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_
float delta_hue_
The allowed difference on the hue.
virtual std::string getClassName() const
Class getName method.
pcl::search::Search< PointXYZRGB >::Ptr KdTreePtr
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.
pcl::PointCloud< PointXYZRGB > PointCloud
IndicesPtr indices_
A pointer to the vector of point indices to use.
float getDeltaHue() const
Get the tolerance on the hue.
PointCloud::ConstPtr PointCloudConstPtr
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 setDeltaHue(float delta_hue)
Set the tollerance on the hue.
bool initCompute()
This method should get called before starting the actual computation.
void segment(PointIndices &indices_in, PointIndices &indices_out)
Cluster extraction in a PointCloud given by
boost::shared_ptr< PointCloud< PointT > > Ptr
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
PointCloud::Ptr PointCloudPtr
KdTreePtr tree_
A pointer to the spatial search object.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
SeededHueSegmentation()
Empty constructor.
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. ...
boost::shared_ptr< ::pcl::PointIndices > Ptr
PointIndices::ConstPtr PointIndicesConstPtr
pcl::search::Search< PointXYZRGB > KdTree
PointIndices::Ptr PointIndicesPtr
PointCloudConstPtr input_
The input point cloud dataset.
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.
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr