#include <pcl/segmentation/unary_classifier.h>

Collaboration diagram for pcl::UnaryClassifier< PointT >:

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

	~UnaryClassifier ()
	This destructor destroys the cloud...

void	setInputCloud (typename pcl::PointCloud< PointT >::Ptr input_cloud)
	This method sets the input cloud.

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, pcl::Indices &indi, std::vector< float > &dist)

void	assignLabels (pcl::Indices &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.

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_

Detailed Description

template<typename PointT>
class pcl::UnaryClassifier< PointT >

Definition at line 58 of file unary_classifier.h.

Constructor & Destructor Documentation

◆ UnaryClassifier()

template<typename PointT >

pcl::UnaryClassifier< PointT >::UnaryClassifier ( )

Constructor that sets default values for member variables.

Definition at line 54 of file unary_classifier.hpp.

◆ ~UnaryClassifier()

template<typename PointT >

pcl::UnaryClassifier< PointT >::~UnaryClassifier ( )

This destructor destroys the cloud...

Definition at line 65 of file unary_classifier.hpp.

Member Function Documentation

◆ assignLabels()

template<typename PointT >

void pcl::UnaryClassifier< PointT >::assignLabels	(	pcl::Indices &	indi,
		std::vector< float > &	dist,
		int	n_feature_means,
		float	feature_threshold,
		pcl::PointCloud< pcl::PointXYZRGBL >::Ptr	out )

Definition at line 330 of file unary_classifier.hpp.

◆ computeFPFH()

template<typename PointT >

void pcl::UnaryClassifier< PointT >::computeFPFH	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	in,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	out,
		float	normal_radius_search,
		float	fpfh_radius_search )

protected

Definition at line 205 of file unary_classifier.hpp.

◆ convertCloud() [1/2]

template<typename PointT >

void pcl::UnaryClassifier< PointT >::convertCloud	(	typename pcl::PointCloud< PointT >::Ptr	in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	out )

protected

Definition at line 87 of file unary_classifier.hpp.

References pcl::ConstCloudIterator< PointT >::size().

◆ convertCloud() [2/2]

template<typename PointT >

void pcl::UnaryClassifier< PointT >::convertCloud	(	typename pcl::PointCloud< PointT >::Ptr	in,
		pcl::PointCloud< pcl::PointXYZRGBL >::Ptr	out )

protected

Definition at line 108 of file unary_classifier.hpp.

References pcl::_PointXYZRGBL::label, and pcl::ConstCloudIterator< PointT >::size().

◆ findClusters()

template<typename PointT >

void pcl::UnaryClassifier< PointT >::findClusters	(	typename pcl::PointCloud< PointT >::Ptr	in,
		std::vector< int > &	cluster_numbers )

protected

Definition at line 135 of file unary_classifier.hpp.

◆ getCloudWithLabel()

template<typename PointT >

void pcl::UnaryClassifier< PointT >::getCloudWithLabel	(	typename pcl::PointCloud< PointT >::Ptr	in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	out,
		int	label_num )

protected

Definition at line 170 of file unary_classifier.hpp.

◆ kmeansClustering()

template<typename PointT >

void pcl::UnaryClassifier< PointT >::kmeansClustering	(	pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	in,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	out,
		int	k )

protected

Definition at line 234 of file unary_classifier.hpp.

References pcl::FPFHSignature33::histogram, and pcl::ConstCloudIterator< PointT >::size().

◆ queryFeatureDistances()

template<typename PointT >

void pcl::UnaryClassifier< PointT >::queryFeatureDistances	(	std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &	trained_features,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	query_features,
		pcl::Indices &	indi,
		std::vector< float > &	dist )