Point Cloud Library (PCL)
1.11.1-dev
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#include <pcl/segmentation/unary_classifier.h>
Public Member Functions | |
UnaryClassifier () | |
Constructor that sets default values for member variables. More... | |
~UnaryClassifier () | |
This destructor destroys the cloud... More... | |
void | setInputCloud (typename pcl::PointCloud< PointT >::Ptr input_cloud) |
This method sets the input cloud. More... | |
void | train (pcl::PointCloud< pcl::FPFHSignature33 >::Ptr &output) |
void | trainWithLabel (std::vector< pcl::PointCloud< pcl::FPFHSignature33 >, Eigen::aligned_allocator< pcl::PointCloud< pcl::FPFHSignature33 > > > &output) |
void | segment (pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &out) |
void | queryFeatureDistances (std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &trained_features, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr query_features, std::vector< int > &indi, std::vector< float > &dist) |
void | assignLabels (std::vector< int > &indi, std::vector< float > &dist, int n_feature_means, float feature_threshold, pcl::PointCloud< pcl::PointXYZRGBL >::Ptr out) |
void | setClusterSize (unsigned int k) |
void | setNormalRadiusSearch (float param) |
void | setFPFHRadiusSearch (float param) |
void | setLabelField (bool l) |
void | setTrainedFeatures (std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features) |
void | setFeatureThreshold (float threshold) |
Protected Member Functions | |
void | convertCloud (typename pcl::PointCloud< PointT >::Ptr in, pcl::PointCloud< pcl::PointXYZ >::Ptr out) |
void | convertCloud (typename pcl::PointCloud< PointT >::Ptr in, pcl::PointCloud< pcl::PointXYZRGBL >::Ptr out) |
void | findClusters (typename pcl::PointCloud< PointT >::Ptr in, std::vector< int > &cluster_numbers) |
void | getCloudWithLabel (typename pcl::PointCloud< PointT >::Ptr in, pcl::PointCloud< pcl::PointXYZ >::Ptr out, int label_num) |
void | computeFPFH (pcl::PointCloud< pcl::PointXYZ >::Ptr in, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr out, float normal_radius_search, float fpfh_radius_search) |
void | kmeansClustering (pcl::PointCloud< pcl::FPFHSignature33 >::Ptr in, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr out, int k) |
Protected Attributes | |
pcl::PointCloud< PointT >::Ptr | input_cloud_ |
Contains the input cloud. More... | |
bool | label_field_ |
unsigned int | cluster_size_ |
float | normal_radius_search_ |
float | fpfh_radius_search_ |
float | feature_threshold_ |
std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > | trained_features_ |
Definition at line 58 of file unary_classifier.h.
pcl::UnaryClassifier< PointT >::UnaryClassifier |
Constructor that sets default values for member variables.
Definition at line 54 of file unary_classifier.hpp.
pcl::UnaryClassifier< PointT >::~UnaryClassifier |
This destructor destroys the cloud...
Definition at line 65 of file unary_classifier.hpp.
void pcl::UnaryClassifier< PointT >::assignLabels | ( | std::vector< int > & | indi, |
std::vector< float > & | dist, | ||
int | n_feature_means, | ||
float | feature_threshold, | ||
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr | out | ||
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Definition at line 331 of file unary_classifier.hpp.
References pcl::PointCloud< PointT >::size().
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Definition at line 206 of file unary_classifier.hpp.
References pcl::Feature< PointInT, PointOutT >::compute(), pcl::Feature< PointInT, pcl::FPFHSignature33 >::compute(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, pcl::FPFHSignature33 >::setInputNormals(), pcl::Feature< PointInT, pcl::FPFHSignature33 >::setRadiusSearch(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), pcl::Feature< PointInT, pcl::FPFHSignature33 >::setSearchMethod(), and pcl::Feature< PointInT, PointOutT >::setSearchMethod().
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Definition at line 87 of file unary_classifier.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
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Definition at line 108 of file unary_classifier.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::_PointXYZRGBL::label, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
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Definition at line 135 of file unary_classifier.hpp.
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Definition at line 170 of file unary_classifier.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
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Definition at line 235 of file unary_classifier.hpp.
References pcl::Kmeans::addDataPoint(), pcl::Kmeans::get_centroids(), pcl::PointCloud< PointT >::height, pcl::FPFHSignature33::histogram, pcl::PointCloud< PointT >::is_dense, pcl::Kmeans::kMeans(), pcl::PointCloud< PointT >::points, pcl::Kmeans::setClusterSize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
void pcl::UnaryClassifier< PointT >::queryFeatureDistances | ( | std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > & | trained_features, |
pcl::PointCloud< pcl::FPFHSignature33 >::Ptr | query_features, | ||
std::vector< int > & | indi, | ||
std::vector< float > & | dist | ||
) |
Definition at line 274 of file unary_classifier.hpp.
References pcl::PointCloud< PointT >::size().
void pcl::UnaryClassifier< PointT >::segment | ( | pcl::PointCloud< pcl::PointXYZRGBL >::Ptr & | out | ) |
Definition at line 406 of file unary_classifier.hpp.
References pcl::geometry::distance().
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Definition at line 99 of file unary_classifier.h.
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Definition at line 114 of file unary_classifier.h.
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Definition at line 105 of file unary_classifier.h.
void pcl::UnaryClassifier< PointT >::setInputCloud | ( | typename pcl::PointCloud< PointT >::Ptr | input_cloud | ) |
This method sets the input cloud.
[in] | input_cloud | input point cloud |
Definition at line 71 of file unary_classifier.hpp.
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Definition at line 108 of file unary_classifier.h.
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Definition at line 102 of file unary_classifier.h.
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Definition at line 111 of file unary_classifier.h.
void pcl::UnaryClassifier< PointT >::train | ( | pcl::PointCloud< pcl::FPFHSignature33 >::Ptr & | output | ) |
Definition at line 357 of file unary_classifier.hpp.
void pcl::UnaryClassifier< PointT >::trainWithLabel | ( | std::vector< pcl::PointCloud< pcl::FPFHSignature33 >, Eigen::aligned_allocator< pcl::PointCloud< pcl::FPFHSignature33 > > > & | output | ) |
Definition at line 375 of file unary_classifier.hpp.
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Definition at line 153 of file unary_classifier.h.
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Definition at line 157 of file unary_classifier.h.
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Definition at line 156 of file unary_classifier.h.
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Contains the input cloud.
Definition at line 149 of file unary_classifier.h.
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Definition at line 151 of file unary_classifier.h.
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Definition at line 155 of file unary_classifier.h.
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Definition at line 160 of file unary_classifier.h.