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 
49 #include <pcl/ml/kmeans.h>
50 
51 namespace pcl
52 {
53  /** \brief
54  *
55  */
56  template <typename PointT>
58  {
59  public:
60 
61  /** \brief Constructor that sets default values for member variables. */
62  UnaryClassifier ();
63 
64  /** \brief This destructor destroys the cloud...
65  *
66  */
68 
69  /** \brief This method sets the input cloud.
70  * \param[in] input_cloud input point cloud
71  */
72  void
73  setInputCloud (typename pcl::PointCloud<PointT>::Ptr input_cloud);
74 
75  void
77 
78  void
79  trainWithLabel (std::vector<pcl::PointCloud<pcl::FPFHSignature33>, Eigen::aligned_allocator<pcl::PointCloud<pcl::FPFHSignature33> > > &output);
80 
81  void
83 
84  void
85  queryFeatureDistances (std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> &trained_features,
87  pcl::Indices &indi,
88  std::vector<float> &dist);
89 
90  void
91  assignLabels (pcl::Indices &indi,
92  std::vector<float> &dist,
93  int n_feature_means,
94  float feature_threshold,
96 
97  void
98  setClusterSize (unsigned int k){cluster_size_ = k;};
99 
100  void
101  setNormalRadiusSearch (float param){normal_radius_search_ = param;};
102 
103  void
104  setFPFHRadiusSearch (float param){fpfh_radius_search_ = param;};
105 
106  void
107  setLabelField (bool l){label_field_ = l;};
108 
109  void
110  setTrainedFeatures (std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> &features){trained_features_ = features;};
111 
112  void
113  setFeatureThreshold (float threshold){feature_threshold_ = threshold;};
114 
115  protected:
116 
117  void
118  convertCloud (typename pcl::PointCloud<PointT>::Ptr in,
120 
121  void
122  convertCloud (typename pcl::PointCloud<PointT>::Ptr in,
124 
125  void
126  findClusters (typename pcl::PointCloud<PointT>::Ptr in,
127  std::vector<int> &cluster_numbers);
128 
129  void
130  getCloudWithLabel (typename pcl::PointCloud<PointT>::Ptr in,
132  int label_num);
133 
134  void
135  computeFPFH (pcl::PointCloud<pcl::PointXYZ>::Ptr in,
137  float normal_radius_search,
138  float fpfh_radius_search);
139 
140  void
141  kmeansClustering (pcl::PointCloud<pcl::FPFHSignature33>::Ptr in,
143  int k);
144 
145 
146 
147  /** \brief Contains the input cloud */
149 
151 
152  unsigned int cluster_size_;
153 
157 
158 
159  std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> trained_features_;
160 
161  /** \brief Contains normals of the points that will be segmented. */
162  //typename pcl::PointCloud<pcl::Normal>::Ptr normals_;
163 
164  /** \brief Stores the cloud that will be segmented. */
165  //typename pcl::PointCloud<PointT>::Ptr cloud_for_segmentation_;
166 
167  public:
169  };
170 }
171 
172 #ifdef PCL_NO_PRECOMPILE
173 #include <pcl/segmentation/impl/unary_classifier.hpp>
174 #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