41 #include <pcl/pcl_base.h>
42 #include <pcl/point_types_conversion.h>
43 #include <pcl/search/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);
166 virtual std::string
getClassName ()
const {
return (
"seededHueSegmentation"); }
170 #ifdef PCL_NO_PRECOMPILE
171 #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.
SeededHueSegmentation()=default
Empty constructor.
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 tolerance 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
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.