41#include <pcl/pcl_base.h>
42#include <pcl/point_types_conversion.h>
43#include <pcl/search/search.h>
61 const search::Search<PointXYZRGB>::Ptr &tree,
63 PointIndices &indices_in,
64 PointIndices &indices_out,
65 float delta_hue = 0.0);
82 PointIndices &indices_in,
83 PointIndices &indices_out,
84 float delta_hue = 0.0);
167 virtual std::string
getClassName ()
const {
return (
"seededHueSegmentation"); }
171#ifdef PCL_NO_PRECOMPILE
172#include <pcl/segmentation/impl/seeded_hue_segmentation.hpp>
PointCloudConstPtr input_
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
KdTreePtr tree_
A pointer to the spatial search object.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
PointIndices::Ptr PointIndicesPtr
virtual std::string getClassName() const
Class getName method.
pcl::search::Search< PointXYZRGB >::Ptr KdTreePtr
PointCloud::ConstPtr PointCloudConstPtr
float delta_hue_
The allowed difference on the hue.
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
float getDeltaHue() const
Get the tolerance on the hue.
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
void setDeltaHue(float delta_hue)
Set the tollerance on the hue.
double getClusterTolerance() const
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
void segment(PointIndices &indices_in, PointIndices &indices_out)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
PointCloud::Ptr PointCloudPtr
SeededHueSegmentation()
Empty constructor.
PointIndices::ConstPtr PointIndicesConstPtr
shared_ptr< pcl::search::Search< PointT > > Ptr
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.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr