region_adjacency_graph.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #ifndef _REGION_ADJACENCY_GRAPH_H_
00037 #define _REGION_ADJACENCY_GRAPH_H_
00038 
00039 // ROS header directives
00040 #include <ros/ros.h>
00041 #include <ros/console.h>
00042 
00043 // OpenCV header directives
00044 #include <opencv2/imgproc/imgproc.hpp>
00045 
00046 // PCL header directives
00047 #include <pcl/point_cloud.h>
00048 #include <pcl/features/vfh.h>
00049 
00050 // boost header directives
00051 #include <boost/graph/adjacency_list.hpp>
00052 #include <boost/tuple/tuple.hpp>
00053 #include <boost/config.hpp>
00054 
00055 #include <string>
00056 #include <map>
00057 
00058 namespace jsk_pcl_ros
00059 {
00060    class RegionAdjacencyGraph
00061    {
00062     private:
00063       struct VertexProperty {
00064          int v_index;
00065          pcl::PointXYZ v_center;
00066          int v_label;
00067          VertexProperty(
00068             int i = -1,
00069             pcl::PointXYZ center = pcl::PointXYZ(-1, -1, -1),
00070             int label = -1) :
00071             v_index(i), v_center(center), v_label(label) {}
00072       };
00073       typedef boost::property<boost::edge_weight_t, float> EdgeProperty;
00074       typedef typename boost::adjacency_list<boost::vecS,
00075                                              boost::vecS,
00076                                              boost::undirectedS,
00077                                              VertexProperty,
00078                                              EdgeProperty> Graph;
00079       typedef typename boost::graph_traits<
00080          Graph>::adjacency_iterator AdjacencyIterator;
00081       typedef typename boost::property_map<
00082          Graph, boost::vertex_index_t>::type IndexMap;
00083       typedef typename boost::graph_traits<
00084          Graph>::edge_descriptor EdgeDescriptor;
00085       typedef typename boost::property_map<
00086          Graph, boost::edge_weight_t>::type EdgePropertyAccess;
00087       typedef typename boost::property_traits<boost::property_map<
00088          Graph, boost::edge_weight_t>::const_type>::value_type EdgeValue;
00089       typedef typename boost::graph_traits<
00090          Graph>::vertex_iterator VertexIterator;
00091       typedef typename boost::graph_traits<
00092          Graph>::vertex_descriptor VertexDescriptor;
00093       typedef pcl::PointXYZRGB PointT;
00094       Graph graph_;
00095       
00096       void sampleRandomPointsFromCloudCluster(
00097          pcl::PointCloud<PointT>::Ptr,
00098          pcl::PointCloud<pcl::Normal>::Ptr,
00099          std::vector<Eigen::Vector3f> &,
00100          std::vector<Eigen::Vector3f> &,
00101          int = 3);
00102       template<typename T>
00103       T convexityCriterion(
00104          const Eigen::Vector3f &,
00105          const Eigen::Vector3f &,
00106          const Eigen::Vector3f &,
00107          const Eigen::Vector3f &);
00108       template<typename T>
00109       T getCloudClusterWeightFunction(
00110          const std::vector<std::vector<Eigen::Vector3f> > &,
00111          const std::vector<std::vector<Eigen::Vector3f> > &);
00112       float getVectorAngle(
00113          const Eigen::Vector3f &,
00114          const Eigen::Vector3f &,
00115          bool = true);
00116       int getCommonNeigbour(
00117          const std::vector<int> &,
00118          const std::vector<int> &);
00119       void computeCloudClusterRPYHistogram(
00120          const pcl::PointCloud<PointT>::Ptr,
00121          const pcl::PointCloud<pcl::Normal>::Ptr,
00122          cv::Mat &);
00123 
00124     public:
00125       RegionAdjacencyGraph();
00126       virtual void generateRAG(
00127          const std::vector<pcl::PointCloud<PointT>::Ptr> &,
00128          const std::vector<pcl::PointCloud<pcl::Normal>::Ptr> &,
00129          const pcl::PointCloud<pcl::PointXYZ>::Ptr,
00130          std::vector<std::vector<int> > &,
00131          const int = RAG_EDGE_WEIGHT_DISTANCE);
00132       virtual void splitMergeRAG(const int = 0.0f);
00133       virtual void getCloudClusterLabels(
00134          std::vector<int> &);
00135       virtual void printGraph(
00136          const Graph &);
00137       enum {
00138          RAG_EDGE_WEIGHT_DISTANCE,
00139          RAG_EDGE_WEIGHT_CONVEX_CRITERIA
00140       };
00141     };
00142 }  // namespace jsk_pcl_ros
00143 #endif  //  _REGION_ADJACENCY_GRAPH_H_


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48