#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 45 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 347 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 233 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 50 of file region_adjacency_graph.cpp.

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

virtual

Definition at line 326 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 168 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 308 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 219 of file region_adjacency_graph.cpp.

void jsk_pcl_ros::RegionAdjacencyGraph::printGraph ( const Graph & _graph )

virtual

Definition at line 336 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 246 of file region_adjacency_graph.cpp.

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

virtual

Definition at line 265 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

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation