41 #include <pcl/pcl_base.h>
42 #include <pcl/point_types_conversion.h>
43 #include <pcl/search/pcl_search.h>
63 PointIndices &indices_in,
64 PointIndices &indices_out,
65 float delta_hue = 0.0);
80 const search::Search<PointXYZRGBL>::Ptr &tree,
82 PointIndices &indices_in,
83 PointIndices &indices_out,
84 float delta_hue = 0.0);
167 virtual std::string
getClassName ()
const {
return (
"seededHueSegmentation"); }
171 #ifdef PCL_NO_PRECOMPILE
172 #include <pcl/segmentation/impl/seeded_hue_segmentation.hpp>
float delta_hue_
The allowed difference on the hue.
virtual std::string getClassName() const
Class getName method.
PointIndices::ConstPtr PointIndicesConstPtr
pcl::search::Search< PointXYZRGB >::Ptr KdTreePtr
shared_ptr< PointCloud< PointT > > Ptr
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
IndicesPtr indices_
A pointer to the vector of point indices to use.
float getDeltaHue() const
Get the tolerance on the hue.
void setDeltaHue(float delta_hue)
Set the tollerance on the hue.
bool initCompute()
This method should get called before starting the actual computation.
void seededHueSegmentation(const PointCloud< PointXYZRGB > &cloud, const search::Search< PointXYZRGB >::Ptr &tree, float tolerance, PointIndices &indices_in, PointIndices &indices_out, float delta_hue=0.0)
Decompose a region of space into clusters based on the Euclidean distance between points...
void segment(PointIndices &indices_in, PointIndices &indices_out)
Cluster extraction in a PointCloud given by
shared_ptr< ::pcl::PointIndices > Ptr
PointCloud::Ptr PointCloudPtr
KdTreePtr tree_
A pointer to the spatial search object.
PointIndices::Ptr PointIndicesPtr
SeededHueSegmentation()
Empty constructor.
bool deinitCompute()
This method should get called after finishing the actual computation.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
PointCloud::ConstPtr PointCloudConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloudConstPtr input_
The input point cloud dataset.
shared_ptr< pcl::search::Search< PointXYZRGB > > Ptr
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
double getClusterTolerance() const
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.