#include <depth_segmentation.h>
Inheritance diagram for cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >:
Public Types | |
| typedef ClusterGraphT::Ptr | ClusterGraphPtr |
| typedef ClusterGraphT::ClusterPtr | ClusterPtr |
| typedef ClusterGraphT::EdgePtr | EdgePtr |
| typedef pcl::PointCloud < PointLabelT > | LabelCloud |
| typedef LabelCloud::ConstPtr | LabelCloudConstPtr |
| typedef LabelCloud::Ptr | LabelCloudPtr |
| typedef pcl::PointCloud< PointNT > | NormalCloud |
| typedef NormalCloud::ConstPtr | NormalCloudConstPtr |
| typedef NormalCloud::Ptr | NormalCloudPtr |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointCloud::Ptr | PointCloudPtr |
Public Member Functions | |
| virtual bool | compute () |
| DepthSegmentation () | |
| virtual LabelCloudConstPtr | getOutputCloud () |
| gets preprocessed output cloud | |
| void | getPotentialObjects (std::map< int, int > &objs, int max_size=0) |
| virtual | operator cob_3d_mapping_msgs::ShapeArray () const |
| convert to ROS message | |
| void | performInitialSegmentation () |
| void | refineSegmentation () |
| void | setClusterGraphOut (ClusterGraphPtr clusters) |
| virtual void | setInputCloud (const PointCloudConstPtr &points) |
| void | setLabelCloudInOut (LabelCloudPtr labels) |
| void | setNormalCloudIn (NormalCloudConstPtr normals) |
| ~DepthSegmentation () | |
Private Member Functions | |
| void | addIfIsValid (int u, int v, int idx, int idx_prev, float dist_th, float p_z, Eigen::Vector3f &n, SegmentationQueue &seg_queue, ClusterPtr c) |
| void | addSmallNeighbors (ClusterPtr c, std::map< int, int > &objs, std::set< int > &processed, int obj_counter, int max_size) |
| void | computeBoundaryProperties (ClusterPtr c, EdgePtr e) |
| void | computeBoundaryProperties (ClusterPtr c) |
| void | computeEdgeSmoothness (EdgePtr e) |
| void | computeEdgeSmoothness () |
Private Attributes | |
| ClusterGraphPtr | graph_ |
| LabelCloudPtr | labels_ |
| int | min_cluster_size_ |
| float | min_dot_boundary_ |
| float | min_dot_normals_ |
| NormalCloudConstPtr | normals_ |
| PointCloudConstPtr | surface_ |
Detailed Description
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
class cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >
Definition at line 114 of file depth_segmentation.h.
Member Typedef Documentation
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef ClusterGraphT::Ptr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::ClusterGraphPtr |
Definition at line 129 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef ClusterGraphT::ClusterPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::ClusterPtr |
Definition at line 130 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef ClusterGraphT::EdgePtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::EdgePtr |
Definition at line 131 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef pcl::PointCloud<PointLabelT> cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::LabelCloud |
Definition at line 125 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef LabelCloud::ConstPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::LabelCloudConstPtr |
Definition at line 127 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef LabelCloud::Ptr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::LabelCloudPtr |
Definition at line 126 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef pcl::PointCloud<PointNT> cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::NormalCloud |
Definition at line 121 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef NormalCloud::ConstPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::NormalCloudConstPtr |
Definition at line 123 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef NormalCloud::Ptr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::NormalCloudPtr |
Definition at line 122 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef pcl::PointCloud<PointT> cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::PointCloud |
Definition at line 117 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef PointCloud::ConstPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::PointCloudConstPtr |
Definition at line 119 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| typedef PointCloud::Ptr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::PointCloudPtr |
Definition at line 118 of file depth_segmentation.h.
Constructor & Destructor Documentation
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::DepthSegmentation | ( | ) | [inline] |
Definition at line 134 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::~DepthSegmentation | ( | ) | [inline] |
Definition at line 144 of file depth_segmentation.h.
Member Function Documentation
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::addIfIsValid | ( | int | u, |
| int | v, | ||
| int | idx, | ||
| int | idx_prev, | ||
| float | dist_th, | ||
| float | p_z, | ||
| Eigen::Vector3f & | n, | ||
| SegmentationQueue & | seg_queue, | ||
| ClusterPtr | c | ||
| ) | [private] |
Definition at line 76 of file depth_segmentation.hpp.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::addSmallNeighbors | ( | ClusterPtr | c, |
| std::map< int, int > & | objs, | ||
| std::set< int > & | processed, | ||
| int | obj_counter, | ||
| int | max_size | ||
| ) | [private] |
Definition at line 290 of file depth_segmentation.hpp.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| virtual bool cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::compute | ( | ) | [inline, virtual] |
Implements GeneralSegmentation< PointT, PointLabelT >.
Definition at line 153 of file depth_segmentation.h.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::computeBoundaryProperties | ( | ClusterPtr | c, |
| EdgePtr | e | ||
| ) | [private] |
Definition at line 219 of file depth_segmentation.hpp.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::computeBoundaryProperties | ( | ClusterPtr | c | ) | [private] |
Definition at line 232 of file depth_segmentation.hpp.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::computeEdgeSmoothness | ( | EdgePtr | e | ) | [private] |
Definition at line 245 of file depth_segmentation.hpp.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::computeEdgeSmoothness | ( | ) | [private] |
Definition at line 263 of file depth_segmentation.hpp.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| virtual LabelCloudConstPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::getOutputCloud | ( | ) | [inline, virtual] |
gets preprocessed output cloud
Implements GeneralSegmentation< PointT, PointLabelT >.
Definition at line 152 of file depth_segmentation.h.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::getPotentialObjects | ( | std::map< int, int > & | objs, |
| int | max_size = 0 |
||
| ) |
Definition at line 270 of file depth_segmentation.hpp.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| virtual cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::operator cob_3d_mapping_msgs::ShapeArray | ( | ) | const [inline, virtual] |
convert to ROS message
Implements GeneralSegmentation< PointT, PointLabelT >.
Definition at line 167 of file depth_segmentation.h.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::performInitialSegmentation | ( | ) |
Definition at line 105 of file depth_segmentation.hpp.
template<typename ClusterGraphT , typename PointT , typename PointNT , typename PointLabelT >
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::refineSegmentation | ( | ) |
Definition at line 180 of file depth_segmentation.hpp.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::setClusterGraphOut | ( | ClusterGraphPtr | clusters | ) | [inline] |
Definition at line 147 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| virtual void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::setInputCloud | ( | const PointCloudConstPtr & | points | ) | [inline, virtual] |
Definition at line 151 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::setLabelCloudInOut | ( | LabelCloudPtr | labels | ) | [inline] |
Definition at line 150 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
| void cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::setNormalCloudIn | ( | NormalCloudConstPtr | normals | ) | [inline] |
Definition at line 149 of file depth_segmentation.h.
Member Data Documentation
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
ClusterGraphPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::graph_ [private] |
Definition at line 185 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
LabelCloudPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::labels_ [private] |
Definition at line 188 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
int cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::min_cluster_size_ [private] |
Definition at line 183 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
float cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::min_dot_boundary_ [private] |
Definition at line 182 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
float cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::min_dot_normals_ [private] |
Definition at line 181 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
NormalCloudConstPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::normals_ [private] |
Definition at line 187 of file depth_segmentation.h.
template<typename ClusterGraphT, typename PointT, typename PointNT, typename PointLabelT>
PointCloudConstPtr cob_3d_segmentation::DepthSegmentation< ClusterGraphT, PointT, PointNT, PointLabelT >::surface_ [private] |
Definition at line 186 of file depth_segmentation.h.
The documentation for this class was generated from the following files: