Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::StatisticalMultiscaleInterestRegionExtraction Class 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>

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List of all members.

Public Types

typedef boost::shared_ptr
< std::vector< int > > 
IndicesPtr
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.
void generateCloudGraph ()
 Method that generates the underlying nearest neighbor graph based on the input point cloud.
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.
void setScalesVector (std::vector< float > &scale_values)
 Method for setting the scale parameters for the algorithm.
std::vector< float > getScalesVector ()
 Method for getting the scale parameters vector.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset.
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used.
const PointT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code.

Detailed Description

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

Member Typedef Documentation

typedef boost::shared_ptr<std::vector<int> > pcl::StatisticalMultiscaleInterestRegionExtraction::IndicesPtr
typedef pcl::PointCloud<PointT> pcl::PCLBase::PointCloud [inherited]

Constructor & Destructor Documentation

pcl::StatisticalMultiscaleInterestRegionExtraction::StatisticalMultiscaleInterestRegionExtraction ( ) [inline]

Empty constructor.

Definition at line 72 of file statistical_multiscale_interest_region_extraction.h.


Member Function Documentation

void pcl::StatisticalMultiscaleInterestRegionExtraction::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.

void pcl::StatisticalMultiscaleInterestRegionExtraction::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.

IndicesPtr const pcl::PCLBase::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

std::vector<float> pcl::StatisticalMultiscaleInterestRegionExtraction::getScalesVector ( ) [inline]

Method for getting the scale parameters vector.

Definition at line 95 of file statistical_multiscale_interest_region_extraction.h.

const PointT& pcl::PCLBase::operator[] ( size_t  pos) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters:
posposition in indices_ vector

Definition at line 178 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const IndicesPtr indices) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const PointIndicesConstPtr indices) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase::setIndices ( size_t  row_start,
size_t  col_start,
size_t  nb_rows,
size_t  nb_cols 
) [inline, inherited]

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_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

virtual void pcl::PCLBase::setInputCloud ( const PointCloudConstPtr cloud) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

void pcl::StatisticalMultiscaleInterestRegionExtraction::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 91 of file statistical_multiscale_interest_region_extraction.h.


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