Point Cloud Library (PCL)  1.12.1-dev
unary_classifier.h
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35  * Author : Christian Potthast
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39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/point_types.h>
46 
47 #include <pcl/features/fpfh.h>
48 #include <pcl/features/normal_3d.h>
49 
50 #include <pcl/ml/kmeans.h>
51 
52 namespace pcl
53 {
54  /** \brief
55  *
56  */
57  template <typename PointT>
59  {
60  public:
61 
62  /** \brief Constructor that sets default values for member variables. */
63  UnaryClassifier ();
64 
65  /** \brief This destructor destroys the cloud...
66  *
67  */
69 
70  /** \brief This method sets the input cloud.
71  * \param[in] input_cloud input point cloud
72  */
73  void
74  setInputCloud (typename pcl::PointCloud<PointT>::Ptr input_cloud);
75 
76  void
78 
79  void
80  trainWithLabel (std::vector<pcl::PointCloud<pcl::FPFHSignature33>, Eigen::aligned_allocator<pcl::PointCloud<pcl::FPFHSignature33> > > &output);
81 
82  void
84 
85  void
86  queryFeatureDistances (std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> &trained_features,
88  pcl::Indices &indi,
89  std::vector<float> &dist);
90 
91  void
92  assignLabels (pcl::Indices &indi,
93  std::vector<float> &dist,
94  int n_feature_means,
95  float feature_threshold,
97 
98  void
99  setClusterSize (unsigned int k){cluster_size_ = k;};
100 
101  void
102  setNormalRadiusSearch (float param){normal_radius_search_ = param;};
103 
104  void
105  setFPFHRadiusSearch (float param){fpfh_radius_search_ = param;};
106 
107  void
108  setLabelField (bool l){label_field_ = l;};
109 
110  void
111  setTrainedFeatures (std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> &features){trained_features_ = features;};
112 
113  void
114  setFeatureThreshold (float threshold){feature_threshold_ = threshold;};
115 
116  protected:
117 
118  void
119  convertCloud (typename pcl::PointCloud<PointT>::Ptr in,
121 
122  void
123  convertCloud (typename pcl::PointCloud<PointT>::Ptr in,
125 
126  void
127  findClusters (typename pcl::PointCloud<PointT>::Ptr in,
128  std::vector<int> &cluster_numbers);
129 
130  void
131  getCloudWithLabel (typename pcl::PointCloud<PointT>::Ptr in,
133  int label_num);
134 
135  void
136  computeFPFH (pcl::PointCloud<pcl::PointXYZ>::Ptr in,
138  float normal_radius_search,
139  float fpfh_radius_search);
140 
141  void
142  kmeansClustering (pcl::PointCloud<pcl::FPFHSignature33>::Ptr in,
144  int k);
145 
146 
147 
148  /** \brief Contains the input cloud */
150 
152 
153  unsigned int cluster_size_;
154 
158 
159 
160  std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> trained_features_;
161 
162  /** \brief Contains normals of the points that will be segmented. */
163  //typename pcl::PointCloud<pcl::Normal>::Ptr normals_;
164 
165  /** \brief Stores the cloud that will be segmented. */
166  //typename pcl::PointCloud<PointT>::Ptr cloud_for_segmentation_;
167 
168  public:
170  };
171 }
172 
173 #ifdef PCL_NO_PRECOMPILE
174 #include <pcl/segmentation/impl/unary_classifier.hpp>
175 #endif
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
void setFPFHRadiusSearch(float param)
void setTrainedFeatures(std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features)
void setNormalRadiusSearch(float param)
void setClusterSize(unsigned int k)
unsigned int cluster_size_
pcl::PointCloud< PointT >::Ptr input_cloud_
Contains the input cloud.
void setLabelField(bool l)
void setFeatureThreshold(float threshold)
~UnaryClassifier()
This destructor destroys the cloud...
std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > trained_features_
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323