Point Cloud Library (PCL) 1.12.1
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List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::UnaryClassifier< PointT > Class Template Reference

#include <pcl/segmentation/unary_classifier.h>

Collaboration diagram for pcl::UnaryClassifier< PointT >:

Public Member Functions

 UnaryClassifier ()
 Constructor that sets default values for member variables.
 ~UnaryClassifier ()
 This destructor destroys the cloud...
void setInputCloud (typename pcl::PointCloud< PointT >::Ptr input_cloud)
 This method sets the input cloud.
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, pcl::Indices &indi, std::vector< float > &dist)
void assignLabels (pcl::Indices &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.
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 58 of file unary_classifier.h.

Constructor & Destructor Documentation

◆ UnaryClassifier()

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

Constructor that sets default values for member variables.

Definition at line 54 of file unary_classifier.hpp.

References feature_threshold_, fpfh_radius_search_, input_cloud_, label_field_, and normal_radius_search_.

◆ ~UnaryClassifier()

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

This destructor destroys the cloud...

Definition at line 65 of file unary_classifier.hpp.

Member Function Documentation

◆ assignLabels()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::assignLabels ( pcl::Indices & indi,
std::vector< float > & dist,
int n_feature_means,
float feature_threshold,
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr out )

Definition at line 330 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::size().

Referenced by segment().

◆ computeFPFH()

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

Definition at line 205 of file unary_classifier.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::PCLBase< PointT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), and pcl::Feature< PointInT, PointOutT >::setSearchMethod().

Referenced by segment(), train(), and trainWithLabel().

◆ convertCloud() [1/2]

template<typename PointT>
void pcl::UnaryClassifier< PointT >::convertCloud ( typename pcl::PointCloud< PointT >::Ptr in,
pcl::PointCloud< pcl::PointXYZ >::Ptr out )
protected

Definition at line 87 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by segment(), and train().

◆ convertCloud() [2/2]

template<typename PointT>
void pcl::UnaryClassifier< PointT >::convertCloud ( typename pcl::PointCloud< PointT >::Ptr in,
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr out )
protected

Definition at line 108 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::_PointXYZRGBL::label, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ findClusters()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::findClusters ( typename pcl::PointCloud< PointT >::Ptr in,
std::vector< int > & cluster_numbers )
protected

Definition at line 135 of file unary_classifier.hpp.

References pcl::getFieldIndex().

Referenced by trainWithLabel().

◆ getCloudWithLabel()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::getCloudWithLabel ( typename pcl::PointCloud< PointT >::Ptr in,
pcl::PointCloud< pcl::PointXYZ >::Ptr out,
int label_num )
protected

Definition at line 170 of file unary_classifier.hpp.

References pcl::getFieldIndex(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by trainWithLabel().

◆ kmeansClustering()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::kmeansClustering ( pcl::PointCloud< pcl::FPFHSignature33 >::Ptr in,
pcl::PointCloud< pcl::FPFHSignature33 >::Ptr out,
int k )
protected

Definition at line 234 of file unary_classifier.hpp.

References pcl::Kmeans::addDataPoint(), pcl::Kmeans::get_centroids(), pcl::PointCloud< PointT >::height, pcl::FPFHSignature33::histogram, pcl::PointCloud< PointT >::is_dense, pcl::Kmeans::kMeans(), pcl::PointCloud< PointT >::points, pcl::Kmeans::setClusterSize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by train(), and trainWithLabel().

◆ queryFeatureDistances()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::queryFeatureDistances ( std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > & trained_features,
pcl::PointCloud< pcl::FPFHSignature33 >::Ptr query_features,
pcl::Indices & indi,
std::vector< float > & dist )

Definition at line 273 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::size().

Referenced by segment().

◆ segment()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::segment ( pcl::PointCloud< pcl::PointXYZRGBL >::Ptr & out)

Definition at line 405 of file unary_classifier.hpp.

References assignLabels(), computeFPFH(), convertCloud(), feature_threshold_, fpfh_radius_search_, input_cloud_, normal_radius_search_, queryFeatureDistances(), and trained_features_.

◆ setClusterSize()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::setClusterSize ( unsigned int k)
inline

Definition at line 99 of file unary_classifier.h.

References cluster_size_.

◆ setFeatureThreshold()

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

Definition at line 114 of file unary_classifier.h.

References feature_threshold_.

◆ setFPFHRadiusSearch()

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

Definition at line 105 of file unary_classifier.h.

References fpfh_radius_search_.

◆ setInputCloud()

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 71 of file unary_classifier.hpp.

References pcl::getFieldIndex(), input_cloud_, and label_field_.

◆ setLabelField()

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

Definition at line 108 of file unary_classifier.h.

References label_field_.

◆ setNormalRadiusSearch()

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

Definition at line 102 of file unary_classifier.h.

References normal_radius_search_.

◆ setTrainedFeatures()

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

Definition at line 111 of file unary_classifier.h.

References trained_features_.

◆ train()

template<typename PointT>
void pcl::UnaryClassifier< PointT >::train ( pcl::PointCloud< pcl::FPFHSignature33 >::Ptr & output)

Definition at line 356 of file unary_classifier.hpp.

References cluster_size_, computeFPFH(), convertCloud(), fpfh_radius_search_, input_cloud_, kmeansClustering(), and normal_radius_search_.

◆ trainWithLabel()

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

Definition at line 374 of file unary_classifier.hpp.

References cluster_size_, computeFPFH(), findClusters(), fpfh_radius_search_, getCloudWithLabel(), input_cloud_, kmeansClustering(), and normal_radius_search_.

Member Data Documentation

◆ cluster_size_

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

Definition at line 153 of file unary_classifier.h.

Referenced by setClusterSize(), train(), and trainWithLabel().

◆ feature_threshold_

template<typename PointT>
float pcl::UnaryClassifier< PointT >::feature_threshold_
protected

Definition at line 157 of file unary_classifier.h.

Referenced by segment(), setFeatureThreshold(), and UnaryClassifier().

◆ fpfh_radius_search_

template<typename PointT>
float pcl::UnaryClassifier< PointT >::fpfh_radius_search_
protected

Definition at line 156 of file unary_classifier.h.

Referenced by segment(), setFPFHRadiusSearch(), train(), trainWithLabel(), and UnaryClassifier().

◆ input_cloud_

template<typename PointT>
pcl::PointCloud<PointT>::Ptr pcl::UnaryClassifier< PointT >::input_cloud_
protected

Contains the input cloud.

Definition at line 149 of file unary_classifier.h.

Referenced by segment(), setInputCloud(), train(), trainWithLabel(), and UnaryClassifier().

◆ label_field_

template<typename PointT>
bool pcl::UnaryClassifier< PointT >::label_field_
protected

Definition at line 151 of file unary_classifier.h.

Referenced by setInputCloud(), setLabelField(), and UnaryClassifier().

◆ normal_radius_search_

template<typename PointT>
float pcl::UnaryClassifier< PointT >::normal_radius_search_
protected

Definition at line 155 of file unary_classifier.h.

Referenced by segment(), setNormalRadiusSearch(), train(), trainWithLabel(), and UnaryClassifier().

◆ trained_features_

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

Definition at line 160 of file unary_classifier.h.

Referenced by segment(), and setTrainedFeatures().

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