| 115 | } |
| 116 | |
| 117 | void |
| 118 | compute (const CloudT::Ptr &input, std::vector<FeatureT::Ptr> &trained_features, |
| 119 | CloudLT::Ptr &out, |
| 120 | float normal_radius_search, |
| 121 | float fpfh_radius_search, |
| 122 | float feature_threshold) |
| 123 | { |
| 124 | TicToc tt; |
| 125 | tt.tic (); |
| 126 | |
| 127 | print_highlight ("Computing "); |
| 128 | |
| 129 | UnaryClassifier<PointT> classifier; |
| 130 | classifier.setInputCloud (input); |
| 131 | classifier.setTrainedFeatures (trained_features); |
| 132 | classifier.setNormalRadiusSearch (normal_radius_search); |
| 133 | classifier.setFPFHRadiusSearch (fpfh_radius_search); |
| 134 | classifier.setFeatureThreshold (feature_threshold); |
| 135 | |
| 136 | classifier.segment (out); |
| 137 | |
| 138 | print_info ("[done, "); |
| 139 | print_value ("%g", tt.toc ()); |
| 140 | print_info (" ms : "); print_value ("%d", out->width * out->height); |
| 141 | print_info (" points]\n"); |
| 142 | |
| 143 | } |
| 144 | |
| 145 | void |
| 146 | saveCloud (const std::string &filename, CloudLT::Ptr &output) |
no test coverage detected