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

This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm. More...

#include <pcl/recognition/implicit_shape_model.h>

Public Member Functions

 ISMVoteList ()
 Empty constructor with member variables initialization. More...
 
virtual ~ISMVoteList ()
 virtual descriptor. More...
 
void addVote (pcl::InterestPoint &in_vote, const PointT &vote_origin, int in_class)
 This method simply adds another vote to the list. More...
 
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). More...
 
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). More...
 
double getDensityAtPoint (const PointT &point, double sigma_dist)
 Returns the density at the specified point. More...
 
unsigned int getNumberOfVotes ()
 This method simply returns the number of votes. More...
 

Protected Member Functions

void validateTree ()
 this method is simply setting up the search tree. More...
 
Eigen::Vector3f shiftMean (const Eigen::Vector3f &snapPt, const double in_dSigmaDist)
 

Protected Attributes

pcl::PointCloud< pcl::InterestPoint >::Ptr votes_
 Stores all votes. More...
 
bool tree_is_valid_
 Signalizes if the tree is valid. More...
 
pcl::PointCloud< PointT >::Ptr votes_origins_
 Stores the origins of the votes. More...
 
std::vector< int > votes_class_
 Stores classes for which every single vote was cast. More...
 
pcl::KdTreeFLANN< pcl::InterestPoint >::Ptr tree_
 Stores the search tree. More...
 
std::vector< int > k_ind_
 Stores neighbours indices. More...
 
std::vector< float > k_sqr_dist_
 Stores square distances to the corresponding neighbours. More...
 

Detailed Description

template<typename PointT>
class pcl::features::ISMVoteList< PointT >

This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm.

Definition at line 76 of file implicit_shape_model.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::features::ISMVoteList< PointT >::ISMVoteList ( )

Empty constructor with member variables initialization.

Definition at line 48 of file implicit_shape_model.hpp.

template<typename PointT >
pcl::features::ISMVoteList< PointT >::~ISMVoteList ( )
virtual

Member Function Documentation

template<typename PointT >
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.

Parameters
[in]in_votevote to add
[in]vote_originorigin of the added vote
[in]in_classclass for which this vote is cast

Definition at line 73 of file implicit_shape_model.hpp.

References pcl::PointCloud< PointT >::points, pcl::features::ISMVoteList< PointT >::tree_is_valid_, pcl::features::ISMVoteList< PointT >::votes_, pcl::features::ISMVoteList< PointT >::votes_class_, and pcl::features::ISMVoteList< PointT >::votes_origins_.

template<typename PointT >
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.

Parameters
[out]out_peaksit will contain the strongest peaks
[in]in_class_idclass of interest for which peaks are evaluated
[in]in_non_maxima_radiusnon maxima supression radius. The shapes radius is recommended for this value.
in_sigma

Definition at line 124 of file implicit_shape_model.hpp.

References pcl::ISMPeak::class_id, pcl::ISMPeak::density, pcl::features::ISMVoteList< PointT >::getDensityAtPoint(), pcl::PointCloud< PointT >::points, pcl::features::ISMVoteList< PointT >::shiftMean(), pcl::features::ISMVoteList< PointT >::validateTree(), pcl::features::ISMVoteList< PointT >::votes_, and pcl::features::ISMVoteList< PointT >::votes_class_.

template<typename PointT >
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).

Parameters
[in]cloudcloud that needs to be merged with votes for visualizing.

Definition at line 85 of file implicit_shape_model.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::features::ISMVoteList< PointT >::votes_, and pcl::PointCloud< PointT >::width.

template<typename PointT >
double pcl::features::ISMVoteList< PointT >::getDensityAtPoint ( const PointT point,
double  sigma_dist 
)
template<typename PointT >
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.

References pcl::PointCloud< PointT >::points, and pcl::features::ISMVoteList< PointT >::votes_.

template<typename PointT >
Eigen::Vector3f pcl::features::ISMVoteList< PointT >::shiftMean ( const Eigen::Vector3f &  snapPt,
const double  in_dSigmaDist 
)
protected
template<typename PointT >
void pcl::features::ISMVoteList< PointT >::validateTree ( )
protected

Member Data Documentation

template<typename PointT >
std::vector<int> pcl::features::ISMVoteList< PointT >::k_ind_
protected
template<typename PointT >
std::vector<float> pcl::features::ISMVoteList< PointT >::k_sqr_dist_
protected
template<typename PointT >
pcl::KdTreeFLANN<pcl::InterestPoint>::Ptr pcl::features::ISMVoteList< PointT >::tree_
protected
template<typename PointT >
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.

Referenced by pcl::features::ISMVoteList< PointT >::addVote(), and pcl::features::ISMVoteList< PointT >::validateTree().

template<typename PointT >
pcl::PointCloud<pcl::InterestPoint>::Ptr pcl::features::ISMVoteList< PointT >::votes_
protected
template<typename PointT >
std::vector<int> pcl::features::ISMVoteList< PointT >::votes_class_
protected
template<typename PointT >
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.

Referenced by pcl::features::ISMVoteList< PointT >::addVote(), and pcl::features::ISMVoteList< PointT >::~ISMVoteList().


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