#include <region_adjacency_graph.h>

Classes
struct	VertexProperty
Public Types
enum	{ RAG_EDGE_WEIGHT_DISTANCE, RAG_EDGE_WEIGHT_CONVEX_CRITERIA }
Public Member Functions
virtual void	generateRAG (const std::vector< pcl::PointCloud< PointT >::Ptr > &, const std::vector< pcl::PointCloud< pcl::Normal >::Ptr > &, const pcl::PointCloud< pcl::PointXYZ >::Ptr, std::vector< std::vector< int > > &, const int=RAG_EDGE_WEIGHT_DISTANCE)
virtual void	getCloudClusterLabels (std::vector< int > &)
virtual void	printGraph (const Graph &)
	RegionAdjacencyGraph ()
virtual void	splitMergeRAG (const int=0.0f)
Private Types
typedef boost::graph_traits < Graph >::adjacency_iterator	AdjacencyIterator
typedef boost::graph_traits < Graph >::edge_descriptor	EdgeDescriptor
typedef boost::property < boost::edge_weight_t, float >	EdgeProperty
typedef boost::property_map < Graph, boost::edge_weight_t > ::type	EdgePropertyAccess
typedef boost::property_traits < boost::property_map< Graph, boost::edge_weight_t > ::const_type >::value_type	EdgeValue
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::undirectedS, VertexProperty, EdgeProperty >	Graph
typedef boost::property_map < Graph, boost::vertex_index_t > ::type	IndexMap
typedef pcl::PointXYZRGB	PointT
typedef boost::graph_traits < Graph >::vertex_descriptor	VertexDescriptor
typedef boost::graph_traits < Graph >::vertex_iterator	VertexIterator
Private Member Functions
void	computeCloudClusterRPYHistogram (const pcl::PointCloud< PointT >::Ptr, const pcl::PointCloud< pcl::Normal >::Ptr, cv::Mat &)
template<typename T >
T	convexityCriterion (const Eigen::Vector3f &, const Eigen::Vector3f &, const Eigen::Vector3f &, const Eigen::Vector3f &)
template<typename T >
T	getCloudClusterWeightFunction (const std::vector< std::vector< Eigen::Vector3f > > &, const std::vector< std::vector< Eigen::Vector3f > > &)
int	getCommonNeigbour (const std::vector< int > &, const std::vector< int > &)
float	getVectorAngle (const Eigen::Vector3f &, const Eigen::Vector3f &, bool=true)
void	sampleRandomPointsFromCloudCluster (pcl::PointCloud< PointT >::Ptr, pcl::PointCloud< pcl::Normal >::Ptr, std::vector< Eigen::Vector3f > &, std::vector< Eigen::Vector3f > &, int=3)
Private Attributes
Graph	graph_

Detailed Description

Definition at line 60 of file region_adjacency_graph.h.

Member Typedef Documentation

typedef boost::graph_traits< Graph>::adjacency_iterator jsk_pcl_ros::RegionAdjacencyGraph::AdjacencyIterator [private]

Definition at line 80 of file region_adjacency_graph.h.

typedef boost::graph_traits< Graph>::edge_descriptor jsk_pcl_ros::RegionAdjacencyGraph::EdgeDescriptor [private]

Definition at line 84 of file region_adjacency_graph.h.

typedef boost::property<boost::edge_weight_t, float> jsk_pcl_ros::RegionAdjacencyGraph::EdgeProperty [private]

Definition at line 73 of file region_adjacency_graph.h.

typedef boost::property_map< Graph, boost::edge_weight_t>::type jsk_pcl_ros::RegionAdjacencyGraph::EdgePropertyAccess [private]

Definition at line 86 of file region_adjacency_graph.h.

typedef boost::property_traits<boost::property_map< Graph, boost::edge_weight_t>::const_type>::value_type jsk_pcl_ros::RegionAdjacencyGraph::EdgeValue [private]

Definition at line 88 of file region_adjacency_graph.h.

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, VertexProperty, EdgeProperty> jsk_pcl_ros::RegionAdjacencyGraph::Graph [private]

Definition at line 78 of file region_adjacency_graph.h.

typedef boost::property_map< Graph, boost::vertex_index_t>::type jsk_pcl_ros::RegionAdjacencyGraph::IndexMap [private]

Definition at line 82 of file region_adjacency_graph.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::RegionAdjacencyGraph::PointT [private]

Definition at line 93 of file region_adjacency_graph.h.

typedef boost::graph_traits< Graph>::vertex_descriptor jsk_pcl_ros::RegionAdjacencyGraph::VertexDescriptor [private]

Definition at line 92 of file region_adjacency_graph.h.

typedef boost::graph_traits< Graph>::vertex_iterator jsk_pcl_ros::RegionAdjacencyGraph::VertexIterator [private]

Definition at line 90 of file region_adjacency_graph.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

RAG_EDGE_WEIGHT_DISTANCE
RAG_EDGE_WEIGHT_CONVEX_CRITERIA

Definition at line 137 of file region_adjacency_graph.h.

Constructor & Destructor Documentation

jsk_pcl_ros::RegionAdjacencyGraph::RegionAdjacencyGraph ( )

Definition at line 41 of file region_adjacency_graph.cpp.

Member Function Documentation

void jsk_pcl_ros::RegionAdjacencyGraph::computeCloudClusterRPYHistogram	(	const pcl::PointCloud< PointT >::Ptr	_cloud,
		const pcl::PointCloud< pcl::Normal >::Ptr	_normal,
		cv::Mat &	_histogram
	)		`[private]`

Definition at line 343 of file region_adjacency_graph.cpp.

template<typename T >

T jsk_pcl_ros::RegionAdjacencyGraph::convexityCriterion	(	const Eigen::Vector3f &	center_point,
		const Eigen::Vector3f &	n1_point,
		const Eigen::Vector3f &	center_normal,
		const Eigen::Vector3f &	neigbour_normal
	)		`[private]`

Definition at line 229 of file region_adjacency_graph.cpp.

void jsk_pcl_ros::RegionAdjacencyGraph::generateRAG	(	const std::vector< pcl::PointCloud< PointT >::Ptr > &	cloud_clusters,
		const std::vector< pcl::PointCloud< pcl::Normal >::Ptr > &	normal_clusters,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr	centroids,
		std::vector< std::vector< int > > &	neigbor_indices,
		const int	edge_weight_criteria = `RAG_EDGE_WEIGHT_DISTANCE`
	)		`[virtual]`

Definition at line 46 of file region_adjacency_graph.cpp.

void jsk_pcl_ros::RegionAdjacencyGraph::getCloudClusterLabels ( std::vector< int > & labelMD ) [virtual]

Definition at line 322 of file region_adjacency_graph.cpp.

template<typename T >

T jsk_pcl_ros::RegionAdjacencyGraph::getCloudClusterWeightFunction	(	const std::vector< std::vector< Eigen::Vector3f > > &	_points,
		const std::vector< std::vector< Eigen::Vector3f > > &	_normal
	)		`[private]`

Definition at line 164 of file region_adjacency_graph.cpp.

int jsk_pcl_ros::RegionAdjacencyGraph::getCommonNeigbour	(	const std::vector< int > &	c1_neigbour,
		const std::vector< int > &	c2_neigbour
	)		`[private]`

Definition at line 304 of file region_adjacency_graph.cpp.

float jsk_pcl_ros::RegionAdjacencyGraph::getVectorAngle	(	const Eigen::Vector3f &	vector1,
		const Eigen::Vector3f &	vector2,
		bool	indegree = `true`
	)		`[private]`

Definition at line 215 of file region_adjacency_graph.cpp.

void jsk_pcl_ros::RegionAdjacencyGraph::printGraph ( const Graph & _graph ) [virtual]

Definition at line 332 of file region_adjacency_graph.cpp.

void jsk_pcl_ros::RegionAdjacencyGraph::sampleRandomPointsFromCloudCluster	(	pcl::PointCloud< PointT >::Ptr	cloud,
		pcl::PointCloud< pcl::Normal >::Ptr	normal,
		std::vector< Eigen::Vector3f > &	point_vector,
		std::vector< Eigen::Vector3f > &	normal_vector,
		int	gen_sz = `3`
	)		`[private]`

Definition at line 242 of file region_adjacency_graph.cpp.

void jsk_pcl_ros::RegionAdjacencyGraph::splitMergeRAG ( const int _threshold = 0.0f ) [virtual]

Definition at line 261 of file region_adjacency_graph.cpp.

Member Data Documentation

Graph jsk_pcl_ros::RegionAdjacencyGraph::graph_ [private]

Definition at line 94 of file region_adjacency_graph.h.

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

Classes

Public Types

Public Member Functions

Private Types