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#include <pcl/apps/cloud_composer/tools/organized_segmentation.h>
#include <pcl/apps/cloud_composer/items/cloud_item.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp>
Q_PLUGIN_METADATA(IID "cloud_composer.ToolFactory/1.0")
pcl::cloud_composer::OrganizedSegmentationTool::OrganizedSegmentationTool (PropertiesModel* parameter_model, QObject* parent)
: SplitItemTool (parameter_model, parent)
{
}
QList <pcl::cloud_composer::CloudComposerItem*>
pcl::cloud_composer::OrganizedSegmentationTool::performAction (ConstItemList input_data, PointTypeFlags::PointType type)
{
if (type != PointTypeFlags::NONE)
{
switch ((std::uint8_t) type)
{
case (PointTypeFlags::XYZ):
return this->performTemplatedAction<pcl::PointXYZ> (input_data);
case (PointTypeFlags::XYZ | PointTypeFlags::RGB):
return this->performTemplatedAction<pcl::PointXYZRGB> (input_data);
case (PointTypeFlags::XYZ | PointTypeFlags::RGBA):
return this->performTemplatedAction<pcl::PointXYZRGBA> (input_data);
}
}
QList <CloudComposerItem*> output;
qCritical () << "organized_segmentation requires templated types!";
return output;
}
/////////////////// PARAMETER MODEL /////////////////////////////////
pcl::cloud_composer::PropertiesModel*
pcl::cloud_composer::OrganizedSegmentationToolFactory::createToolParameterModel (QObject* parent)
{
PropertiesModel* parameter_model = new PropertiesModel(parent);
parameter_model->addProperty ("Min Inliers", 1000, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Min Plane Size", 10000, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Angular Threshold", 2.0, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Distance Threshold", 0.02, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Cluster Dist. Thresh.", 0.01, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Min Cluster Size", 1000, Qt::ItemIsEditable | Qt::ItemIsEnabled);
return parameter_model;
}
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