40 #ifndef PCL_UNARY_CLASSIFIER_H_ 41 #define PCL_UNARY_CLASSIFIER_H_ 43 #include <pcl/point_cloud.h> 46 #include <pcl/features/fpfh.h> 47 #include <pcl/features/normal_3d.h> 49 #include <pcl/filters/filter_indices.h> 50 #include <pcl/segmentation/extract_clusters.h> 52 #include <pcl/ml/kmeans.h> 59 template <
typename Po
intT>
90 std::vector<int> &indi,
91 std::vector<float> &dist);
94 assignLabels (std::vector<int> &indi,
95 std::vector<float> &dist,
97 float feature_threshold,
130 std::vector<int> &cluster_numbers);
140 float normal_radius_search,
141 float fpfh_radius_search);
171 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
175 #ifdef PCL_NO_PRECOMPILE 176 #include <pcl/segmentation/impl/unary_classifier.hpp> void setTrainedFeatures(std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features)
unsigned int cluster_size_
std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > trained_features_
boost::shared_ptr< PointCloud< PointT > > Ptr
void setFeatureThreshold(float threshold)
Defines all the PCL implemented PointT point type structures.
pcl::PointCloud< PointT >::Ptr input_cloud_
Contains the input cloud.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
float fpfh_radius_search_
void setLabelField(bool l)
void setFPFHRadiusSearch(float param)
void setNormalRadiusSearch(float param)
float normal_radius_search_
void setClusterSize(unsigned int k)