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unary_classifier.h
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author : Christian Potthast
* Email : potthast@usc.edu
*
*/
#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/features/fpfh.h>
#include <pcl/ml/kmeans.h>
namespace pcl
{
/** \brief
*
*/
template <typename PointT>
class PCL_EXPORTS UnaryClassifier
{
public:
/** \brief Constructor that sets default values for member variables. */
UnaryClassifier ();
/** \brief This destructor destroys the cloud...
*
*/
~UnaryClassifier ();
/** \brief This method sets the input cloud.
* \param[in] input_cloud input point cloud
*/
void
setInputCloud (typename pcl::PointCloud<PointT>::Ptr 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){cluster_size_ = k;};
void
setNormalRadiusSearch (float param){normal_radius_search_ = param;};
void
setFPFHRadiusSearch (float param){fpfh_radius_search_ = param;};
void
setLabelField (bool l){label_field_ = l;};
void
setTrainedFeatures (std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> &features){trained_features_ = features;};
void
setFeatureThreshold (float threshold){feature_threshold_ = threshold;};
protected:
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);
/** \brief Contains the input cloud */
typename pcl::PointCloud<PointT>::Ptr input_cloud_{new pcl::PointCloud<PointT>};
bool label_field_{false};
unsigned int cluster_size_{0};
float normal_radius_search_{0.01f};
float fpfh_radius_search_{0.05f};
float feature_threshold_{5.0};
std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> trained_features_{};
/** \brief Contains normals of the points that will be segmented. */
//typename pcl::PointCloud<pcl::Normal>::Ptr normals_;
/** \brief Stores the cloud that will be segmented. */
//typename pcl::PointCloud<PointT>::Ptr cloud_for_segmentation_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/segmentation/impl/unary_classifier.hpp>
#endif
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::UnaryClassifier
Definition unary_classifier.h:58
pcl::UnaryClassifier::setFPFHRadiusSearch
void setFPFHRadiusSearch(float param)
Definition unary_classifier.h:104
pcl::UnaryClassifier::setTrainedFeatures
void setTrainedFeatures(std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features)
Definition unary_classifier.h:110
pcl::UnaryClassifier::setNormalRadiusSearch
void setNormalRadiusSearch(float param)
Definition unary_classifier.h:101
pcl::UnaryClassifier::setClusterSize
void setClusterSize(unsigned int k)
Definition unary_classifier.h:98
pcl::UnaryClassifier::setLabelField
void setLabelField(bool l)
Definition unary_classifier.h:107
pcl::UnaryClassifier::setFeatureThreshold
void setFeatureThreshold(float threshold)
Definition unary_classifier.h:113
pcl::UnaryClassifier::UnaryClassifier
UnaryClassifier()
Constructor that sets default values for member variables.
pcl::UnaryClassifier::~UnaryClassifier
~UnaryClassifier()
This destructor destroys the cloud...
point_types.h
Defines all the PCL implemented PointT point type structures.
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition convolution.h:46
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl_macros.h
Defines all the PCL and non-PCL macros used.