Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Attributes
pcl::CrfSegmentation< PointT > Class Template Reference

#include <pcl/segmentation/crf_segmentation.h>

Public Member Functions

 CrfSegmentation ()
 Constructor that sets default values for member variables. More...
 
 ~CrfSegmentation ()
 This destructor destroys the cloud... More...
 
void setInputCloud (typename pcl::PointCloud< PointT >::Ptr input_cloud)
 This method sets the input cloud. More...
 
void setAnnotatedCloud (typename pcl::PointCloud< pcl::PointXYZRGBL >::Ptr anno_cloud)
 
void setNormalCloud (typename pcl::PointCloud< pcl::PointNormal >::Ptr normal_cloud)
 
void setVoxelGridLeafSize (const float x, const float y, const float z)
 Set the leaf size for the voxel grid. More...
 
void setNumberOfIterations (unsigned int n_iterations=10)
 
void segmentPoints (pcl::PointCloud< pcl::PointXYZRGBL > &output)
 This method simply launches the segmentation algorithm. More...
 
void createVoxelGrid ()
 Create a voxel grid to discretize the scene. More...
 
void createDataVectorFromVoxelGrid ()
 Get the data from the voxel grid and convert it into a vector. More...
 
void createUnaryPotentials (std::vector< float > &unary, std::vector< int > &colors, unsigned int n_labels)
 
void setSmoothnessKernelParameters (const float sx, const float sy, const float sz, const float w)
 Set the smoothness kernel parameters. More...
 
void setAppearanceKernelParameters (float sx, float sy, float sz, float sr, float sg, float sb, float w)
 Set the appearanche kernel parameters. More...
 
void setSurfaceKernelParameters (float sx, float sy, float sz, float snx, float sny, float snz, float w)
 

Protected Attributes

pcl::VoxelGrid< PointTvoxel_grid_
 Voxel grid to discretize the scene. More...
 
pcl::PointCloud< PointT >::Ptr input_cloud_
 input cloud that will be segmented. More...
 
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr anno_cloud_
 
pcl::PointCloud< pcl::PointNormal >::Ptr normal_cloud_
 
pcl::PointCloud< PointT >::Ptr filtered_cloud_
 voxel grid filtered cloud. More...
 
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr filtered_anno_
 
pcl::PointCloud< pcl::PointNormal >::Ptr filtered_normal_
 
Eigen::Vector4f voxel_grid_leaf_size_
 indices of the filtered cloud. More...
 
Eigen::Vector3i dim_
 Voxel grid dimensions. More...
 
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > data_
 voxel grid data points packing order [x0y0z0, x1y0z0,x2y0z0,...,x0y1z0,x1y1z0,...,x0y0z1,x1y0z1,...] More...
 
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > color_
 
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > normal_
 
float smoothness_kernel_param_ [4]
 smoothness kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = weight More...
 
float appearance_kernel_param_ [7]
 appearance kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = standard deviation red [4] = standard deviation green [5] = standard deviation blue [6] = weight More...
 
float surface_kernel_param_ [7]
 
unsigned int n_iterations_
 

Detailed Description

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

Definition at line 57 of file crf_segmentation.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::CrfSegmentation< PointT >::CrfSegmentation ( )

Constructor that sets default values for member variables.

Definition at line 53 of file crf_segmentation.hpp.

template<typename PointT >
pcl::CrfSegmentation< PointT >::~CrfSegmentation ( )

This destructor destroys the cloud...

Definition at line 66 of file crf_segmentation.hpp.

Member Function Documentation

template<typename PointT >
void pcl::CrfSegmentation< PointT >::createDataVectorFromVoxelGrid ( )
template<typename PointT >
void pcl::CrfSegmentation< PointT >::createUnaryPotentials ( std::vector< float > &  unary,
std::vector< int > &  colors,
unsigned int  n_labels 
)
template<typename PointT >
void pcl::CrfSegmentation< PointT >::createVoxelGrid ( )
template<typename PointT >
void pcl::CrfSegmentation< PointT >::segmentPoints ( pcl::PointCloud< pcl::PointXYZRGBL > &  output)
template<typename PointT >
void pcl::CrfSegmentation< PointT >::setAnnotatedCloud ( typename pcl::PointCloud< pcl::PointXYZRGBL >::Ptr  anno_cloud)

Definition at line 82 of file crf_segmentation.hpp.

References pcl::CrfSegmentation< PointT >::anno_cloud_.

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setAppearanceKernelParameters ( float  sx,
float  sy,
float  sz,
float  sr,
float  sg,
float  sb,
float  w 
)

Set the appearanche kernel parameters.

Parameters
[in]sxstandard deviation x
[in]systandard deviation y
[in]szstandard deviation z
[in]srstandard deviation red
[in]sgstandard deviation green
[in]sbstandard deviation blue
[in]wweight

Definition at line 122 of file crf_segmentation.hpp.

References pcl::CrfSegmentation< PointT >::appearance_kernel_param_.

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setInputCloud ( typename pcl::PointCloud< PointT >::Ptr  input_cloud)

This method sets the input cloud.

Parameters
[in]input_cloudinput point cloud

Definition at line 72 of file crf_segmentation.hpp.

References pcl::CrfSegmentation< PointT >::input_cloud_.

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setNormalCloud ( typename pcl::PointCloud< pcl::PointNormal >::Ptr  normal_cloud)
template<typename PointT >
void pcl::CrfSegmentation< PointT >::setNumberOfIterations ( unsigned int  n_iterations = 10)
inline

Definition at line 94 of file crf_segmentation.h.

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setSmoothnessKernelParameters ( const float  sx,
const float  sy,
const float  sz,
const float  w 
)

Set the smoothness kernel parameters.

Parameters
[in]sxstandard deviation x
[in]systandard deviation y
[in]szstandard deviation z
[in]wweight

Definition at line 111 of file crf_segmentation.hpp.

References pcl::CrfSegmentation< PointT >::smoothness_kernel_param_.

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setSurfaceKernelParameters ( float  sx,
float  sy,
float  sz,
float  snx,
float  sny,
float  snz,
float  w 
)
template<typename PointT >
void pcl::CrfSegmentation< PointT >::setVoxelGridLeafSize ( const float  x,
const float  y,
const float  z 
)

Set the leaf size for the voxel grid.

Parameters
[in]xleaf size x-axis
[in]yleaf size y-axis
[in]zleaf size z-axis

Definition at line 102 of file crf_segmentation.hpp.

References pcl::CrfSegmentation< PointT >::voxel_grid_leaf_size_.

Member Data Documentation

template<typename PointT >
pcl::PointCloud<pcl::PointXYZRGBL>::Ptr pcl::CrfSegmentation< PointT >::anno_cloud_
protected
template<typename PointT >
float pcl::CrfSegmentation< PointT >::appearance_kernel_param_[7]
protected

appearance kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = standard deviation red [4] = standard deviation green [5] = standard deviation blue [6] = weight

Definition at line 194 of file crf_segmentation.h.

Referenced by pcl::CrfSegmentation< PointT >::segmentPoints(), and pcl::CrfSegmentation< PointT >::setAppearanceKernelParameters().

template<typename PointT >
std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > pcl::CrfSegmentation< PointT >::color_
protected
template<typename PointT >
std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > pcl::CrfSegmentation< PointT >::data_
protected

voxel grid data points packing order [x0y0z0, x1y0z0,x2y0z0,...,x0y1z0,x1y1z0,...,x0y0z1,x1y0z1,...]

Definition at line 171 of file crf_segmentation.h.

Referenced by pcl::CrfSegmentation< PointT >::createDataVectorFromVoxelGrid(), and pcl::CrfSegmentation< PointT >::segmentPoints().

template<typename PointT >
Eigen::Vector3i pcl::CrfSegmentation< PointT >::dim_
protected

Voxel grid dimensions.

Definition at line 166 of file crf_segmentation.h.

template<typename PointT >
pcl::PointCloud<pcl::PointXYZRGBL>::Ptr pcl::CrfSegmentation< PointT >::filtered_anno_
protected
template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::CrfSegmentation< PointT >::filtered_cloud_
protected
template<typename PointT >
pcl::PointCloud<pcl::PointNormal>::Ptr pcl::CrfSegmentation< PointT >::filtered_normal_
protected
template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::CrfSegmentation< PointT >::input_cloud_
protected
template<typename PointT >
unsigned int pcl::CrfSegmentation< PointT >::n_iterations_
protected

Definition at line 199 of file crf_segmentation.h.

Referenced by pcl::CrfSegmentation< PointT >::segmentPoints().

template<typename PointT >
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CrfSegmentation< PointT >::normal_
protected
template<typename PointT >
pcl::PointCloud<pcl::PointNormal>::Ptr pcl::CrfSegmentation< PointT >::normal_cloud_
protected
template<typename PointT >
float pcl::CrfSegmentation< PointT >::smoothness_kernel_param_[4]
protected

smoothness kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = weight

Definition at line 183 of file crf_segmentation.h.

Referenced by pcl::CrfSegmentation< PointT >::segmentPoints(), and pcl::CrfSegmentation< PointT >::setSmoothnessKernelParameters().

template<typename PointT >
float pcl::CrfSegmentation< PointT >::surface_kernel_param_[7]
protected
template<typename PointT >
pcl::VoxelGrid<PointT> pcl::CrfSegmentation< PointT >::voxel_grid_
protected

Voxel grid to discretize the scene.

Definition at line 147 of file crf_segmentation.h.

Referenced by pcl::CrfSegmentation< PointT >::createDataVectorFromVoxelGrid(), and pcl::CrfSegmentation< PointT >::createVoxelGrid().

template<typename PointT >
Eigen::Vector4f pcl::CrfSegmentation< PointT >::voxel_grid_leaf_size_
protected

indices of the filtered cloud.

Voxel grid leaf size

Definition at line 163 of file crf_segmentation.h.

Referenced by pcl::CrfSegmentation< PointT >::createVoxelGrid(), and pcl::CrfSegmentation< PointT >::setVoxelGridLeafSize().


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