#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< PointT >	voxel_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

Create a voxel grid to discretize the scene.

Definition at line 142 of file crf_segmentation.hpp.

References pcl::Filter< PointT >::filter(), pcl::VoxelGrid< PointT >::setDownsampleAllData(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().

◆ segmentPoints()

template<typename PointT >

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

This method simply launches the segmentation algorithm.

Definition at line 382 of file crf_segmentation.hpp.

References pcl::DenseCrf::addPairwiseBilateral(), pcl::DenseCrf::addPairwiseGaussian(), pcl::DenseCrf::addPairwiseNormals(), pcl::DenseCrf::mapInference(), pcl::DenseCrf::setColorVector(), pcl::DenseCrf::setDataVector(), and pcl::DenseCrf::setUnaryEnergy().

◆ 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]	sx	standard deviation x
[in]	sy	standard deviation y
[in]	sz	standard deviation z
[in]	sr	standard deviation red
[in]	sg	standard deviation green
[in]	sb	standard deviation blue
[in]	w	weight

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_cloud input 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]	sx	standard deviation x
[in]	sy	standard deviation y
[in]	sz	standard deviation z
[in]	w	weight

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]	x	leaf size x-axis
[in]	y	leaf size y-axis
[in]	z	leaf 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:

pcl/segmentation/crf_segmentation.h
pcl/segmentation/impl/crf_segmentation.hpp

Public Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ CrfSegmentation()

◆ ~CrfSegmentation()

Member Function Documentation

◆ createDataVectorFromVoxelGrid()

◆ createUnaryPotentials()

◆ createVoxelGrid()

◆ segmentPoints()

◆ setAnnotatedCloud()

◆ setAppearanceKernelParameters()

◆ setInputCloud()

◆ setNormalCloud()

◆ setNumberOfIterations()

◆ setSmoothnessKernelParameters()

◆ setSurfaceKernelParameters()

◆ setVoxelGridLeafSize()

Member Data Documentation

◆ anno_cloud_

◆ appearance_kernel_param_

◆ color_

◆ data_

◆ dim_

◆ filtered_anno_

◆ filtered_cloud_

◆ filtered_normal_

◆ input_cloud_

◆ n_iterations_

◆ normal_

◆ normal_cloud_

◆ smoothness_kernel_param_

◆ surface_kernel_param_

◆ voxel_grid_

◆ voxel_grid_leaf_size_

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