Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Attributes
pcl::DenseCrf Class Reference

#include <pcl/ml/densecrf.h>

Public Member Functions

 DenseCrf (int N, int m)
 Constructor for DenseCrf class. More...
 
 ~DenseCrf ()
 Deconstructor for DenseCrf class. More...
 
void setDataVector (const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > data)
 set the input data vector. More...
 
void setColorVector (const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > color)
 The associated color of the data. More...
 
void setUnaryEnergy (const std::vector< float > unary)
 
void addPairwiseEnergy (const std::vector< float > &feature, const int feature_dimension, const float w)
 
void addPairwiseGaussian (float sx, float sy, float sz, float w)
 Add a pairwise gaussian kernel. More...
 
void addPairwiseBilateral (float sx, float sy, float sz, float sr, float sg, float sb, float w)
 Add a bilateral gaussian kernel. More...
 
void addPairwiseNormals (std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &coord, std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &normals, float sx, float sy, float sz, float snx, float sny, float snz, float w)
 
void inference (int n_iterations, std::vector< float > &result, float relax=1.0f)
 
void mapInference (int n_iterations, std::vector< int > &result, float relax=1.0f)
 
void expAndNormalize (std::vector< float > &out, const std::vector< float > &in, float scale, float relax=1.0f)
 
void expAndNormalizeORI (float *out, const float *in, float scale=1.0f, float relax=1.0f)
 
void map (int n_iterations, std::vector< int > result, float relax=1.0f)
 
std::vector< float > runInference (int n_iterations, float relax)
 
void startInference ()
 
void stepInference (float relax)
 
void runInference (float relax)
 
void getBarycentric (int idx, std::vector< float > &bary)
 
void getFeatures (int idx, std::vector< float > &features)
 

Protected Attributes

int N_
 Number of variables and labels. More...
 
int M_
 
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > data_
 Data vector. More...
 
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > color_
 Color vector. More...
 
std::vector< float > unary_
 TODO: double might use to much memory. More...
 
std::vector< float > current_
 
std::vector< float > next_
 
std::vector< float > tmp_
 
std::vector< PairwisePotential * > pairwise_potential_
 pairwise potentials More...
 
bool xyz_
 input types More...
 
bool rgb_
 
bool normal_
 

Detailed Description

Definition at line 52 of file densecrf.h.

Constructor & Destructor Documentation

pcl::DenseCrf::DenseCrf ( int  N,
int  m 
)

Constructor for DenseCrf class.

pcl::DenseCrf::~DenseCrf ( )

Deconstructor for DenseCrf class.

Member Function Documentation

void pcl::DenseCrf::addPairwiseBilateral ( float  sx,
float  sy,
float  sz,
float  sr,
float  sg,
float  sb,
float  w 
)

Add a bilateral gaussian kernel.

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

void pcl::DenseCrf::addPairwiseEnergy ( const std::vector< float > &  feature,
const int  feature_dimension,
const float  w 
)
void pcl::DenseCrf::addPairwiseGaussian ( float  sx,
float  sy,
float  sz,
float  w 
)

Add a pairwise gaussian kernel.

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

void pcl::DenseCrf::addPairwiseNormals ( std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &  coord,
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &  normals,
float  sx,
float  sy,
float  sz,
float  snx,
float  sny,
float  snz,
float  w 
)
void pcl::DenseCrf::expAndNormalize ( std::vector< float > &  out,
const std::vector< float > &  in,
float  scale,
float  relax = 1.0f 
)
void pcl::DenseCrf::expAndNormalizeORI ( float *  out,
const float *  in,
float  scale = 1.0f,
float  relax = 1.0f 
)
void pcl::DenseCrf::getBarycentric ( int  idx,
std::vector< float > &  bary 
)
void pcl::DenseCrf::getFeatures ( int  idx,
std::vector< float > &  features 
)
void pcl::DenseCrf::inference ( int  n_iterations,
std::vector< float > &  result,
float  relax = 1.0f 
)
void pcl::DenseCrf::map ( int  n_iterations,
std::vector< int >  result,
float  relax = 1.0f 
)
void pcl::DenseCrf::mapInference ( int  n_iterations,
std::vector< int > &  result,
float  relax = 1.0f 
)
std::vector<float> pcl::DenseCrf::runInference ( int  n_iterations,
float  relax 
)
void pcl::DenseCrf::runInference ( float  relax)
void pcl::DenseCrf::setColorVector ( const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > >  color)

The associated color of the data.

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

void pcl::DenseCrf::setDataVector ( const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > >  data)

set the input data vector.

The input data vector holds the measurements coordinates as ijk of the voxel grid

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

void pcl::DenseCrf::setUnaryEnergy ( const std::vector< float >  unary)
void pcl::DenseCrf::startInference ( )
void pcl::DenseCrf::stepInference ( float  relax)

Member Data Documentation

std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > pcl::DenseCrf::color_
protected

Color vector.

Definition at line 144 of file densecrf.h.

std::vector<float> pcl::DenseCrf::current_
protected

Definition at line 150 of file densecrf.h.

std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > pcl::DenseCrf::data_
protected

Data vector.

Definition at line 141 of file densecrf.h.

int pcl::DenseCrf::M_
protected

Definition at line 138 of file densecrf.h.

int pcl::DenseCrf::N_
protected

Number of variables and labels.

Definition at line 138 of file densecrf.h.

std::vector<float> pcl::DenseCrf::next_
protected

Definition at line 151 of file densecrf.h.

bool pcl::DenseCrf::normal_
protected

Definition at line 158 of file densecrf.h.

std::vector<PairwisePotential*> pcl::DenseCrf::pairwise_potential_
protected

pairwise potentials

Definition at line 155 of file densecrf.h.

bool pcl::DenseCrf::rgb_
protected

Definition at line 158 of file densecrf.h.

std::vector<float> pcl::DenseCrf::tmp_
protected

Definition at line 152 of file densecrf.h.

std::vector<float> pcl::DenseCrf::unary_
protected

TODO: double might use to much memory.

CRF unary potentials

Definition at line 148 of file densecrf.h.

bool pcl::DenseCrf::xyz_
protected

input types

Definition at line 158 of file densecrf.h.


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