cv::RegionGrowing3D Class Reference

Region Growing algorithm in 3D point cloud. More...

#include <opencv2/3d/ptcloud.hpp>

Collaboration diagram for cv::RegionGrowing3D:

Public Member Functions
	RegionGrowing3D ()=default
virtual	~RegionGrowing3D ()=default
virtual void	getCurvatures (OutputArray curvatures) const =0
	Get the curvature of each point if you have set.
virtual double	getCurvatureThreshold () const =0
	Get threshold value of curvature.
virtual int	getMaxNumberOfNeighbors () const =0
	Get the maximum number of neighbors including itself.
virtual int	getMaxSize () const =0
	Get the maximum size of region.
virtual int	getMinSize () const =0
	Get the minimum size of region.
virtual bool	getNeedSort () const =0
	Get whether the results need to be sorted you have set.
virtual int	getNumberOfRegions () const =0
	Get the maximum number of regions you want.
virtual void	getSeeds (OutputArray seeds) const =0
	Get the seed points.
virtual bool	getSmoothModeFlag () const =0
	Get whether to use the smoothness mode.
virtual double	getSmoothnessThreshold () const =0
	Get threshold value of the angle between normals.
virtual int	segment (OutputArrayOfArrays regions_idx, OutputArray labels, InputArray input_pts, InputArray normals, InputArrayOfArrays nn_idx)=0
	Execute segmentation using the Region Growing algorithm.
virtual void	setCurvatures (InputArray curvatures)=0
	Set the curvature of each point, support vector<float> and Mat. If not, you can set it to noArray().
virtual void	setCurvatureThreshold (double curvature_thr)=0
virtual void	setMaxNumberOfNeighbors (int max_neighbor_num)=0
virtual void	setMaxSize (int max_size)=0
	Set the maximum size of region.
virtual void	setMinSize (int min_size)=0
	Set the minimum size of region.
virtual void	setNeedSort (bool need_sort)=0
	Set whether the results need to be sorted in descending order by the number of points.
virtual void	setNumberOfRegions (int region_num)=0
	Set the maximum number of regions you want.
virtual void	setSeeds (InputArray seeds)=0
virtual void	setSmoothModeFlag (bool smooth_mode)=0
virtual void	setSmoothnessThreshold (double smoothness_thr)=0
	Set threshold value of the angle between normals, the input value is in radian.

Static Public Member Functions
static Ptr< RegionGrowing3D >	create ()

Detailed Description

Region Growing algorithm in 3D point cloud.

The key idea of region growing is to merge the nearest neighbor points that satisfy a certain angle threshold into the same region according to the normal between the two points, so as to achieve the purpose of segmentation. For more details, please refer to [222].

Constructor & Destructor Documentation

RegionGrowing3D()

cv::RegionGrowing3D::RegionGrowing3D ( )

default

~RegionGrowing3D()

virtual cv::RegionGrowing3D::~RegionGrowing3D ( )

virtualdefault

Member Function Documentation

create()

static Ptr< RegionGrowing3D > cv::RegionGrowing3D::create ( )

static

getCurvatures()

virtual void cv::RegionGrowing3D::getCurvatures ( OutputArray  curvatures ) const

pure virtual

Get the curvature of each point if you have set.

getCurvatureThreshold()

virtual double cv::RegionGrowing3D::getCurvatureThreshold ( ) const

pure virtual

Get threshold value of curvature.

getMaxNumberOfNeighbors()

virtual int cv::RegionGrowing3D::getMaxNumberOfNeighbors ( ) const

pure virtual

Get the maximum number of neighbors including itself.

getMaxSize()

virtual int cv::RegionGrowing3D::getMaxSize ( ) const

pure virtual

Get the maximum size of region.

getMinSize()

virtual int cv::RegionGrowing3D::getMinSize ( ) const

pure virtual

Get the minimum size of region.

getNeedSort()

virtual bool cv::RegionGrowing3D::getNeedSort ( ) const

pure virtual

Get whether the results need to be sorted you have set.

getNumberOfRegions()

virtual int cv::RegionGrowing3D::getNumberOfRegions ( ) const

pure virtual

Get the maximum number of regions you want.

getSeeds()

virtual void cv::RegionGrowing3D::getSeeds ( OutputArray  seeds ) const

pure virtual

Get the seed points.

getSmoothModeFlag()

virtual bool cv::RegionGrowing3D::getSmoothModeFlag ( ) const

pure virtual

Get whether to use the smoothness mode.

getSmoothnessThreshold()

virtual double cv::RegionGrowing3D::getSmoothnessThreshold ( ) const

pure virtual

Get threshold value of the angle between normals.

segment()

virtual int cv::RegionGrowing3D::segment ( OutputArrayOfArrays  regions_idx, OutputArray  labels, InputArray  input_pts, InputArray  normals, InputArrayOfArrays  nn_idx  )

pure virtual

Execute segmentation using the Region Growing algorithm.

Parameters

[out]	regions_idx	Index information of all points in each region, support vector<vector<int>>, vector<Mat>.
[out]	labels	The label corresponds to the model number, 0 means it does not belong to any model, range [0, Number of final resultant models obtained]. Support vector<int> and Mat.
	input_pts	Original point cloud, support vector<Point3f> and Mat of size Nx3/3xN.
	normals	Normal of each point, support vector<Point3f> and Mat of size Nx3.
	nn_idx	Index information of nearest neighbors of all points. The first nearest neighbor of each point is itself. Support vector<vector<int>>, vector<Mat> and Mat of size NxK. If the information in a row is [0, 2, 1, -5, -1, 4, 7 ... negative number] it will use only non-negative indexes until it meets a negative number or bound of this row i.e. [0, 2, 1].

Returns

Number of final resultant regions obtained by segmentation.

setCurvatures()

virtual void cv::RegionGrowing3D::setCurvatures ( InputArray  curvatures )

pure virtual

Set the curvature of each point, support vector<float> and Mat. If not, you can set it to noArray().

setCurvatureThreshold()

virtual void cv::RegionGrowing3D::setCurvatureThreshold ( double  curvature_thr )

pure virtual

Set threshold value of curvature. Default will be 0.05. Only points with curvature less than the threshold will be considered to belong to the same region. If the curvature of each point is not set, this option will not work.

setMaxNumberOfNeighbors()

virtual void cv::RegionGrowing3D::setMaxNumberOfNeighbors ( int  max_neighbor_num )

pure virtual

Set the maximum number of neighbors want to use including itself. Setting to a non-positive number or default will use the information from nn_idx.

setMaxSize()

virtual void cv::RegionGrowing3D::setMaxSize ( int  max_size )

pure virtual

Set the maximum size of region.

setMinSize()

virtual void cv::RegionGrowing3D::setMinSize ( int  min_size )

pure virtual

Set the minimum size of region.

setNeedSort()

virtual void cv::RegionGrowing3D::setNeedSort ( bool  need_sort )

pure virtual

Set whether the results need to be sorted in descending order by the number of points.

setNumberOfRegions()

virtual void cv::RegionGrowing3D::setNumberOfRegions ( int  region_num )

pure virtual

Set the maximum number of regions you want.

setSeeds()

virtual void cv::RegionGrowing3D::setSeeds ( InputArray  seeds )

pure virtual

Set the seed points, it will grow according to the seeds. If noArray() is set, the default method will be used:

1. If the curvature of each point is set, the seeds will be sorted in ascending order of curvatures.
2. Otherwise, the natural order of the point cloud will be used.

setSmoothModeFlag()

virtual void cv::RegionGrowing3D::setSmoothModeFlag ( bool  smooth_mode )

pure virtual

Set whether to use the smoothness mode. Default will be true. If true it will check the angle between the normal of the current point and the normal of its neighbor. Otherwise, it will check the angle between the normal of the seed point and the normal of current neighbor.

setSmoothnessThreshold()

virtual void cv::RegionGrowing3D::setSmoothnessThreshold ( double  smoothness_thr )

pure virtual

Set threshold value of the angle between normals, the input value is in radian.

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

• opencv2/3d/ptcloud.hpp