Implements the well known Region Growing algorithm used for segmentation based on color of points. More...

#include <pcl/segmentation/region_growing_rgb.h>

Inheritance diagram for pcl::RegionGrowingRGB< PointT, NormalT >:

Collaboration diagram for pcl::RegionGrowingRGB< PointT, NormalT >:

Public Member Functions
	RegionGrowingRGB ()
	Constructor that sets default values for member variables. More...

	~RegionGrowingRGB () override
	Destructor that frees memory. More...

float	getPointColorThreshold () const
	Returns the color threshold value used for testing if points belong to the same region. More...

void	setPointColorThreshold (float thresh)
	This method specifies the threshold value for color test between the points. More...

float	getRegionColorThreshold () const
	Returns the color threshold value used for testing if regions can be merged. More...

void	setRegionColorThreshold (float thresh)
	This method specifies the threshold value for color test between the regions. More...

float	getDistanceThreshold () const
	Returns the distance threshold. More...

void	setDistanceThreshold (float thresh)
	Allows to set distance threshold. More...

unsigned int	getNumberOfRegionNeighbours () const
	Returns the number of nearest neighbours used for searching K nearest segments. More...

void	setNumberOfRegionNeighbours (unsigned int nghbr_number)
	This method allows to set the number of neighbours that is used for finding neighbouring segments. More...

bool	getNormalTestFlag () const
	Returns the flag that signalize if the smoothness test is turned on/off. More...

void	setNormalTestFlag (bool value)
	Allows to turn on/off the smoothness test. More...

void	setCurvatureTestFlag (bool value) override
	Allows to turn on/off the curvature test. More...

void	setResidualTestFlag (bool value) override
	Allows to turn on/off the residual test. More...

void	extract (std::vector< pcl::PointIndices > &clusters) override
	This method launches the segmentation algorithm and returns the clusters that were obtained during the segmentation. More...

void	getSegmentFromPoint (index_t index, pcl::PointIndices &cluster) override
	For a given point this function builds a segment to which it belongs and returns this segment. More...

Public Member Functions inherited from pcl::RegionGrowing< PointT, pcl::Normal >
	RegionGrowing ()
	Constructor that sets default values for member variables. More...

	~RegionGrowing () override
	This destructor destroys the cloud, normals and search method used for finding KNN. More...

pcl::uindex_t	getMinClusterSize ()
	Get the minimum number of points that a cluster needs to contain in order to be considered valid. More...

void	setMinClusterSize (pcl::uindex_t min_cluster_size)
	Set the minimum number of points that a cluster needs to contain in order to be considered valid. More...

pcl::uindex_t	getMaxClusterSize ()
	Get the maximum number of points that a cluster needs to contain in order to be considered valid. More...

void	setMaxClusterSize (pcl::uindex_t max_cluster_size)
	Set the maximum number of points that a cluster needs to contain in order to be considered valid. More...

bool	getSmoothModeFlag () const
	Returns the flag value. More...

void	setSmoothModeFlag (bool value)
	This function allows to turn on/off the smoothness constraint. More...

bool	getCurvatureTestFlag () const
	Returns the flag that signalize if the curvature test is turned on/off. More...

bool	getResidualTestFlag () const
	Returns the flag that signalize if the residual test is turned on/off. More...

float	getSmoothnessThreshold () const
	Returns smoothness threshold. More...

void	setSmoothnessThreshold (float theta)
	Allows to set smoothness threshold used for testing the points. More...

float	getResidualThreshold () const
	Returns residual threshold. More...

void	setResidualThreshold (float residual)
	Allows to set residual threshold used for testing the points. More...

float	getCurvatureThreshold () const
	Returns curvature threshold. More...

void	setCurvatureThreshold (float curvature)
	Allows to set curvature threshold used for testing the points. More...

unsigned int	getNumberOfNeighbours () const
	Returns the number of nearest neighbours used for KNN. More...

void	setNumberOfNeighbours (unsigned int neighbour_number)
	Allows to set the number of neighbours. More...

KdTreePtr	getSearchMethod () const
	Returns the pointer to the search method that is used for KNN. More...

void	setSearchMethod (const KdTreePtr &tree)
	Allows to set search method that will be used for finding KNN. More...

NormalPtr	getInputNormals () const
	Returns normals. More...

void	setInputNormals (const NormalPtr &norm)
	This method sets the normals. More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	getColoredCloud ()
	If the cloud was successfully segmented, then function returns colored cloud. More...

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	getColoredCloudRGBA ()
	If the cloud was successfully segmented, then function returns 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...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. 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 PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
bool	prepareForSegmentation () override
	This method simply checks if it is possible to execute the segmentation algorithm with the current settings. More...

void	findPointNeighbours () override
	This method finds KNN for each point and saves them to the array because the algorithm needs to find KNN a few times. More...

void	findSegmentNeighbours ()
	This method simply calls the findRegionsKNN for each segment and saves the results for later use. More...

void	findRegionsKNN (pcl::index_t index, pcl::uindex_t nghbr_number, Indices &nghbrs, std::vector< float > &dist)
	This method finds K nearest neighbours of the given segment. More...

void	applyRegionMergingAlgorithm ()
	This function implements the merging algorithm described in the article "Color-based segmentation of point clouds" by Qingming Zhan, Yubin Liang, Yinghui Xiao. More...

float	calculateColorimetricalDifference (std::vector< unsigned int > &first_color, std::vector< unsigned int > &second_color) const
	This method calculates the colorimetrical difference between two points. More...

void	findRegionNeighbours (std::vector< std::vector< std::pair< float, pcl::index_t > > > &neighbours_out, std::vector< std::vector< int > > &regions_in)
	This method assembles the array containing neighbours of each homogeneous region. More...

void	assembleRegions (std::vector< unsigned int > &num_pts_in_region, int num_regions)
	This function simply assembles the regions from list of point labels. More...

bool	validatePoint (index_t initial_seed, index_t point, index_t nghbr, bool &is_a_seed) const override
	This function is checking if the point with index 'nghbr' belongs to the segment. More...

Protected Member Functions inherited from pcl::RegionGrowing< PointT, pcl::Normal >
void	applySmoothRegionGrowingAlgorithm ()
	This function implements the algorithm described in the article "Segmentation of point clouds using smoothness constraint" by T. More...

int	growRegion (int initial_seed, int segment_number)
	This method grows a segment for the given seed point. More...

void	assembleRegions ()
	This function simply assembles the regions from list of point labels. 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
float	color_p2p_threshold_ {1225.0f}
	Thershold used in color test for points. More...

float	color_r2r_threshold_ {10.0f}
	Thershold used in color test for regions. More...

float	distance_threshold_ {0.05f}
	Threshold that tells which points we need to assume neighbouring. More...

unsigned int	region_neighbour_number_ {100}
	Number of neighbouring segments to find. More...

std::vector< std::vector< float > >	point_distances_
	Stores distances for the point neighbours from point_neighbours_. More...

std::vector< pcl::Indices >	segment_neighbours_
	Stores the neighboures for the corresponding segments. More...

std::vector< std::vector< float > >	segment_distances_
	Stores distances for the segment neighbours from segment_neighbours_. More...

std::vector< int >	segment_labels_
	Stores new indices for segments that were obtained at the region growing stage. More...

Protected Attributes inherited from pcl::RegionGrowing< PointT, pcl::Normal >
pcl::uindex_t	min_pts_per_cluster_
	Stores the minimum number of points that a cluster needs to contain in order to be considered valid. More...

pcl::uindex_t	max_pts_per_cluster_
	Stores the maximum number of points that a cluster needs to contain in order to be considered valid. More...

bool	smooth_mode_flag_
	Flag that signalizes if the smoothness constraint will be used. More...

bool	curvature_flag_
	If set to true then curvature test will be done during segmentation. More...

bool	residual_flag_
	If set to true then residual test will be done during segmentation. More...

float	theta_threshold_
	Threshold used for testing the smoothness between points. More...

float	residual_threshold_
	Threshold used in residual test. More...

float	curvature_threshold_
	Threshold used in curvature test. More...

unsigned int	neighbour_number_
	Number of neighbours to find. More...

KdTreePtr	search_
	Search method that will be used for KNN. More...

NormalPtr	normals_
	Contains normals of the points that will be segmented. More...

std::vector< pcl::Indices >	point_neighbours_
	Contains neighbours of each point. More...

std::vector< int >	point_labels_
	Point labels that tells to which segment each point belongs. More...

bool	normal_flag_
	If set to true then normal/smoothness test will be done during segmentation. More...

std::vector< pcl::uindex_t >	num_pts_in_segment_
	Tells how much points each segment contains. More...

std::vector< pcl::PointIndices >	clusters_
	After the segmentation it will contain the segments. More...

int	number_of_segments_
	Stores the number of segments. 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...

Additional Inherited Members
Public Types inherited from pcl::RegionGrowing< PointT, pcl::Normal >
using	KdTree = pcl::search::Search< PointT >

using	KdTreePtr = typename KdTree::Ptr

using	Normal = pcl::PointCloud< pcl::Normal >

using	NormalPtr = typename Normal::Ptr

using	PointCloud = pcl::PointCloud< PointT >

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

Detailed Description

template<typename PointT, typename NormalT = pcl::Normal>
class pcl::RegionGrowingRGB< PointT, NormalT >

Implements the well known Region Growing algorithm used for segmentation based on color of points.

Description can be found in the article "Color-based segmentation of point clouds" by Qingming Zhan, Yubin Liang, Yinghui Xiao

Definition at line 56 of file region_growing_rgb.h.

Constructor & Destructor Documentation

◆ RegionGrowingRGB()

template<typename PointT , typename NormalT >

pcl::RegionGrowingRGB< PointT, NormalT >::RegionGrowingRGB

Constructor that sets default values for member variables.

Definition at line 52 of file region_growing_rgb.hpp.

References pcl::RegionGrowing< PointT, pcl::Normal >::curvature_flag_, pcl::RegionGrowing< PointT, pcl::Normal >::min_pts_per_cluster_, pcl::RegionGrowing< PointT, pcl::Normal >::normal_flag_, and pcl::RegionGrowing< PointT, pcl::Normal >::residual_flag_.

◆ ~RegionGrowingRGB()

template<typename PointT , typename NormalT >

pcl::RegionGrowingRGB< PointT, NormalT >::~RegionGrowingRGB

override

Destructor that frees memory.

Definition at line 66 of file region_growing_rgb.hpp.

Member Function Documentation

◆ applyRegionMergingAlgorithm()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::applyRegionMergingAlgorithm

protected

This function implements the merging algorithm described in the article "Color-based segmentation of point clouds" by Qingming Zhan, Yubin Liang, Yinghui Xiao.

Definition at line 362 of file region_growing_rgb.hpp.

References pcl::comparePair().

◆ assembleRegions()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::assembleRegions	(	std::vector< unsigned int > &	num_pts_in_region,
		int	num_regions
	)

protected

This function simply assembles the regions from list of point labels.

Parameters

[in]	num_pts_in_region	for each final region it stores the corresponding number of points in it
[in]	num_regions	number of regions to assemble

Definition at line 548 of file region_growing_rgb.hpp.

References pcl::PointIndices::indices.

◆ calculateColorimetricalDifference()

template<typename PointT , typename NormalT >

float pcl::RegionGrowingRGB< PointT, NormalT >::calculateColorimetricalDifference	(	std::vector< unsigned int > &	first_color,
		std::vector< unsigned int > &	second_color
	)		const

protected

This method calculates the colorimetrical difference between two points.

In this case it simply returns the euclidean distance between two colors.

Parameters

[in]	first_color	the color of the first point
[in]	second_color	the color of the second point

Definition at line 505 of file region_growing_rgb.hpp.

◆ extract()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::extract ( std::vector< pcl::PointIndices > & clusters )

overridevirtual

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

Parameters

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

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 160 of file region_growing_rgb.hpp.

References pcl::RegionGrowing< PointT, NormalT >::assembleRegions().

◆ findPointNeighbours()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::findPointNeighbours

overrideprotectedvirtual

This method finds KNN for each point and saves them to the array because the algorithm needs to find KNN a few times.

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 269 of file region_growing_rgb.hpp.

◆ findRegionNeighbours()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::findRegionNeighbours	(	std::vector< std::vector< std::pair< float, pcl::index_t > > > &	neighbours_out,
		std::vector< std::vector< int > > &	regions_in
	)

protected

This method assembles the array containing neighbours of each homogeneous region.

Homogeneous region is the union of some segments. This array is used when the regions with a few points need to be merged with the neighbouring region.

Parameters

[out]	neighbours_out	vector of lists of neighbours for every homogeneous region
[in]	regions_in	vector of lists, each list contains indices of segments that belong to the corresponding homogeneous region.

Definition at line 516 of file region_growing_rgb.hpp.

References pcl::comparePair().

◆ findRegionsKNN()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::findRegionsKNN	(	pcl::index_t	index,
		pcl::uindex_t	nghbr_number,
		pcl::Indices &	nghbrs,
		std::vector< float > &	dist
	)

protected

This method finds K nearest neighbours of the given segment.

Parameters

[in]	index	index of the segment for which neighbours will be found
[in]	nghbr_number	the number of neighbours to find
[out]	nghbrs	the array of indices of the neighbours that were found
[out]	dist	the array of distances to the corresponding neighbours

Definition at line 308 of file region_growing_rgb.hpp.

◆ findSegmentNeighbours()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::findSegmentNeighbours

protected

This method simply calls the findRegionsKNN for each segment and saves the results for later use.

Definition at line 289 of file region_growing_rgb.hpp.

◆ getDistanceThreshold()

template<typename PointT , typename NormalT >

float pcl::RegionGrowingRGB< PointT, NormalT >::getDistanceThreshold

Returns the distance threshold.

If the distance between two points is less or equal to distance threshold value, then those points assumed to be neighbouring points.

Definition at line 104 of file region_growing_rgb.hpp.

◆ getNormalTestFlag()

template<typename PointT , typename NormalT >

bool pcl::RegionGrowingRGB< PointT, NormalT >::getNormalTestFlag

Returns the flag that signalize if the smoothness test is turned on/off.

Definition at line 132 of file region_growing_rgb.hpp.

◆ getNumberOfRegionNeighbours()

template<typename PointT , typename NormalT >

unsigned int pcl::RegionGrowingRGB< PointT, NormalT >::getNumberOfRegionNeighbours

Returns the number of nearest neighbours used for searching K nearest segments.

Note that here it refers to the segments(not the points).

Definition at line 118 of file region_growing_rgb.hpp.

◆ getPointColorThreshold()

template<typename PointT , typename NormalT >

float pcl::RegionGrowingRGB< PointT, NormalT >::getPointColorThreshold

Returns the color threshold value used for testing if points belong to the same region.

Definition at line 76 of file region_growing_rgb.hpp.

◆ getRegionColorThreshold()

template<typename PointT , typename NormalT >

float pcl::RegionGrowingRGB< PointT, NormalT >::getRegionColorThreshold

Returns the color threshold value used for testing if regions can be merged.

Definition at line 90 of file region_growing_rgb.hpp.

◆ getSegmentFromPoint()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::getSegmentFromPoint	(	pcl::index_t	index,
		pcl::PointIndices &	cluster
	)

overridevirtual

For a given point this function builds a segment to which it belongs and returns this segment.

Parameters

[in]	index	index of the initial point which will be the seed for growing a segment.
	cluster

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 672 of file region_growing_rgb.hpp.

References pcl::RegionGrowing< PointT, NormalT >::assembleRegions(), and pcl::PointIndices::indices.

◆ prepareForSegmentation()

template<typename PointT , typename NormalT >

bool pcl::RegionGrowingRGB< PointT, NormalT >::prepareForSegmentation

overrideprotectedvirtual

This method simply checks if it is possible to execute the segmentation algorithm with the current settings.

If it is possible then it returns true.

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 214 of file region_growing_rgb.hpp.

◆ setCurvatureTestFlag()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setCurvatureTestFlag ( bool value )

overridevirtual

Allows to turn on/off the curvature test.

Parameters

[in] value new value for curvature test. If set to true then the test will be turned on

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 146 of file region_growing_rgb.hpp.

◆ setDistanceThreshold()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setDistanceThreshold ( float thresh )

Allows to set distance threshold.

Parameters

[in] thresh new threshold value for neighbour test

Definition at line 111 of file region_growing_rgb.hpp.

◆ setNormalTestFlag()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setNormalTestFlag ( bool value )

Allows to turn on/off the smoothness test.

Parameters

[in] value new value for normal/smoothness test. If set to true then the test will be turned on

Definition at line 139 of file region_growing_rgb.hpp.

◆ setNumberOfRegionNeighbours()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setNumberOfRegionNeighbours ( unsigned int nghbr_number )

This method allows to set the number of neighbours that is used for finding neighbouring segments.

Neighbouring segments are needed for the merging process.

Parameters

[in] nghbr_number the number of neighbouring segments to find

Definition at line 125 of file region_growing_rgb.hpp.

◆ setPointColorThreshold()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setPointColorThreshold ( float thresh )

This method specifies the threshold value for color test between the points.

This kind of testing is made at the first stage of the algorithm(region growing). If the difference between points color is less than threshold value, then they are considered to be in the same region.

Parameters

[in] thresh new threshold value for color test

Definition at line 83 of file region_growing_rgb.hpp.

◆ setRegionColorThreshold()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setRegionColorThreshold ( float thresh )

This method specifies the threshold value for color test between the regions.

This kind of testing is made at the second stage of the algorithm(region merging). If the difference between segments color is less than threshold value, then they are merged together.

Parameters

[in] thresh new threshold value for color test

Definition at line 97 of file region_growing_rgb.hpp.

◆ setResidualTestFlag()

template<typename PointT , typename NormalT >

void pcl::RegionGrowingRGB< PointT, NormalT >::setResidualTestFlag ( bool value )

overridevirtual

Allows to turn on/off the residual test.

Parameters

[in] value new value for residual test. If set to true then the test will be turned on

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 153 of file region_growing_rgb.hpp.

◆ validatePoint()

template<typename PointT , typename NormalT >

bool pcl::RegionGrowingRGB< PointT, NormalT >::validatePoint	(	pcl::index_t	initial_seed,
		pcl::index_t	point,
		pcl::index_t	nghbr,
		bool &	is_a_seed
	)		const

overrideprotectedvirtual

This function is checking if the point with index 'nghbr' belongs to the segment.

If so, then it returns true. It also checks if this point can serve as the seed.

Parameters

[in]	initial_seed	index of the initial point that was passed to the growRegion() function
[in]	point	index of the current seed point
[in]	nghbr	index of the point that is neighbour of the current seed
[out]	is_a_seed	this value is set to true if the point with index 'nghbr' can serve as the seed

Reimplemented from pcl::RegionGrowing< PointT, pcl::Normal >.

Definition at line 593 of file region_growing_rgb.hpp.

Member Data Documentation

◆ color_p2p_threshold_

template<typename PointT , typename NormalT = pcl::Normal>

float pcl::RegionGrowingRGB< PointT, NormalT >::color_p2p_threshold_ {1225.0f}

protected

Thershold used in color test for points.

Definition at line 255 of file region_growing_rgb.h.

◆ color_r2r_threshold_

template<typename PointT , typename NormalT = pcl::Normal>

float pcl::RegionGrowingRGB< PointT, NormalT >::color_r2r_threshold_ {10.0f}

protected

Thershold used in color test for regions.

Definition at line 258 of file region_growing_rgb.h.

◆ distance_threshold_

template<typename PointT , typename NormalT = pcl::Normal>

float pcl::RegionGrowingRGB< PointT, NormalT >::distance_threshold_ {0.05f}

protected

Threshold that tells which points we need to assume neighbouring.

Definition at line 261 of file region_growing_rgb.h.

◆ point_distances_

template<typename PointT , typename NormalT = pcl::Normal>

std::vector< std::vector<float> > pcl::RegionGrowingRGB< PointT, NormalT >::point_distances_

protected

Stores distances for the point neighbours from point_neighbours_.

Definition at line 267 of file region_growing_rgb.h.

◆ region_neighbour_number_

template<typename PointT , typename NormalT = pcl::Normal>

unsigned int pcl::RegionGrowingRGB< PointT, NormalT >::region_neighbour_number_ {100}

protected

Number of neighbouring segments to find.

Definition at line 264 of file region_growing_rgb.h.

◆ segment_distances_

template<typename PointT , typename NormalT = pcl::Normal>

std::vector< std::vector<float> > pcl::RegionGrowingRGB< PointT, NormalT >::segment_distances_

protected

Stores distances for the segment neighbours from segment_neighbours_.

Definition at line 273 of file region_growing_rgb.h.

◆ segment_labels_

template<typename PointT , typename NormalT = pcl::Normal>

std::vector<int> pcl::RegionGrowingRGB< PointT, NormalT >::segment_labels_

protected

Stores new indices for segments that were obtained at the region growing stage.

Definition at line 276 of file region_growing_rgb.h.

◆ segment_neighbours_

template<typename PointT , typename NormalT = pcl::Normal>

std::vector< pcl::Indices > pcl::RegionGrowingRGB< PointT, NormalT >::segment_neighbours_

protected

Stores the neighboures for the corresponding segments.

Definition at line 270 of file region_growing_rgb.h.

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

pcl/segmentation/region_growing_rgb.h
pcl/segmentation/impl/region_growing_rgb.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointT, typename NormalT = pcl::Normal> class pcl::RegionGrowingRGB< PointT, NormalT >

Constructor & Destructor Documentation

◆ RegionGrowingRGB()

◆ ~RegionGrowingRGB()

Member Function Documentation

◆ applyRegionMergingAlgorithm()

◆ assembleRegions()

◆ calculateColorimetricalDifference()

◆ extract()

◆ findPointNeighbours()

◆ findRegionNeighbours()

◆ findRegionsKNN()

◆ findSegmentNeighbours()

◆ getDistanceThreshold()

◆ getNormalTestFlag()

◆ getNumberOfRegionNeighbours()

◆ getPointColorThreshold()

◆ getRegionColorThreshold()

◆ getSegmentFromPoint()

◆ prepareForSegmentation()

◆ setCurvatureTestFlag()

◆ setDistanceThreshold()

◆ setNormalTestFlag()

◆ setNumberOfRegionNeighbours()

◆ setPointColorThreshold()

◆ setRegionColorThreshold()

◆ setResidualTestFlag()

◆ validatePoint()

Member Data Documentation

◆ color_p2p_threshold_

◆ color_r2r_threshold_

◆ distance_threshold_

◆ point_distances_

◆ region_neighbour_number_

◆ segment_distances_

◆ segment_labels_

◆ segment_neighbours_

template<typename PointT, typename NormalT = pcl::Normal>
class pcl::RegionGrowingRGB< PointT, NormalT >