42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/point_types.h>
47 #include <pcl/features/fpfh.h>
49 #include <pcl/ml/kmeans.h>
56 template <
typename Po
intT>
88 std::vector<float> &dist);
92 std::vector<float> &dist,
94 float feature_threshold,
127 std::vector<int> &cluster_numbers);
137 float normal_radius_search,
138 float fpfh_radius_search);
150 bool label_field_{
false};
152 unsigned int cluster_size_{0};
154 float normal_radius_search_{0.01f};
155 float fpfh_radius_search_{0.05f};
156 float feature_threshold_{5.0};
159 std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> trained_features_{};
172 #ifdef PCL_NO_PRECOMPILE
173 #include <pcl/segmentation/impl/unary_classifier.hpp>
shared_ptr< PointCloud< PointT > > Ptr
void setTrainedFeatures(std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features)
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
void setFeatureThreshold(float threshold)
IndicesAllocator<> Indices
Type used for indices in PCL.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setLabelField(bool l)
void setFPFHRadiusSearch(float param)
void setNormalRadiusSearch(float param)
void setClusterSize(unsigned int k)