44 #include <pcl/point_cloud.h>
47 #include <pcl/features/fpfh.h>
48 #include <pcl/features/normal_3d.h>
50 #include <pcl/filters/filter_indices.h>
51 #include <pcl/segmentation/extract_clusters.h>
53 #include <pcl/ml/kmeans.h>
60 template <
typename Po
intT>
91 std::vector<int> &indi,
92 std::vector<float> &dist);
95 assignLabels (std::vector<int> &indi,
96 std::vector<float> &dist,
98 float feature_threshold,
131 std::vector<int> &cluster_numbers);
141 float normal_radius_search,
142 float fpfh_radius_search);
176 #ifdef PCL_NO_PRECOMPILE
177 #include <pcl/segmentation/impl/unary_classifier.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
void setFPFHRadiusSearch(float param)
void setTrainedFeatures(std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features)
void setNormalRadiusSearch(float param)
void setClusterSize(unsigned int k)
unsigned int cluster_size_
pcl::PointCloud< PointT >::Ptr input_cloud_
Contains the input cloud.
void setLabelField(bool l)
void setFeatureThreshold(float threshold)
float normal_radius_search_
float fpfh_radius_search_
std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > trained_features_
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.