Point Cloud Library (PCL)  1.9.1-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>

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, std::vector< int > &indi, std::vector< float > &dist)
 
void assignLabels (std::vector< int > &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. More...
 
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 60 of file unary_classifier.h.

Constructor & Destructor Documentation

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

Constructor that sets default values for member variables.

Definition at line 52 of file unary_classifier.hpp.

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

This destructor destroys the cloud...

Definition at line 63 of file unary_classifier.hpp.

Member Function Documentation

template<typename PointT >
void pcl::UnaryClassifier< PointT >::assignLabels ( std::vector< int > &  indi,
std::vector< float > &  dist,
int  n_feature_means,
float  feature_threshold,
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr  out 
)
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
template<typename PointT >
void pcl::UnaryClassifier< PointT >::convertCloud ( typename pcl::PointCloud< PointT >::Ptr  in,
pcl::PointCloud< pcl::PointXYZ >::Ptr  out 
)
protected
template<typename PointT >
void pcl::UnaryClassifier< PointT >::convertCloud ( typename pcl::PointCloud< PointT >::Ptr  in,
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr  out 
)
protected
template<typename PointT >
void pcl::UnaryClassifier< PointT >::findClusters ( typename pcl::PointCloud< PointT >::Ptr  in,
std::vector< int > &  cluster_numbers 
)
protected
template<typename PointT >
void pcl::UnaryClassifier< PointT >::getCloudWithLabel ( typename pcl::PointCloud< PointT >::Ptr  in,
pcl::PointCloud< pcl::PointXYZ >::Ptr  out,
int  label_num 
)
protected
template<typename PointT >
void pcl::UnaryClassifier< PointT >::kmeansClustering ( pcl::PointCloud< pcl::FPFHSignature33 >::Ptr  in,
pcl::PointCloud< pcl::FPFHSignature33 >::Ptr  out,
int  k 
)
protected
template<typename PointT >
void pcl::UnaryClassifier< PointT >::queryFeatureDistances ( std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &  trained_features,
pcl::PointCloud< pcl::FPFHSignature33 >::Ptr  query_features,
std::vector< int > &  indi,
std::vector< float > &  dist 
)
template<typename PointT >
void pcl::UnaryClassifier< PointT >::segment ( pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &  out)
template<typename PointT >
void pcl::UnaryClassifier< PointT >::setClusterSize ( unsigned int  k)
inline

Definition at line 101 of file unary_classifier.h.

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

Definition at line 116 of file unary_classifier.h.

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

Definition at line 107 of file unary_classifier.h.

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 69 of file unary_classifier.hpp.

References pcl::getFieldIndex(), pcl::UnaryClassifier< PointT >::input_cloud_, and pcl::UnaryClassifier< PointT >::label_field_.

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

Definition at line 110 of file unary_classifier.h.

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

Definition at line 104 of file unary_classifier.h.

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

Definition at line 113 of file unary_classifier.h.

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

Member Data Documentation

template<typename PointT >
unsigned int pcl::UnaryClassifier< PointT >::cluster_size_
protected
template<typename PointT >
float pcl::UnaryClassifier< PointT >::feature_threshold_
protected

Definition at line 159 of file unary_classifier.h.

Referenced by pcl::UnaryClassifier< PointT >::segment().

template<typename PointT >
float pcl::UnaryClassifier< PointT >::fpfh_radius_search_
protected
template<typename PointT >
pcl::PointCloud<PointT>::Ptr pcl::UnaryClassifier< PointT >::input_cloud_
protected
template<typename PointT >
bool pcl::UnaryClassifier< PointT >::label_field_
protected

Definition at line 153 of file unary_classifier.h.

Referenced by pcl::UnaryClassifier< PointT >::setInputCloud().

template<typename PointT >
float pcl::UnaryClassifier< PointT >::normal_radius_search_
protected
template<typename PointT >
std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> pcl::UnaryClassifier< PointT >::trained_features_
protected

Definition at line 162 of file unary_classifier.h.

Referenced by pcl::UnaryClassifier< PointT >::segment().


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