42 #include <pcl/point_types.h>
43 #include <pcl/point_cloud.h>
44 #include <pcl/PointIndices.h>
45 #include <pcl/pcl_macros.h>
55 PointIndices &clusters_in,
56 PointIndices &clusters_out,
57 float delta_hue = 0.0);
135 virtual std::string
getClassName ()
const {
return (
"gpu::SeededHueSegmentation"); }
PointCloudHost::Ptr PointCloudHostPtr
shared_ptr< PointCloud< PointT > > Ptr
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
void setDeltaHue(float delta_hue)
Set the tollerance on the hue.
PointCloudHostPtr host_cloud_
the original cloud the Host
PointIndices::Ptr PointIndicesPtr
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Octree implementation on GPU.
void seededHueSegmentation(const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &host_cloud_, const pcl::gpu::Octree::Ptr &tree, float tolerance, PointIndices &clusters_in, PointIndices &clusters_out, float delta_hue=0.0)
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
GPUTreePtr tree_
A pointer to the spatial search object.
SeededHueSegmentation()
Empty constructor.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< Octree > Ptr
Types.
PointIndices::ConstPtr PointIndicesConstPtr
A point structure representing Euclidean xyz coordinates.
pcl::gpu::Octree::Ptr GPUTreePtr
void setSearchMethod(const GPUTreePtr &tree)
Provide a pointer to the search object.
float delta_hue_
The allowed difference on the hue.
void segment(PointIndices &indices_in, PointIndices &indices_out)
Cluster extraction in a PointCloud given by
PointCloudHost::ConstPtr PointCloudHostConstPtr
CloudDevice input_
the input cloud on the GPU
float getDeltaHue()
Get the tolerance on the hue.
shared_ptr< const ::pcl::PointIndices > ConstPtr
shared_ptr< const PointCloud< pcl::PointXYZ > > ConstPtr
void setInput(CloudDevice input)
DeviceArray< PointType > PointCloud
Point cloud supported.
virtual std::string getClassName() const
Class getName method.
void setHostCloud(PointCloudHostPtr host_cloud)
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.