Class for extracting interest regions from unstructured point clouds, based on a multi scale statistical approach. More...

#include <pcl/features/statistical_multiscale_interest_region_extraction.h>

Inheritance diagram for pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >:

[legend]

Collaboration diagram for pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < StatisticalMultiscaleInterestRegionExtraction < PointT > >	Ptr
typedef boost::shared_ptr < const StatisticalMultiscaleInterestRegionExtraction < PointT > >	ConstPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	StatisticalMultiscaleInterestRegionExtraction ()
	Empty constructor.
void	generateCloudGraph ()
	Method that generates the underlying nearest neighbor graph based on the input point cloud.
void	computeRegionsOfInterest (std::list< IndicesPtr > &rois)
	The method to be called in order to run the algorithm and produce the resulting set of regions of interest.
void	setScalesVector (std::vector< float > &scale_values)
	Method for setting the scale parameters for the algorithm.
std::vector< float >	getScalesVector ()
	Method for getting the scale parameters vector.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointT>
class pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >

Class for extracting interest regions from unstructured point clouds, based on a multi scale statistical approach.

Please refer to the following publications for more details: Ranjith Unnikrishnan and Martial Hebert Multi-Scale Interest Regions from Unorganized Point Clouds Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) June, 2008

Statistical Approaches to Multi-scale Point Cloud Processing Ranjith Unnikrishnan PhD Thesis The Robotics Institute Carnegie Mellon University May, 2008

Author:: Alexandru-Eugen Ichim

Definition at line 65 of file statistical_multiscale_interest_region_extraction.h.

Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr<const StatisticalMultiscaleInterestRegionExtraction<PointT> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::ConstPtr

Definition at line 70 of file statistical_multiscale_interest_region_extraction.h.

template<typename PointT >

typedef boost::shared_ptr<std::vector<int> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::IndicesPtr

Definition at line 68 of file statistical_multiscale_interest_region_extraction.h.

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::PCLBase< PointT >::PointCloud [inherited]

Reimplemented in pcl::SACSegmentationFromNormals< PointT, PointNT >, pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::Filter< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SACSegmentation< PointT >, pcl::FilterIndices< PointT >, pcl::registration::ELCH< PointT >, pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >, pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >, and pcl::PCA< PointT >.

Definition at line 74 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::PCLBase< PointT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::SACSegmentationFromNormals< PointT, PointNT >, pcl::EuclideanClusterExtraction< PointT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointInT, pcl::Normal >, pcl::ExtractPolygonalPrismData< PointT >, pcl::Filter< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SACSegmentation< PointT >, pcl::registration::ELCH< PointT >, pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >, pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >, and pcl::PCA< PointT >.

Definition at line 76 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::PCLBase< PointT >::PointCloudPtr [inherited]

Reimplemented in pcl::MarchingCubes< PointNT >, pcl::SACSegmentationFromNormals< PointT, PointNT >, pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::Filter< PointT >, pcl::GridProjection< PointNT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SACSegmentation< PointT >, pcl::registration::ELCH< PointT >, pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >, pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >, pcl::MarchingCubesRBF< PointNT >, pcl::PCA< PointT >, pcl::MarchingCubesHoppe< PointNT >, pcl::OrganizedFastMesh< PointInT >, and pcl::Poisson< PointNT >.

Definition at line 75 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 78 of file pcl_base.h.

template<typename PointT >

typedef boost::shared_ptr<StatisticalMultiscaleInterestRegionExtraction<PointT> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::Ptr

Definition at line 69 of file statistical_multiscale_interest_region_extraction.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::StatisticalMultiscaleInterestRegionExtraction ( ) [inline]

Empty constructor.

Definition at line 74 of file statistical_multiscale_interest_region_extraction.h.

Member Function Documentation

template<typename PointT >

void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::computeRegionsOfInterest ( std::list< IndicesPtr > & rois )

The method to be called in order to run the algorithm and produce the resulting set of regions of interest.

Definition at line 119 of file statistical_multiscale_interest_region_extraction.hpp.

template<typename PointT >

void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::generateCloudGraph ( )

Method that generates the underlying nearest neighbor graph based on the input point cloud.

Definition at line 50 of file statistical_multiscale_interest_region_extraction.hpp.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

std::vector<float> pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::getScalesVector ( ) [inline]

Method for getting the scale parameters vector.

Definition at line 98 of file statistical_multiscale_interest_region_extraction.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT >

void pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::setScalesVector ( std::vector< float > & scale_values ) [inline]

Method for setting the scale parameters for the algorithm.

Parameters:

scale_values vector of scales to determine the size of each scaling step

Definition at line 94 of file statistical_multiscale_interest_region_extraction.h.

The documentation for this class was generated from the following files:

/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/statistical_multiscale_interest_region_extraction.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/statistical_multiscale_interest_region_extraction.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >