Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Member Functions | Protected Attributes
pcl::CrfSegmentation< PointT > Class Template Reference

#include <pcl/segmentation/crf_segmentation.h>

+ Collaboration diagram for pcl::CrfSegmentation< PointT >:

Public Member Functions

 CrfSegmentation ()
 Constructor that sets default values for member variables. More...
 
 ~CrfSegmentation ()
 This destructor destroys the cloud... More...
 
void setInputCloud (typename pcl::PointCloud< PointT >::Ptr input_cloud)
 This method sets the input cloud. More...
 
void setAnnotatedCloud (typename pcl::PointCloud< pcl::PointXYZRGBL >::Ptr anno_cloud)
 
void setNormalCloud (typename pcl::PointCloud< pcl::PointNormal >::Ptr normal_cloud)
 
void setVoxelGridLeafSize (const float x, const float y, const float z)
 Set the leaf size for the voxel grid. More...
 
void setNumberOfIterations (unsigned int n_iterations=10)
 
void segmentPoints (pcl::PointCloud< pcl::PointXYZRGBL > &output)
 This method simply launches the segmentation algorithm. More...
 
void createVoxelGrid ()
 Create a voxel grid to discretize the scene. More...
 
void createDataVectorFromVoxelGrid ()
 Get the data from the voxel grid and convert it into a vector. More...
 
void createUnaryPotentials (std::vector< float > &unary, std::vector< int > &colors, unsigned int n_labels)
 
void setSmoothnessKernelParameters (const float sx, const float sy, const float sz, const float w)
 Set the smoothness kernel parameters. More...
 
void setAppearanceKernelParameters (float sx, float sy, float sz, float sr, float sg, float sb, float w)
 Set the appearanche kernel parameters. More...
 
void setSurfaceKernelParameters (float sx, float sy, float sz, float snx, float sny, float snz, float w)
 

Protected Attributes

pcl::VoxelGrid< PointTvoxel_grid_
 Voxel grid to discretize the scene. More...
 
pcl::PointCloud< PointT >::Ptr input_cloud_
 input cloud that will be segmented. More...
 
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr anno_cloud_
 
pcl::PointCloud< pcl::PointNormal >::Ptr normal_cloud_
 
pcl::PointCloud< PointT >::Ptr filtered_cloud_
 voxel grid filtered cloud. More...
 
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr filtered_anno_
 
pcl::PointCloud< pcl::PointNormal >::Ptr filtered_normal_
 
Eigen::Vector4f voxel_grid_leaf_size_
 indices of the filtered cloud. More...
 
Eigen::Vector3i dim_
 Voxel grid dimensions. More...
 
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > data_
 voxel grid data points packing order [x0y0z0, x1y0z0,x2y0z0,...,x0y1z0,x1y1z0,...,x0y0z1,x1y0z1,...] More...
 
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > color_
 
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > normal_
 
float smoothness_kernel_param_ [4]
 smoothness kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = weight More...
 
float appearance_kernel_param_ [7]
 appearance kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = standard deviation red [4] = standard deviation green [5] = standard deviation blue [6] = weight More...
 
float surface_kernel_param_ [7]
 
unsigned int n_iterations_
 

Detailed Description

template<typename PointT>
class pcl::CrfSegmentation< PointT >

Definition at line 58 of file crf_segmentation.h.

Constructor & Destructor Documentation

◆ CrfSegmentation()

template<typename PointT >
pcl::CrfSegmentation< PointT >::CrfSegmentation

Constructor that sets default values for member variables.

Definition at line 53 of file crf_segmentation.hpp.

◆ ~CrfSegmentation()

template<typename PointT >
pcl::CrfSegmentation< PointT >::~CrfSegmentation ( )
default

This destructor destroys the cloud...

Member Function Documentation

◆ createDataVectorFromVoxelGrid()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::createDataVectorFromVoxelGrid

Get the data from the voxel grid and convert it into a vector.

Definition at line 191 of file crf_segmentation.hpp.

◆ createUnaryPotentials()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::createUnaryPotentials ( std::vector< float > &  unary,
std::vector< int > &  colors,
unsigned int  n_labels 
)

Definition at line 316 of file crf_segmentation.hpp.

◆ createVoxelGrid()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::createVoxelGrid

◆ segmentPoints()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::segmentPoints ( pcl::PointCloud< pcl::PointXYZRGBL > &  output)

◆ setAnnotatedCloud()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setAnnotatedCloud ( typename pcl::PointCloud< pcl::PointXYZRGBL >::Ptr  anno_cloud)

Definition at line 77 of file crf_segmentation.hpp.

◆ setAppearanceKernelParameters()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setAppearanceKernelParameters ( float  sx,
float  sy,
float  sz,
float  sr,
float  sg,
float  sb,
float  w 
)

Set the appearanche kernel parameters.

Parameters
[in]sxstandard deviation x
[in]systandard deviation y
[in]szstandard deviation z
[in]srstandard deviation red
[in]sgstandard deviation green
[in]sbstandard deviation blue
[in]wweight

Definition at line 111 of file crf_segmentation.hpp.

◆ setInputCloud()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setInputCloud ( typename pcl::PointCloud< PointT >::Ptr  input_cloud)

This method sets the input cloud.

Parameters
[in]input_cloudinput point cloud

Definition at line 70 of file crf_segmentation.hpp.

◆ setNormalCloud()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setNormalCloud ( typename pcl::PointCloud< pcl::PointNormal >::Ptr  normal_cloud)

Definition at line 84 of file crf_segmentation.hpp.

◆ setNumberOfIterations()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setNumberOfIterations ( unsigned int  n_iterations = 10)
inline

Definition at line 92 of file crf_segmentation.h.

◆ setSmoothnessKernelParameters()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setSmoothnessKernelParameters ( const float  sx,
const float  sy,
const float  sz,
const float  w 
)

Set the smoothness kernel parameters.

Parameters
[in]sxstandard deviation x
[in]systandard deviation y
[in]szstandard deviation z
[in]wweight

Definition at line 100 of file crf_segmentation.hpp.

◆ setSurfaceKernelParameters()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setSurfaceKernelParameters ( float  sx,
float  sy,
float  sz,
float  snx,
float  sny,
float  snz,
float  w 
)

Definition at line 126 of file crf_segmentation.hpp.

◆ setVoxelGridLeafSize()

template<typename PointT >
void pcl::CrfSegmentation< PointT >::setVoxelGridLeafSize ( const float  x,
const float  y,
const float  z 
)

Set the leaf size for the voxel grid.

Parameters
[in]xleaf size x-axis
[in]yleaf size y-axis
[in]zleaf size z-axis

Definition at line 91 of file crf_segmentation.hpp.

Member Data Documentation

◆ anno_cloud_

template<typename PointT >
pcl::PointCloud<pcl::PointXYZRGBL>::Ptr pcl::CrfSegmentation< PointT >::anno_cloud_
protected

Definition at line 149 of file crf_segmentation.h.

◆ appearance_kernel_param_

template<typename PointT >
float pcl::CrfSegmentation< PointT >::appearance_kernel_param_[7]
protected

appearance kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = standard deviation red [4] = standard deviation green [5] = standard deviation blue [6] = weight

Definition at line 192 of file crf_segmentation.h.

◆ color_

template<typename PointT >
std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > pcl::CrfSegmentation< PointT >::color_
protected

Definition at line 171 of file crf_segmentation.h.

◆ data_

template<typename PointT >
std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > pcl::CrfSegmentation< PointT >::data_
protected

voxel grid data points packing order [x0y0z0, x1y0z0,x2y0z0,...,x0y1z0,x1y1z0,...,x0y0z1,x1y0z1,...]

Definition at line 169 of file crf_segmentation.h.

◆ dim_

template<typename PointT >
Eigen::Vector3i pcl::CrfSegmentation< PointT >::dim_
protected

Voxel grid dimensions.

Definition at line 164 of file crf_segmentation.h.

◆ filtered_anno_

template<typename PointT >
pcl::PointCloud<pcl::PointXYZRGBL>::Ptr pcl::CrfSegmentation< PointT >::filtered_anno_
protected

Definition at line 154 of file crf_segmentation.h.

◆ filtered_cloud_

template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::CrfSegmentation< PointT >::filtered_cloud_
protected

voxel grid filtered cloud.

Definition at line 153 of file crf_segmentation.h.

◆ filtered_normal_

template<typename PointT >
pcl::PointCloud<pcl::PointNormal>::Ptr pcl::CrfSegmentation< PointT >::filtered_normal_
protected

Definition at line 155 of file crf_segmentation.h.

◆ input_cloud_

template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::CrfSegmentation< PointT >::input_cloud_
protected

input cloud that will be segmented.

Definition at line 148 of file crf_segmentation.h.

◆ n_iterations_

template<typename PointT >
unsigned int pcl::CrfSegmentation< PointT >::n_iterations_
protected

Definition at line 197 of file crf_segmentation.h.

◆ normal_

template<typename PointT >
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CrfSegmentation< PointT >::normal_
protected

Definition at line 173 of file crf_segmentation.h.

◆ normal_cloud_

template<typename PointT >
pcl::PointCloud<pcl::PointNormal>::Ptr pcl::CrfSegmentation< PointT >::normal_cloud_
protected

Definition at line 150 of file crf_segmentation.h.

◆ smoothness_kernel_param_

template<typename PointT >
float pcl::CrfSegmentation< PointT >::smoothness_kernel_param_[4]
protected

smoothness kernel parameters [0] = standard deviation x [1] = standard deviation y [2] = standard deviation z [3] = weight

Definition at line 181 of file crf_segmentation.h.

◆ surface_kernel_param_

template<typename PointT >
float pcl::CrfSegmentation< PointT >::surface_kernel_param_[7]
protected

Definition at line 194 of file crf_segmentation.h.

◆ voxel_grid_

template<typename PointT >
pcl::VoxelGrid<PointT> pcl::CrfSegmentation< PointT >::voxel_grid_
protected

Voxel grid to discretize the scene.

Definition at line 145 of file crf_segmentation.h.

◆ voxel_grid_leaf_size_

template<typename PointT >
Eigen::Vector4f pcl::CrfSegmentation< PointT >::voxel_grid_leaf_size_
protected

indices of the filtered cloud.

Voxel grid leaf size

Definition at line 161 of file crf_segmentation.h.


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