Point Cloud Library (PCL): pcl::features::ISMVoteList< PointT

This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm. More...

#include <pcl/recognition/implicit_shape_model.h>

Public Types
using	Ptr = shared_ptr< ISMVoteList< PointT > >

using	ConstPtr = shared_ptr< const ISMVoteList< PointT > >

Public Member Functions
	ISMVoteList ()
	Empty constructor with member variables initialization. More...

virtual	~ISMVoteList ()
	virtual descriptor. More...

void	addVote (pcl::InterestPoint &in_vote, const PointT &vote_origin, int in_class)
	This method simply adds another vote to the list. More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	getColoredCloud (typename pcl::PointCloud< PointT >::Ptr cloud=0)
	Returns the colored cloud that consists of votes for center (blue points) and initial point cloud (if it was passed). More...

void	findStrongestPeaks (std::vector< ISMPeak, Eigen::aligned_allocator< ISMPeak > > &out_peaks, int in_class_id, double in_non_maxima_radius, double in_sigma)
	This method finds the strongest peaks (points were density has most higher values). More...

double	getDensityAtPoint (const PointT &point, double sigma_dist)
	Returns the density at the specified point. More...

unsigned int	getNumberOfVotes ()
	This method simply returns the number of votes. More...

Protected Member Functions
void	validateTree ()
	this method is simply setting up the search tree. More...

Eigen::Vector3f	shiftMean (const Eigen::Vector3f &snapPt, const double in_dSigmaDist)

Protected Attributes
pcl::PointCloud< pcl::InterestPoint >::Ptr	votes_
	Stores all votes. More...

bool	tree_is_valid_
	Signalizes if the tree is valid. More...

pcl::PointCloud< PointT >::Ptr	votes_origins_
	Stores the origins of the votes. More...

std::vector< int >	votes_class_
	Stores classes for which every single vote was cast. More...

pcl::KdTreeFLANN< pcl::InterestPoint >::Ptr	tree_
	Stores the search tree. More...

std::vector< int >	k_ind_
	Stores neighbours indices. More...

std::vector< float >	k_sqr_dist_
	Stores square distances to the corresponding neighbours. More...

Detailed Description

template<typename PointT>
class pcl::features::ISMVoteList< PointT >

This class is used for storing, analyzing and manipulating votes obtained from ISM algorithm.

Definition at line 71 of file implicit_shape_model.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::features::ISMVoteList< PointT >::ConstPtr = shared_ptr<const ISMVoteList<PointT> >

Definition at line 76 of file implicit_shape_model.h.

◆ Ptr

template<typename PointT >

using pcl::features::ISMVoteList< PointT >::Ptr = shared_ptr<ISMVoteList<PointT> >

Definition at line 75 of file implicit_shape_model.h.

Constructor & Destructor Documentation

◆ ISMVoteList()

template<typename PointT >

pcl::features::ISMVoteList< PointT >::ISMVoteList

Empty constructor with member variables initialization.

Definition at line 52 of file implicit_shape_model.hpp.

◆ ~ISMVoteList()

template<typename PointT >

pcl::features::ISMVoteList< PointT >::~ISMVoteList

virtual

virtual descriptor.

Definition at line 64 of file implicit_shape_model.hpp.

Member Function Documentation

◆ addVote()

template<typename PointT >

void pcl::features::ISMVoteList< PointT >::addVote	(	pcl::InterestPoint &	in_vote,
		const PointT &	vote_origin,
		int	in_class
	)

This method simply adds another vote to the list.

Parameters

[in]	in_vote	vote to add
[in]	vote_origin	origin of the added vote
[in]	in_class	class for which this vote is cast

Definition at line 76 of file implicit_shape_model.hpp.

Referenced by pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::findObjects().

◆ findStrongestPeaks()

template<typename PointT >

void pcl::features::ISMVoteList< PointT >::findStrongestPeaks	(	std::vector< ISMPeak, Eigen::aligned_allocator< ISMPeak > > &	out_peaks,
		int	in_class_id,
		double	in_non_maxima_radius,
		double	in_sigma
	)

This method finds the strongest peaks (points were density has most higher values).

It is based on the non maxima supression principles.

Parameters

[out]	out_peaks	it will contain the strongest peaks
[in]	in_class_id	class of interest for which peaks are evaluated
[in]	in_non_maxima_radius	non maxima supression radius. The shapes radius is recommended for this value.
	in_sigma

Definition at line 127 of file implicit_shape_model.hpp.

References pcl::ISMPeak::class_id, and pcl::ISMPeak::density.

◆ getColoredCloud()

template<typename PointT >

pcl::PointCloud< pcl::PointXYZRGB >::Ptr pcl::features::ISMVoteList< PointT >::getColoredCloud ( typename pcl::PointCloud< PointT >::Ptr cloud = 0 )

Returns the colored cloud that consists of votes for center (blue points) and initial point cloud (if it was passed).

Parameters

[in] cloud cloud that needs to be merged with votes for visualizing.

Definition at line 88 of file implicit_shape_model.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ getDensityAtPoint()

template<typename PointT >

double pcl::features::ISMVoteList< PointT >::getDensityAtPoint	(	const PointT &	point,
		double	sigma_dist
	)

Returns the density at the specified point.

Parameters

[in]	point	point of interest
[in]	sigma_dist

Definition at line 269 of file implicit_shape_model.hpp.

◆ getNumberOfVotes()

template<typename PointT >

unsigned int pcl::features::ISMVoteList< PointT >::getNumberOfVotes

This method simply returns the number of votes.

Definition at line 294 of file implicit_shape_model.hpp.

◆ shiftMean()

template<typename PointT >

Eigen::Vector3f pcl::features::ISMVoteList< PointT >::shiftMean	(	const Eigen::Vector3f &	snapPt,
		const double	in_dSigmaDist
	)

protected

Definition at line 242 of file implicit_shape_model.hpp.

◆ validateTree()

template<typename PointT >

void pcl::features::ISMVoteList< PointT >::validateTree

protected

this method is simply setting up the search tree.

Definition at line 227 of file implicit_shape_model.hpp.

Member Data Documentation

◆ k_ind_

template<typename PointT >

std::vector<int> pcl::features::ISMVoteList< PointT >::k_ind_

protected

Stores neighbours indices.

Definition at line 147 of file implicit_shape_model.h.

◆ k_sqr_dist_

template<typename PointT >

std::vector<float> pcl::features::ISMVoteList< PointT >::k_sqr_dist_

protected

Stores square distances to the corresponding neighbours.

Definition at line 150 of file implicit_shape_model.h.

◆ tree_

template<typename PointT >

pcl::KdTreeFLANN<pcl::InterestPoint>::Ptr pcl::features::ISMVoteList< PointT >::tree_

protected

Stores the search tree.

Definition at line 144 of file implicit_shape_model.h.

◆ tree_is_valid_

template<typename PointT >

bool pcl::features::ISMVoteList< PointT >::tree_is_valid_

protected

Signalizes if the tree is valid.

Definition at line 135 of file implicit_shape_model.h.

◆ votes_

template<typename PointT >

pcl::PointCloud<pcl::InterestPoint>::Ptr pcl::features::ISMVoteList< PointT >::votes_

protected

Stores all votes.

Definition at line 132 of file implicit_shape_model.h.

◆ votes_class_

template<typename PointT >

std::vector<int> pcl::features::ISMVoteList< PointT >::votes_class_

protected

Stores classes for which every single vote was cast.

Definition at line 141 of file implicit_shape_model.h.

◆ votes_origins_

template<typename PointT >

pcl::PointCloud<PointT>::Ptr pcl::features::ISMVoteList< PointT >::votes_origins_

protected

Stores the origins of the votes.

Definition at line 138 of file implicit_shape_model.h.

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

pcl/recognition/implicit_shape_model.h
pcl/recognition/impl/implicit_shape_model.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::features::ISMVoteList< PointT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ISMVoteList()

◆ ~ISMVoteList()

Member Function Documentation

◆ addVote()

◆ findStrongestPeaks()

◆ getColoredCloud()

◆ getDensityAtPoint()

◆ getNumberOfVotes()

◆ shiftMean()

◆ validateTree()

Member Data Documentation

◆ k_ind_

◆ k_sqr_dist_

◆ tree_

◆ tree_is_valid_

◆ votes_

◆ votes_class_

◆ votes_origins_

template<typename PointT>
class pcl::features::ISMVoteList< PointT >