#include <quad_regression_algo.h>
Public Member Functions | |
| void | back_check_repeat () |
| segmentation on quad-tree | |
| virtual void | buildTree (const pcl::PointCloud< Point > &pc) |
| setup level size | |
| void | calc () |
| build quad-tree | |
| virtual bool | compute () |
| void | getExecutionTimes (double &quadtree, double &growing, double &extraction) |
| repeat back check on model | |
| bool | getFilter () const |
| setter for "only planes"-option (limits higher polynomials to planes afterwards) | |
| bool | getOnlyPlanes () const |
| getter for filter parameter (pixels/area) | |
| const std::vector < Segmentation::S_POLYGON < Degree > > & | getPolygons () const |
| get polygons | |
| virtual void | prepare (const pcl::PointCloud< Point > &pc) |
| getter for "only planes"-option (limits higher polynomials to planes afterwards) | |
| QuadRegression () | |
| constructor, setups variables | |
| void | setFilter (const float f) |
| virtual void | setInputCloud (const boost::shared_ptr< const pcl::PointCloud< Point > > &cloud) |
| sets preprocessed input cloud | |
| void | setOnlyPlanes (const bool b) |
| setter for filter parameter (pixels/area) | |
| virtual | ~QuadRegression () |
| destructor | |
Protected Types | |
| enum | { DEGREE = Degree } |
Protected Member Functions | |
| int | getInd (const int i, const int x, const int y) const |
| get index for element at (x,y) on level i (0: leaves) of quadtree | |
| int | getIndPC (const int w, const int x, const int y) const |
| get index for element at (x,y) in ordered pc | |
| int | isOccupied (const int i, const int x, const int y) const |
| check occupation from down to top | |
Protected Attributes | |
| double | execution_time_growing_ |
| double | execution_time_polyextraction_ |
| double | execution_time_quadtree_ |
| result of surface reconstruction | |
| boost::shared_ptr< const pcl::PointCloud< Point > > | input_ |
| std::vector < SubStructure::ParamC< Degree > > | levels_ |
| input point cloud (no need for color) | |
| std::vector < Segmentation::S_POLYGON < Degree > > | polygons_ |
| quad-tree levels/stages | |
Private Member Functions | |
| void | addPoint (const int i, const int x, const int y, const int mark, S_POLYGON< Degree > &poly, const SubStructure::Model< Degree > &model, const float v=0.f) |
| bool | checkModelAt (const SubStructure::Model< Degree > &model, const int i, const int x, const int y) const |
| bool | filterOccupied (const int i, const int x, const int y, const int mark) const |
| int | getPos (int *ch, const int xx, const int yy, const int w, const int h) |
| void | grow (SubStructure::Model< Degree > &model, const int i, const int x, const int y) |
| filter option | |
| void | grow (SubStructure::VISITED_LIST< SubStructure::SVALUE > &list, SubStructure::Model< Degree > &model, const int i, const int mark, bool first_lvl) |
| int | otherOccupied (const int i, const int x, const int y, const int mark) const |
| void | outline (int *ch, const int w, const int h, std::vector< SubStructure::SXY > &out, const int i, S_POLYGON< Degree > &poly, const SubStructure::Model< Degree > &model, const int mark) |
Private Attributes | |
| CameraModel | camera_ |
| search down to ... | |
| int * | ch_ |
| camera model | |
| float | filter_ |
| remember size for var. above | |
| const unsigned int | FINAL_LOD |
| minimum of nodes for a segment | |
| const unsigned int | GO_DOWN_TO_LVL |
| lowest level = 0 | |
| const unsigned int | MIN_LOD |
| bool | only_planes_ |
| ratio points per area | |
| bool * | outline_check_ |
| mark-array | |
| size_t | outline_check_size_ |
| needed for outline, no need to reallocate every time | |
Detailed Description
template<int Degree, typename Point, typename CameraModel>
class Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >
a segmentation implementation based on quad-trees and regression
Definition at line 137 of file quad_regression_algo.h.
Member Enumeration Documentation
anonymous enum [protected] |
Definition at line 170 of file quad_regression_algo.h.
Constructor & Destructor Documentation
| Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::QuadRegression | ( | ) |
constructor, setups variables
Definition at line 93 of file quad_regression_algo.hpp.
| virtual Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::~QuadRegression | ( | ) | [inline, virtual] |
destructor
Definition at line 501 of file quad_regression_algo.h.
Member Function Documentation
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::addPoint | ( | const int | i, |
| const int | x, | ||
| const int | y, | ||
| const int | mark, | ||
| S_POLYGON< Degree > & | poly, | ||
| const SubStructure::Model< Degree > & | model, | ||
| const float | v = 0.f |
||
| ) | [inline, private] |
Definition at line 233 of file quad_regression_algo.h.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::back_check_repeat | ( | ) |
segmentation on quad-tree
Reimplemented in Segmentation::Segmentation_QuadRegression< Point, PointLabel, Segmentation::QPPF::QuadRegression< 2, Point, Segmentation::QPPF::CameraModel_Kinect< Point > > >.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::buildTree | ( | const pcl::PointCloud< Point > & | pc | ) | [virtual] |
setup level size
lowest-level: take points
lowest-level: take points
Reimplemented in Segmentation::QPPF::QuadRegression_Downsampled< Degree, Point, CameraModel >.
Definition at line 160 of file quad_regression_algo.hpp.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::calc | ( | ) |
build quad-tree
Definition at line 338 of file quad_regression_algo.hpp.
| bool Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::checkModelAt | ( | const SubStructure::Model< Degree > & | model, |
| const int | i, | ||
| const int | x, | ||
| const int | y | ||
| ) | const [inline, private] |
Definition at line 222 of file quad_regression_algo.h.
| bool Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::compute | ( | ) | [virtual] |
Reimplemented in Segmentation::Segmentation_QuadRegression< Point, PointLabel, Segmentation::QPPF::QuadRegression< 2, Point, Segmentation::QPPF::CameraModel_Kinect< Point > > >.
Definition at line 107 of file quad_regression_algo.hpp.
| bool Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::filterOccupied | ( | const int | i, |
| const int | x, | ||
| const int | y, | ||
| const int | mark | ||
| ) | const [inline, private] |
Definition at line 191 of file quad_regression_algo.h.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getExecutionTimes | ( | double & | quadtree, |
| double & | growing, | ||
| double & | extraction | ||
| ) | [inline] |
repeat back check on model
Definition at line 533 of file quad_regression_algo.h.
| bool Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getFilter | ( | ) | const [inline] |
setter for "only planes"-option (limits higher polynomials to planes afterwards)
Definition at line 523 of file quad_regression_algo.h.
| int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getInd | ( | const int | i, |
| const int | x, | ||
| const int | y | ||
| ) | const [inline, protected] |
get index for element at (x,y) on level i (0: leaves) of quadtree
Definition at line 142 of file quad_regression_algo.h.
| int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getIndPC | ( | const int | w, |
| const int | x, | ||
| const int | y | ||
| ) | const [inline, protected] |
get index for element at (x,y) in ordered pc
Definition at line 147 of file quad_regression_algo.h.
| bool Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getOnlyPlanes | ( | ) | const [inline] |
getter for filter parameter (pixels/area)
Definition at line 524 of file quad_regression_algo.h.
| const std::vector<Segmentation::S_POLYGON<Degree> >& Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getPolygons | ( | ) | const [inline] |
get polygons
Definition at line 518 of file quad_regression_algo.h.
| int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::getPos | ( | int * | ch, |
| const int | xx, | ||
| const int | yy, | ||
| const int | w, | ||
| const int | h | ||
| ) | [private] |
Definition at line 641 of file quad_regression_algo.hpp.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::grow | ( | SubStructure::Model< Degree > & | model, |
| const int | i, | ||
| const int | x, | ||
| const int | y | ||
| ) | [private] |
filter option
Definition at line 406 of file quad_regression_algo.hpp.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::grow | ( | SubStructure::VISITED_LIST< SubStructure::SVALUE > & | list, |
| SubStructure::Model< Degree > & | model, | ||
| const int | i, | ||
| const int | mark, | ||
| bool | first_lvl | ||
| ) | [private] |
Definition at line 415 of file quad_regression_algo.hpp.
| int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::isOccupied | ( | const int | i, |
| const int | x, | ||
| const int | y | ||
| ) | const [inline, protected] |
check occupation from down to top
Definition at line 152 of file quad_regression_algo.h.
| int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::otherOccupied | ( | const int | i, |
| const int | x, | ||
| const int | y, | ||
| const int | mark | ||
| ) | const [inline, private] |
Definition at line 199 of file quad_regression_algo.h.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::outline | ( | int * | ch, |
| const int | w, | ||
| const int | h, | ||
| std::vector< SubStructure::SXY > & | out, | ||
| const int | i, | ||
| S_POLYGON< Degree > & | poly, | ||
| const SubStructure::Model< Degree > & | model, | ||
| const int | mark | ||
| ) | [private] |
Definition at line 657 of file quad_regression_algo.hpp.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::prepare | ( | const pcl::PointCloud< Point > & | pc | ) | [virtual] |
getter for "only planes"-option (limits higher polynomials to planes afterwards)
Reimplemented in Segmentation::QPPF::QuadRegression_Downsampled< Degree, Point, CameraModel >.
Definition at line 116 of file quad_regression_algo.hpp.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::setFilter | ( | const float | f | ) | [inline] |
Definition at line 520 of file quad_regression_algo.h.
| virtual void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::setInputCloud | ( | const boost::shared_ptr< const pcl::PointCloud< Point > > & | cloud | ) | [inline, virtual] |
sets preprocessed input cloud
Reimplemented in Segmentation::Segmentation_QuadRegression< Point, PointLabel, Segmentation::QPPF::QuadRegression< 2, Point, Segmentation::QPPF::CameraModel_Kinect< Point > > >.
Definition at line 507 of file quad_regression_algo.h.
| void Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::setOnlyPlanes | ( | const bool | b | ) | [inline] |
setter for filter parameter (pixels/area)
Definition at line 521 of file quad_regression_algo.h.
Member Data Documentation
CameraModel Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::camera_ [private] |
search down to ...
Definition at line 179 of file quad_regression_algo.h.
int* Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::ch_ [private] |
camera model
Definition at line 181 of file quad_regression_algo.h.
double Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::execution_time_growing_ [protected] |
Definition at line 167 of file quad_regression_algo.h.
double Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::execution_time_polyextraction_ [protected] |
Definition at line 167 of file quad_regression_algo.h.
double Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::execution_time_quadtree_ [protected] |
result of surface reconstruction
Definition at line 167 of file quad_regression_algo.h.
float Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::filter_ [private] |
remember size for var. above
Definition at line 185 of file quad_regression_algo.h.
const unsigned int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::FINAL_LOD [private] |
minimum of nodes for a segment
Definition at line 175 of file quad_regression_algo.h.
const unsigned int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::GO_DOWN_TO_LVL [private] |
lowest level = 0
Definition at line 176 of file quad_regression_algo.h.
boost::shared_ptr<const pcl::PointCloud<Point> > Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::input_ [protected] |
Definition at line 161 of file quad_regression_algo.h.
std::vector<SubStructure::ParamC<Degree> > Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::levels_ [protected] |
input point cloud (no need for color)
Definition at line 162 of file quad_regression_algo.h.
const unsigned int Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::MIN_LOD [private] |
Definition at line 174 of file quad_regression_algo.h.
bool Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::only_planes_ [private] |
ratio points per area
Definition at line 186 of file quad_regression_algo.h.
bool* Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::outline_check_ [private] |
mark-array
Definition at line 183 of file quad_regression_algo.h.
size_t Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::outline_check_size_ [private] |
needed for outline, no need to reallocate every time
Definition at line 184 of file quad_regression_algo.h.
std::vector<Segmentation::S_POLYGON<Degree> > Segmentation::QPPF::QuadRegression< Degree, Point, CameraModel >::polygons_ [protected] |
quad-tree levels/stages
Definition at line 163 of file quad_regression_algo.h.
The documentation for this class was generated from the following files: