| typedef boost::shared_ptr < std::vector< int > > | IndicesPtr |
| typedef boost::shared_ptr < StatisticalMultiscaleInterestRegionExtraction < PointT > > | Ptr |
Public Member Functions | |
| 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 | generateCloudGraph () |
| Method that generates the underlying nearest neighbor graph based on the input point cloud. | |
| std::vector< float > | getScalesVector () |
| Method for getting the scale parameters vector. | |
| void | setScalesVector (std::vector< float > &scale_values) |
| Method for setting the scale parameters for the algorithm. | |
| StatisticalMultiscaleInterestRegionExtraction () | |
| Empty constructor. | |
Private Member Functions | |
| void | computeF () |
| void | extractExtrema (std::list< IndicesPtr > &rois) |
| void | geodesicFixedRadiusSearch (size_t &query_index, float &radius, std::vector< int > &result_indices) |
| bool | initCompute () |
| Checks if all the necessary input was given and the computations can successfully start. | |
Private Attributes | |
| std::vector< std::vector< float > > | F_scales_ |
| std::vector< std::vector< float > > | geodesic_distances_ |
| std::vector< float > | scale_values_ |
Detailed Description
template<typename PointT>
class pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >
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
Definition at line 65 of file statistical_multiscale_interest_region_extraction.h.
Member Typedef Documentation
| typedef boost::shared_ptr<const StatisticalMultiscaleInterestRegionExtraction<PointT> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::ConstPtr |
Definition at line 70 of file statistical_multiscale_interest_region_extraction.h.
| typedef boost::shared_ptr<std::vector<int> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::IndicesPtr |
Definition at line 68 of file statistical_multiscale_interest_region_extraction.h.
| typedef boost::shared_ptr<StatisticalMultiscaleInterestRegionExtraction<PointT> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::Ptr |
Definition at line 69 of file statistical_multiscale_interest_region_extraction.h.
Constructor & Destructor Documentation
| pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::StatisticalMultiscaleInterestRegionExtraction | ( | ) | [inline] |
Empty constructor.
Definition at line 74 of file statistical_multiscale_interest_region_extraction.h.
Member Function Documentation
| void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::computeF | ( | ) | [private] |
Definition at line 140 of file statistical_multiscale_interest_region_extraction.hpp.
| void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::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 122 of file statistical_multiscale_interest_region_extraction.hpp.
| void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::extractExtrema | ( | std::list< IndicesPtr > & | rois | ) | [private] |
Definition at line 200 of file statistical_multiscale_interest_region_extraction.hpp.
| void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::generateCloudGraph | ( | ) |
Method that generates the underlying nearest neighbor graph based on the input point cloud.
Definition at line 53 of file statistical_multiscale_interest_region_extraction.hpp.
| void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::geodesicFixedRadiusSearch | ( | size_t & | query_index, |
| float & | radius, | ||
| std::vector< int > & | result_indices | ||
| ) | [private] |
Definition at line 110 of file statistical_multiscale_interest_region_extraction.hpp.
| std::vector<float> pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::getScalesVector | ( | ) | [inline] |
Method for getting the scale parameters vector.
Definition at line 98 of file statistical_multiscale_interest_region_extraction.h.
| bool pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::initCompute | ( | ) | [private] |
Checks if all the necessary input was given and the computations can successfully start.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 91 of file statistical_multiscale_interest_region_extraction.hpp.
| void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::setScalesVector | ( | std::vector< float > & | scale_values | ) | [inline] |
Method for setting the scale parameters for the algorithm.
- Parameters:
-
scale_values vector of scales to determine the size of each scaling step
Definition at line 94 of file statistical_multiscale_interest_region_extraction.h.
Member Data Documentation
std::vector<std::vector<float> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::F_scales_ [private] |
Definition at line 121 of file statistical_multiscale_interest_region_extraction.h.
std::vector<std::vector<float> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::geodesic_distances_ [private] |
Definition at line 120 of file statistical_multiscale_interest_region_extraction.h.
std::vector<float> pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::scale_values_ [private] |
Definition at line 119 of file statistical_multiscale_interest_region_extraction.h.
The documentation for this class was generated from the following files: