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 >:

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Collaboration diagram for pcl::StatisticalMultiscaleInterestRegionExtraction< PointT >:

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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. 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...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. 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<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

Definition at line 74 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::PCLBase< PointT >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::PCLBase< PointT >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr

inherited

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 ( )

inlineinherited

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 ( )

inlineinherited

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)

inlineinherited

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)

inlineinherited

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)

inlineinherited

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)

inlineinherited

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
	)

inlineinherited

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)

inlinevirtualinherited

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:

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/statistical_multiscale_interest_region_extraction.h
/builddir/build/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 >