Point Cloud Library (PCL)  1.14.0-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::MinCutSegmentation< PointT > Class Template Reference

This class implements the segmentation algorithm based on minimal cut of the graph. More...

#include <pcl/segmentation/min_cut_segmentation.h>

+ Inheritance diagram for pcl::MinCutSegmentation< PointT >:
+ Collaboration diagram for pcl::MinCutSegmentation< PointT >:

Public Types

using KdTree = pcl::search::Search< PointT >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using Traits = boost::adjacency_list_traits< boost::vecS, boost::vecS, boost::directedS >
 
using mGraph = boost::adjacency_list< boost::vecS, boost::vecS, boost::directedS, boost::property< boost::vertex_name_t, std::string, boost::property< boost::vertex_index_t, long, boost::property< boost::vertex_color_t, boost::default_color_type, boost::property< boost::vertex_distance_t, long, boost::property< boost::vertex_predecessor_t, Traits::edge_descriptor > > > > >, boost::property< boost::edge_capacity_t, double, boost::property< boost::edge_residual_capacity_t, double, boost::property< boost::edge_reverse_t, Traits::edge_descriptor > > > >
 
using CapacityMap = boost::property_map< mGraph, boost::edge_capacity_t >::type
 
using ReverseEdgeMap = boost::property_map< mGraph, boost::edge_reverse_t >::type
 
using VertexDescriptor = Traits::vertex_descriptor
 
using EdgeDescriptor = boost::graph_traits< mGraph >::edge_descriptor
 
using OutEdgeIterator = boost::graph_traits< mGraph >::out_edge_iterator
 
using VertexIterator = boost::graph_traits< mGraph >::vertex_iterator
 
using ResidualCapacityMap = boost::property_map< mGraph, boost::edge_residual_capacity_t >::type
 
using IndexMap = boost::property_map< mGraph, boost::vertex_index_t >::type
 
using InEdgeIterator = boost::graph_traits< mGraph >::in_edge_iterator
 
using mGraphPtr = shared_ptr< mGraph >
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 MinCutSegmentation ()
 Constructor that sets default values for member variables. More...
 
 ~MinCutSegmentation () override
 Destructor that frees memory. More...
 
void setInputCloud (const PointCloudConstPtr &cloud) override
 This method simply sets the input point cloud. More...
 
double getSigma () const
 Returns normalization value for binary potentials. More...
 
void setSigma (double sigma)
 Allows to set the normalization value for the binary potentials as described in the article. More...
 
double getRadius () const
 Returns radius to the background. More...
 
void setRadius (double radius)
 Allows to set the radius to the background. More...
 
double getSourceWeight () const
 Returns weight that every edge from the source point has. More...
 
void setSourceWeight (double weight)
 Allows to set weight for source edges. More...
 
KdTreePtr getSearchMethod () const
 Returns search method that is used for finding KNN. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Allows to set search method for finding KNN. More...
 
unsigned int getNumberOfNeighbours () const
 Returns the number of neighbours to find. More...
 
void setNumberOfNeighbours (unsigned int neighbour_number)
 Allows to set the number of neighbours to find. More...
 
std::vector< PointT, Eigen::aligned_allocator< PointT > > getForegroundPoints () const
 Returns the points that must belong to foreground. More...
 
void setForegroundPoints (typename pcl::PointCloud< PointT >::Ptr foreground_points)
 Allows to specify points which are known to be the points of the object. More...
 
std::vector< PointT, Eigen::aligned_allocator< PointT > > getBackgroundPoints () const
 Returns the points that must belong to background. More...
 
void setBackgroundPoints (typename pcl::PointCloud< PointT >::Ptr background_points)
 Allows to specify points which are known to be the points of the background. More...
 
void extract (std::vector< pcl::PointIndices > &clusters)
 This method launches the segmentation algorithm and returns the clusters that were obtained during the segmentation. More...
 
double getMaxFlow () const
 Returns that flow value that was calculated during the segmentation. More...
 
mGraphPtr getGraph () const
 Returns the graph that was build for finding the minimum cut. More...
 
pcl::PointCloud< pcl::PointXYZRGB >::Ptr getColoredCloud ()
 Returns the colored cloud. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 Destructor. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

bool buildGraph ()
 This method simply builds the graph that will be used during the segmentation. More...
 
void calculateUnaryPotential (int point, double &source_weight, double &sink_weight) const
 Returns unary potential(data cost) for the given point index. More...
 
bool addEdge (int source, int target, double weight)
 This method simply adds the edge from the source point to the target point with a given weight. More...
 
double calculateBinaryPotential (int source, int target) const
 Returns the binary potential(smooth cost) for the given indices of points. More...
 
bool recalculateUnaryPotentials ()
 This method recalculates unary potentials(data cost) if some changes were made, instead of creating new graph. More...
 
bool recalculateBinaryPotentials ()
 This method recalculates binary potentials(smooth cost) if some changes were made, instead of creating new graph. More...
 
void assembleLabels (ResidualCapacityMap &residual_capacity)
 This method analyzes the residual network and assigns a label to every point in the cloud. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

double inverse_sigma_ {16.0}
 Stores the sigma coefficient. More...
 
bool binary_potentials_are_valid_ {false}
 Signalizes if the binary potentials are valid. More...
 
double epsilon_ {0.0001}
 Used for comparison of the floating point numbers. More...
 
double radius_ {16.0}
 Stores the distance to the background. More...
 
bool unary_potentials_are_valid_ {false}
 Signalizes if the unary potentials are valid. More...
 
double source_weight_ {0.8}
 Stores the weight for every edge that comes from source point. More...
 
KdTreePtr search_ {nullptr}
 Stores the search method that will be used for finding K nearest neighbors. More...
 
unsigned int number_of_neighbours_ {14}
 Stores the number of neighbors to find. More...
 
bool graph_is_valid_ {false}
 Signalizes if the graph is valid. More...
 
std::vector< PointT, Eigen::aligned_allocator< PointT > > foreground_points_ {}
 Stores the points that are known to be in the foreground. More...
 
std::vector< PointT, Eigen::aligned_allocator< PointT > > background_points_ {}
 Stores the points that are known to be in the background. More...
 
std::vector< pcl::PointIndicesclusters_ {}
 After the segmentation it will contain the segments. More...
 
mGraphPtr graph_ {nullptr}
 Stores the graph for finding the maximum flow. More...
 
std::shared_ptr< CapacityMapcapacity_ {nullptr}
 Stores the capacity of every edge in the graph. More...
 
std::shared_ptr< ReverseEdgeMapreverse_edges_ {nullptr}
 Stores reverse edges for every edge in the graph. More...
 
std::vector< VertexDescriptorvertices_ {}
 Stores the vertices of the graph. More...
 
std::vector< std::set< int > > edge_marker_ {}
 Stores the information about the edges that were added to the graph. More...
 
VertexDescriptor source_ {}
 Stores the vertex that serves as source. More...
 
VertexDescriptor sink_ {}
 Stores the vertex that serves as sink. More...
 
double max_flow_ {0.0}
 Stores the maximum flow value that was calculated during the segmentation. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

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

This class implements the segmentation algorithm based on minimal cut of the graph.

The description can be found in the article: "Min-Cut Based Segmentation of Point Clouds"

Author
: Aleksey Golovinskiy and Thomas Funkhouser.

Definition at line 60 of file min_cut_segmentation.h.

Member Typedef Documentation

◆ CapacityMap

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::CapacityMap = boost::property_map< mGraph, boost::edge_capacity_t >::type

Definition at line 88 of file min_cut_segmentation.h.

◆ EdgeDescriptor

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::EdgeDescriptor = boost::graph_traits<mGraph>::edge_descriptor

Definition at line 94 of file min_cut_segmentation.h.

◆ IndexMap

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::IndexMap = boost::property_map< mGraph, boost::vertex_index_t >::type

Definition at line 102 of file min_cut_segmentation.h.

◆ InEdgeIterator

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::InEdgeIterator = boost::graph_traits<mGraph>::in_edge_iterator

Definition at line 104 of file min_cut_segmentation.h.

◆ KdTree

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::KdTree = pcl::search::Search<PointT>

Definition at line 64 of file min_cut_segmentation.h.

◆ KdTreePtr

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::KdTreePtr = typename KdTree::Ptr

Definition at line 65 of file min_cut_segmentation.h.

◆ mGraph

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::mGraph = boost::adjacency_list< boost::vecS, boost::vecS, boost::directedS, boost::property< boost::vertex_name_t, std::string, boost::property< boost::vertex_index_t, long, boost::property< boost::vertex_color_t, boost::default_color_type, boost::property< boost::vertex_distance_t, long, boost::property< boost::vertex_predecessor_t, Traits::edge_descriptor > > > > >, boost::property< boost::edge_capacity_t, double, boost::property< boost::edge_residual_capacity_t, double, boost::property< boost::edge_reverse_t, Traits::edge_descriptor > > > >

Definition at line 78 of file min_cut_segmentation.h.

◆ mGraphPtr

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::mGraphPtr = shared_ptr<mGraph>

Definition at line 106 of file min_cut_segmentation.h.

◆ OutEdgeIterator

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::OutEdgeIterator = boost::graph_traits<mGraph>::out_edge_iterator

Definition at line 96 of file min_cut_segmentation.h.

◆ PointCloud

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 66 of file min_cut_segmentation.h.

◆ PointCloudConstPtr

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 67 of file min_cut_segmentation.h.

◆ ResidualCapacityMap

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::ResidualCapacityMap = boost::property_map< mGraph, boost::edge_residual_capacity_t >::type

Definition at line 100 of file min_cut_segmentation.h.

◆ ReverseEdgeMap

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::ReverseEdgeMap = boost::property_map< mGraph, boost::edge_reverse_t>::type

Definition at line 90 of file min_cut_segmentation.h.

◆ Traits

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::Traits = boost::adjacency_list_traits< boost::vecS, boost::vecS, boost::directedS >

Definition at line 76 of file min_cut_segmentation.h.

◆ VertexDescriptor

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::VertexDescriptor = Traits::vertex_descriptor

Definition at line 92 of file min_cut_segmentation.h.

◆ VertexIterator

template<typename PointT >
using pcl::MinCutSegmentation< PointT >::VertexIterator = boost::graph_traits<mGraph>::vertex_iterator

Definition at line 98 of file min_cut_segmentation.h.

Constructor & Destructor Documentation

◆ MinCutSegmentation()

template<typename PointT >
pcl::MinCutSegmentation< PointT >::MinCutSegmentation ( )
default

Constructor that sets default values for member variables.

◆ ~MinCutSegmentation()

template<typename PointT >
pcl::MinCutSegmentation< PointT >::~MinCutSegmentation
override

Destructor that frees memory.

Definition at line 54 of file min_cut_segmentation.hpp.

Member Function Documentation

◆ addEdge()

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::addEdge ( int  source,
int  target,
double  weight 
)
protected

This method simply adds the edge from the source point to the target point with a given weight.

Parameters
[in]sourceindex of the source point of the edge
[in]targetindex of the target point of the edge
[in]weightweight that will be assigned to the (source, target) edge

Definition at line 404 of file min_cut_segmentation.hpp.

◆ assembleLabels()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::assembleLabels ( ResidualCapacityMap residual_capacity)
protected

This method analyzes the residual network and assigns a label to every point in the cloud.

Parameters
[in]residual_capacityresidual network that was obtained during the segmentation

Definition at line 515 of file min_cut_segmentation.hpp.

References pcl::PointIndices::indices.

◆ buildGraph()

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::buildGraph
protected

This method simply builds the graph that will be used during the segmentation.

Definition at line 284 of file min_cut_segmentation.hpp.

◆ calculateBinaryPotential()

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::calculateBinaryPotential ( int  source,
int  target 
) const
protected

Returns the binary potential(smooth cost) for the given indices of points.

In other words it returns weight that must be assigned to the edge from source to target point.

Parameters
[in]sourceindex of the source point of the edge
[in]targetindex of the target point of the edge

Definition at line 430 of file min_cut_segmentation.hpp.

References pcl::geometry::distance().

◆ calculateUnaryPotential()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::calculateUnaryPotential ( int  point,
double &  source_weight,
double &  sink_weight 
) const
protected

Returns unary potential(data cost) for the given point index.

In other words it calculates weights for (source, point) and (point, sink) edges.

Parameters
[in]pointindex of the point for which weights will be calculated
[out]source_weightcalculated weight for the (source, point) edge
[out]sink_weightcalculated weight for the (point, sink) edge

Definition at line 348 of file min_cut_segmentation.hpp.

◆ extract()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::extract ( std::vector< pcl::PointIndices > &  clusters)

This method launches the segmentation algorithm and returns the clusters that were obtained during the segmentation.

The indices of points that belong to the object will be stored in the cluster with index 1, other indices will be stored in the cluster with index 0.

Parameters
[out]clustersclusters that were obtained. Each cluster is an array of point indices.

Definition at line 199 of file min_cut_segmentation.hpp.

◆ getBackgroundPoints()

template<typename PointT >
std::vector< PointT, Eigen::aligned_allocator< PointT > > pcl::MinCutSegmentation< PointT >::getBackgroundPoints

Returns the points that must belong to background.

Definition at line 181 of file min_cut_segmentation.hpp.

◆ getColoredCloud()

template<typename PointT >
pcl::PointCloud< pcl::PointXYZRGB >::Ptr pcl::MinCutSegmentation< PointT >::getColoredCloud

Returns the colored cloud.

Points that belong to the object have the same color.

Definition at line 542 of file min_cut_segmentation.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

◆ getForegroundPoints()

template<typename PointT >
std::vector< PointT, Eigen::aligned_allocator< PointT > > pcl::MinCutSegmentation< PointT >::getForegroundPoints

Returns the points that must belong to foreground.

Definition at line 163 of file min_cut_segmentation.hpp.

◆ getGraph()

template<typename PointT >
pcl::MinCutSegmentation< PointT >::mGraphPtr pcl::MinCutSegmentation< PointT >::getGraph

Returns the graph that was build for finding the minimum cut.

Definition at line 277 of file min_cut_segmentation.hpp.

◆ getMaxFlow()

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::getMaxFlow

Returns that flow value that was calculated during the segmentation.

Definition at line 270 of file min_cut_segmentation.hpp.

◆ getNumberOfNeighbours()

template<typename PointT >
unsigned int pcl::MinCutSegmentation< PointT >::getNumberOfNeighbours

Returns the number of neighbours to find.

Definition at line 143 of file min_cut_segmentation.hpp.

◆ getRadius()

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::getRadius

Returns radius to the background.

Definition at line 93 of file min_cut_segmentation.hpp.

◆ getSearchMethod()

template<typename PointT >
pcl::MinCutSegmentation< PointT >::KdTreePtr pcl::MinCutSegmentation< PointT >::getSearchMethod

Returns search method that is used for finding KNN.

The graph is build such way that it contains the edges that connect point and its KNN.

Definition at line 129 of file min_cut_segmentation.hpp.

◆ getSigma()

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::getSigma

Returns normalization value for binary potentials.

For more information see the article.

Definition at line 75 of file min_cut_segmentation.hpp.

◆ getSourceWeight()

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::getSourceWeight

Returns weight that every edge from the source point has.

Definition at line 111 of file min_cut_segmentation.hpp.

◆ recalculateBinaryPotentials()

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::recalculateBinaryPotentials
protected

This method recalculates binary potentials(smooth cost) if some changes were made, instead of creating new graph.

Definition at line 470 of file min_cut_segmentation.hpp.

◆ recalculateUnaryPotentials()

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::recalculateUnaryPotentials
protected

This method recalculates unary potentials(data cost) if some changes were made, instead of creating new graph.

Definition at line 445 of file min_cut_segmentation.hpp.

◆ setBackgroundPoints()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setBackgroundPoints ( typename pcl::PointCloud< PointT >::Ptr  background_points)

Allows to specify points which are known to be the points of the background.

Parameters
[in]background_pointspoint cloud that contains background points.

Definition at line 188 of file min_cut_segmentation.hpp.

References pcl::PointCloud< PointT >::cbegin(), and pcl::PointCloud< PointT >::cend().

◆ setForegroundPoints()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setForegroundPoints ( typename pcl::PointCloud< PointT >::Ptr  foreground_points)

Allows to specify points which are known to be the points of the object.

Parameters
[in]foreground_pointspoint cloud that contains foreground points. At least one point must be specified.

Definition at line 170 of file min_cut_segmentation.hpp.

References pcl::PointCloud< PointT >::cbegin(), and pcl::PointCloud< PointT >::cend().

◆ setInputCloud()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setInputCloud ( const PointCloudConstPtr cloud)
overridevirtual

This method simply sets the input point cloud.

Parameters
[in]cloudthe const boost shared pointer to a PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 65 of file min_cut_segmentation.hpp.

◆ setNumberOfNeighbours()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setNumberOfNeighbours ( unsigned int  neighbour_number)

Allows to set the number of neighbours to find.

Parameters
[in]neighbour_numbernew number of neighbours

Definition at line 150 of file min_cut_segmentation.hpp.

◆ setRadius()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setRadius ( double  radius)

Allows to set the radius to the background.

Parameters
[in]radiusnew radius to the background

Definition at line 100 of file min_cut_segmentation.hpp.

◆ setSearchMethod()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setSearchMethod ( const KdTreePtr tree)

Allows to set search method for finding KNN.

The graph is build such way that it contains the edges that connect point and its KNN.

Parameters
[in]treesearch method that will be used for finding KNN.

Definition at line 136 of file min_cut_segmentation.hpp.

◆ setSigma()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setSigma ( double  sigma)

Allows to set the normalization value for the binary potentials as described in the article.

Parameters
[in]sigmanew normalization value

Definition at line 82 of file min_cut_segmentation.hpp.

◆ setSourceWeight()

template<typename PointT >
void pcl::MinCutSegmentation< PointT >::setSourceWeight ( double  weight)

Allows to set weight for source edges.

Every edge that comes from the source point will have that weight.

Parameters
[in]weightnew weight

Definition at line 118 of file min_cut_segmentation.hpp.

Member Data Documentation

◆ background_points_

template<typename PointT >
std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::MinCutSegmentation< PointT >::background_points_ {}
protected

Stores the points that are known to be in the background.

Definition at line 294 of file min_cut_segmentation.h.

◆ binary_potentials_are_valid_

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::binary_potentials_are_valid_ {false}
protected

Signalizes if the binary potentials are valid.

Definition at line 267 of file min_cut_segmentation.h.

◆ capacity_

template<typename PointT >
std::shared_ptr<CapacityMap> pcl::MinCutSegmentation< PointT >::capacity_ {nullptr}
protected

Stores the capacity of every edge in the graph.

Definition at line 303 of file min_cut_segmentation.h.

◆ clusters_

template<typename PointT >
std::vector<pcl::PointIndices> pcl::MinCutSegmentation< PointT >::clusters_ {}
protected

After the segmentation it will contain the segments.

Definition at line 297 of file min_cut_segmentation.h.

◆ edge_marker_

template<typename PointT >
std::vector< std::set<int> > pcl::MinCutSegmentation< PointT >::edge_marker_ {}
protected

Stores the information about the edges that were added to the graph.

It is used to avoid the duplicate edges.

Definition at line 312 of file min_cut_segmentation.h.

◆ epsilon_

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::epsilon_ {0.0001}
protected

Used for comparison of the floating point numbers.

Definition at line 270 of file min_cut_segmentation.h.

◆ foreground_points_

template<typename PointT >
std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::MinCutSegmentation< PointT >::foreground_points_ {}
protected

Stores the points that are known to be in the foreground.

Definition at line 291 of file min_cut_segmentation.h.

◆ graph_

template<typename PointT >
mGraphPtr pcl::MinCutSegmentation< PointT >::graph_ {nullptr}
protected

Stores the graph for finding the maximum flow.

Definition at line 300 of file min_cut_segmentation.h.

◆ graph_is_valid_

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::graph_is_valid_ {false}
protected

Signalizes if the graph is valid.

Definition at line 288 of file min_cut_segmentation.h.

◆ inverse_sigma_

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::inverse_sigma_ {16.0}
protected

Stores the sigma coefficient.

It is used for finding smooth costs. More information can be found in the article.

Definition at line 264 of file min_cut_segmentation.h.

◆ max_flow_

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::max_flow_ {0.0}
protected

Stores the maximum flow value that was calculated during the segmentation.

Definition at line 321 of file min_cut_segmentation.h.

◆ number_of_neighbours_

template<typename PointT >
unsigned int pcl::MinCutSegmentation< PointT >::number_of_neighbours_ {14}
protected

Stores the number of neighbors to find.

Definition at line 285 of file min_cut_segmentation.h.

◆ radius_

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::radius_ {16.0}
protected

Stores the distance to the background.

Definition at line 273 of file min_cut_segmentation.h.

◆ reverse_edges_

template<typename PointT >
std::shared_ptr<ReverseEdgeMap> pcl::MinCutSegmentation< PointT >::reverse_edges_ {nullptr}
protected

Stores reverse edges for every edge in the graph.

Definition at line 306 of file min_cut_segmentation.h.

◆ search_

template<typename PointT >
KdTreePtr pcl::MinCutSegmentation< PointT >::search_ {nullptr}
protected

Stores the search method that will be used for finding K nearest neighbors.

Neighbours are used for building the graph.

Definition at line 282 of file min_cut_segmentation.h.

◆ sink_

template<typename PointT >
VertexDescriptor pcl::MinCutSegmentation< PointT >::sink_ {}
protected

Stores the vertex that serves as sink.

Definition at line 318 of file min_cut_segmentation.h.

◆ source_

template<typename PointT >
VertexDescriptor pcl::MinCutSegmentation< PointT >::source_ {}
protected

Stores the vertex that serves as source.

Definition at line 315 of file min_cut_segmentation.h.

◆ source_weight_

template<typename PointT >
double pcl::MinCutSegmentation< PointT >::source_weight_ {0.8}
protected

Stores the weight for every edge that comes from source point.

Definition at line 279 of file min_cut_segmentation.h.

◆ unary_potentials_are_valid_

template<typename PointT >
bool pcl::MinCutSegmentation< PointT >::unary_potentials_are_valid_ {false}
protected

Signalizes if the unary potentials are valid.

Definition at line 276 of file min_cut_segmentation.h.

◆ vertices_

template<typename PointT >
std::vector< VertexDescriptor > pcl::MinCutSegmentation< PointT >::vertices_ {}
protected

Stores the vertices of the graph.

Definition at line 309 of file min_cut_segmentation.h.


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