Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions
pcl::StatisticalMultiscaleInterestRegionExtraction< PointT > Class Template Reference

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 >:

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
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 StatisticalMultiscaleInterestRegionExtraction ()
 Empty constructor. More...
 
void generateCloudGraph ()
 Method that generates the underlying nearest neighbor graph based on the input point cloud. More...
 
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. More...
 
void setScalesVector (std::vector< float > &scale_values)
 Method for setting the scale parameters for the algorithm. More...
 
std::vector< float > getScalesVector ()
 Method for getting the scale parameters vector. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

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<std::vector<int> > pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >::IndicesPtr

Constructor & Destructor Documentation

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 122 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 53 of file statistical_multiscale_interest_region_extraction.hpp.

References pcl::KdTreeFLANN< PointT, Dist >::nearestKSearch(), and pcl::KdTreeFLANN< PointT, Dist >::setInputCloud().

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

Method for setting the scale parameters for the algorithm.

Parameters
scale_valuesvector 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: