Point Cloud Library (PCL)  1.15.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::UnaryClassifier< PointT > Class Template Reference

#include <pcl/segmentation/unary_classifier.h>

+ Collaboration diagram for pcl::UnaryClassifier< PointT >:

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, 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_ {new pcl::PointCloud<PointT>}
 Contains the input cloud. More...
 
bool label_field_ {false}
 
unsigned int cluster_size_ {0}
 
float normal_radius_search_ {0.01f}
 
float fpfh_radius_search_ {0.05f}
 
float feature_threshold_ {5.0}
 
std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > trained_features_ {}
 

Detailed Description

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

Definition at line 57 of file unary_classifier.h.

Constructor & Destructor Documentation

◆ UnaryClassifier()

template<typename PointT >
pcl::UnaryClassifier< PointT >::UnaryClassifier ( )
default

Constructor that sets default values for member variables.

◆ ~UnaryClassifier()

template<typename PointT >
pcl::UnaryClassifier< PointT >::~UnaryClassifier ( )
default

This destructor destroys the cloud...

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 321 of file unary_classifier.hpp.

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

◆ 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 196 of file unary_classifier.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::PCLBase< PointT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), and pcl::Feature< PointInT, PointOutT >::setSearchMethod().

◆ 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 80 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.

◆ 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 101 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.

◆ findClusters()

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

Definition at line 128 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 161 of file unary_classifier.hpp.

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

◆ 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 225 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.

◆ 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 
)

Definition at line 264 of file unary_classifier.hpp.

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

◆ segment()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::segment ( pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &  out)

Definition at line 396 of file unary_classifier.hpp.

References pcl::geometry::distance().

◆ setClusterSize()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setClusterSize ( unsigned int  k)
inline

Definition at line 98 of file unary_classifier.h.

◆ setFeatureThreshold()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setFeatureThreshold ( float  threshold)
inline

Definition at line 113 of file unary_classifier.h.

◆ setFPFHRadiusSearch()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setFPFHRadiusSearch ( float  param)
inline

Definition at line 104 of file unary_classifier.h.

◆ setInputCloud()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setInputCloud ( typename pcl::PointCloud< PointT >::Ptr  input_cloud)

This method sets the input cloud.

Parameters
[in]input_cloudinput point cloud

Definition at line 64 of file unary_classifier.hpp.

◆ setLabelField()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setLabelField ( bool  l)
inline

Definition at line 107 of file unary_classifier.h.

◆ setNormalRadiusSearch()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setNormalRadiusSearch ( float  param)
inline

Definition at line 101 of file unary_classifier.h.

◆ setTrainedFeatures()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::setTrainedFeatures ( std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &  features)
inline

Definition at line 110 of file unary_classifier.h.

◆ train()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::train ( pcl::PointCloud< pcl::FPFHSignature33 >::Ptr &  output)

Definition at line 347 of file unary_classifier.hpp.

◆ trainWithLabel()

template<typename PointT >
void pcl::UnaryClassifier< PointT >::trainWithLabel ( std::vector< pcl::PointCloud< pcl::FPFHSignature33 >, Eigen::aligned_allocator< pcl::PointCloud< pcl::FPFHSignature33 > > > &  output)

Definition at line 365 of file unary_classifier.hpp.

Member Data Documentation

◆ cluster_size_

template<typename PointT >
unsigned int pcl::UnaryClassifier< PointT >::cluster_size_ {0}
protected

Definition at line 152 of file unary_classifier.h.

◆ feature_threshold_

template<typename PointT >
float pcl::UnaryClassifier< PointT >::feature_threshold_ {5.0}
protected

Definition at line 156 of file unary_classifier.h.

◆ fpfh_radius_search_

template<typename PointT >
float pcl::UnaryClassifier< PointT >::fpfh_radius_search_ {0.05f}
protected

Definition at line 155 of file unary_classifier.h.

◆ input_cloud_

template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::UnaryClassifier< PointT >::input_cloud_ {new pcl::PointCloud<PointT>}
protected

Contains the input cloud.

Definition at line 148 of file unary_classifier.h.

◆ label_field_

template<typename PointT >
bool pcl::UnaryClassifier< PointT >::label_field_ {false}
protected

Definition at line 150 of file unary_classifier.h.

◆ normal_radius_search_

template<typename PointT >
float pcl::UnaryClassifier< PointT >::normal_radius_search_ {0.01f}
protected

Definition at line 154 of file unary_classifier.h.

◆ trained_features_

template<typename PointT >
std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> pcl::UnaryClassifier< PointT >::trained_features_ {}
protected

Definition at line 159 of file unary_classifier.h.

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