Point Cloud Library (PCL)
1.11.1-dev
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40 #include <pcl/pcl_exports.h>
42 #include <pcl/point_cloud.h>
44 #include <pcl/features/integral_image_normal.h>
45 #include <pcl/segmentation/organized_multi_plane_segmentation.h>
46 #include <pcl/common/transforms.h>
47 #include <pcl/gpu/people/label_common.h>
61 using Ptr = shared_ptr<OrganizedPlaneDetector>;
62 using ConstPtr = shared_ptr<const OrganizedPlaneDetector>;
167 void allocate_buffers(
int rows = 480,
int cols = 640);
void setNeNormalSmoothingSize(float neNormalSmoothingSize)
void setNeMaxDepthChangeFactor(float neMaxDepthChangeFactor)
Surface normal estimation on organized data using integral images.
double mps_AngularThreshold_
pcl::device::LabelProbability P_l_dev_prev_
void setMpsMinInliers(int mpsMinInliers)
shared_ptr< const OrganizedPlaneDetector > ConstPtr
pcl::PointCloud< pcl::device::prob_histogram > HostLabelProbability
HostLabelProbability P_l_host_prev_
int copyHostLabelProbability(HostLabelProbability &src, HostLabelProbability &dst)
void setMpsDistanceThreshold(double mpsDistanceThreshold)
pcl::OrganizedMultiPlaneSegmentation< PointTC, pcl::Normal, pcl::Label > mps_
float getNeMaxDepthChangeFactor() const
double mps_DistanceThreshold_
OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...
A point structure representing Euclidean xyz coordinates, and the RGBA color.
bool mps_use_planar_refinement_
double getMpsDistanceThreshold() const
OrganizedPlaneDetector(int rows=480, int cols=640)
This is the constructor.
void emptyHostLabelProbability(HostLabelProbability &histogram)
double getMpsAngularThreshold() const
int copyAndClearHostLabelProbability(HostLabelProbability &src, HostLabelProbability &dst)
A point structure representing Euclidean xyz coordinates.
int getMpsMinInliers() const
void process(const PointCloud< PointTC >::ConstPtr &cloud)
Process step, this wraps Organized Plane Segmentation code.
pcl::device::LabelProbability P_l_dev_
void setMpsAngularThreshold(double mpsAngularThreshold)
float ne_MaxDepthChangeFactor_
pcl::IntegralImageNormalEstimation< PointTC, pcl::Normal > ne_
HostLabelProbability P_l_host_
shared_ptr< const PointCloud< PointT > > ConstPtr
float ne_NormalSmoothingSize_
Defines functions, macros and traits for allocating and using memory.
shared_ptr< OrganizedPlaneDetector > Ptr
float getNeNormalSmoothingSize() const