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