This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm. More...
#include <implicit_shape_model.h>
Public Member Functions | |
| void | addVote (pcl::InterestPoint &in_vote, const PointT &vote_origin, int in_class) |
| This method simply adds another vote to the list. | |
| void | findStrongestPeaks (std::vector< ISMPeak, Eigen::aligned_allocator< ISMPeak > > &out_peaks, int in_class_id, double in_non_maxima_radius, double in_sigma) |
| This method finds the strongest peaks (points were density has most higher values). It is based on the non maxima supression principles. | |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr | getColoredCloud (typename pcl::PointCloud< PointT >::Ptr cloud=0) |
| Returns the colored cloud that consists of votes for center (blue points) and initial point cloud (if it was passed). | |
| double | getDensityAtPoint (const PointT &point, double sigma_dist) |
| Returns the density at the specified point. | |
| unsigned int | getNumberOfVotes () |
| This method simply returns the number of votes. | |
| ISMVoteList () | |
| Empty constructor with member variables initialization. | |
| virtual | ~ISMVoteList () |
| virtual descriptor. | |
Protected Member Functions | |
| Eigen::Vector3f | shiftMean (const Eigen::Vector3f &snapPt, const double in_dSigmaDist) |
| void | validateTree () |
| this method is simply setting up the search tree. | |
Protected Attributes | |
| std::vector< int > | k_ind_ |
| Stores neighbours indices. | |
| std::vector< float > | k_sqr_dist_ |
| Stores square distances to the corresponding neighbours. | |
| pcl::KdTreeFLANN < pcl::InterestPoint >::Ptr | tree_ |
| Stores the search tree. | |
| bool | tree_is_valid_ |
| Signalizes if the tree is valid. | |
| pcl::PointCloud < pcl::InterestPoint >::Ptr | votes_ |
| Stores all votes. | |
| std::vector< int > | votes_class_ |
| Stores classes for which every single vote was cast. | |
| pcl::PointCloud< PointT >::Ptr | votes_origins_ |
| Stores the origins of the votes. | |
This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm.
Definition at line 77 of file implicit_shape_model.h.
| pcl::features::ISMVoteList< PointT >::ISMVoteList | ( | ) |
Empty constructor with member variables initialization.
Definition at line 48 of file implicit_shape_model.hpp.
| pcl::features::ISMVoteList< PointT >::~ISMVoteList | ( | ) | [virtual] |
virtual descriptor.
Definition at line 61 of file implicit_shape_model.hpp.
| void pcl::features::ISMVoteList< PointT >::addVote | ( | pcl::InterestPoint & | in_vote, |
| const PointT & | vote_origin, | ||
| int | in_class | ||
| ) |
This method simply adds another vote to the list.
| [in] | in_vote | vote to add |
| [in] | vote_origin | origin of the added vote |
| [in] | in_class | class for which this vote is cast |
Definition at line 73 of file implicit_shape_model.hpp.
| void pcl::features::ISMVoteList< PointT >::findStrongestPeaks | ( | std::vector< ISMPeak, Eigen::aligned_allocator< ISMPeak > > & | out_peaks, |
| int | in_class_id, | ||
| double | in_non_maxima_radius, | ||
| double | in_sigma | ||
| ) |
This method finds the strongest peaks (points were density has most higher values). It is based on the non maxima supression principles.
| [out] | out_peaks | it will contain the strongest peaks |
| [in] | in_class_id | class of interest for which peaks are evaluated |
| [in] | in_non_maxima_radius | non maxima supression radius. The shapes radius is recommended for this value. |
Definition at line 124 of file implicit_shape_model.hpp.
| pcl::PointCloud< pcl::PointXYZRGB >::Ptr pcl::features::ISMVoteList< PointT >::getColoredCloud | ( | typename pcl::PointCloud< PointT >::Ptr | cloud = 0 | ) |
Returns the colored cloud that consists of votes for center (blue points) and initial point cloud (if it was passed).
| [in] | cloud | cloud that needs to be merged with votes for visualizing. |
Definition at line 85 of file implicit_shape_model.hpp.
| double pcl::features::ISMVoteList< PointT >::getDensityAtPoint | ( | const PointT & | point, |
| double | sigma_dist | ||
| ) |
Returns the density at the specified point.
| [in] | point | point of interest |
| [in] | sigma_dist |
Definition at line 268 of file implicit_shape_model.hpp.
| unsigned int pcl::features::ISMVoteList< PointT >::getNumberOfVotes | ( | ) |
This method simply returns the number of votes.
Definition at line 293 of file implicit_shape_model.hpp.
| Eigen::Vector3f pcl::features::ISMVoteList< PointT >::shiftMean | ( | const Eigen::Vector3f & | snapPt, |
| const double | in_dSigmaDist | ||
| ) | [protected] |
Definition at line 241 of file implicit_shape_model.hpp.
| void pcl::features::ISMVoteList< PointT >::validateTree | ( | ) | [protected] |
this method is simply setting up the search tree.
Definition at line 226 of file implicit_shape_model.hpp.
std::vector<int> pcl::features::ISMVoteList< PointT >::k_ind_ [protected] |
Stores neighbours indices.
Definition at line 149 of file implicit_shape_model.h.
std::vector<float> pcl::features::ISMVoteList< PointT >::k_sqr_dist_ [protected] |
Stores square distances to the corresponding neighbours.
Definition at line 152 of file implicit_shape_model.h.
pcl::KdTreeFLANN<pcl::InterestPoint>::Ptr pcl::features::ISMVoteList< PointT >::tree_ [protected] |
Stores the search tree.
Definition at line 146 of file implicit_shape_model.h.
bool pcl::features::ISMVoteList< PointT >::tree_is_valid_ [protected] |
Signalizes if the tree is valid.
Definition at line 137 of file implicit_shape_model.h.
pcl::PointCloud<pcl::InterestPoint>::Ptr pcl::features::ISMVoteList< PointT >::votes_ [protected] |
Stores all votes.
Definition at line 134 of file implicit_shape_model.h.
std::vector<int> pcl::features::ISMVoteList< PointT >::votes_class_ [protected] |
Stores classes for which every single vote was cast.
Definition at line 143 of file implicit_shape_model.h.
pcl::PointCloud<PointT>::Ptr pcl::features::ISMVoteList< PointT >::votes_origins_ [protected] |
Stores the origins of the votes.
Definition at line 140 of file implicit_shape_model.h.