pcl::LabeledEuclideanClusterExtraction — PointCloudLibrary

LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, with label info. More...

#include <pcl/segmentation/extract_labeled_clusters.h>

Public Types
using	PointCloud = pcl::PointCloud< PointT >
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	KdTree = pcl::search::Search< PointT >
using	KdTreePtr = typename KdTree::Ptr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	LabeledEuclideanClusterExtraction ()=default
	Empty constructor. More...
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used. More...
void	setClusterTolerance (double tolerance)
	Set the spatial cluster tolerance as a measure in the L2 Euclidean space. More...
double	getClusterTolerance () const
	Get the spatial cluster tolerance as a measure in the L2 Euclidean space. More...
void	setMinClusterSize (int min_cluster_size)
	Set the minimum number of points that a cluster needs to contain in order to be considered valid. More...
int	getMinClusterSize () const
	Get the minimum number of points that a cluster needs to contain in order to be considered valid. More...
void	setMaxClusterSize (int max_cluster_size)
	Set the maximum number of points that a cluster needs to contain in order to be considered valid. More...
int	getMaxClusterSize () const
	Get the maximum number of points that a cluster needs to contain in order to be considered valid. More...
void	extract (std::vector< std::vector< PointIndices >> &labeled_clusters)
	Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()> More...
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...
	PCLBase (const PCLBase &base)
	Copy constructor. More...
virtual	~PCLBase ()=default
	Destructor. More...
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method. More...
bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...
bool	initCompute ()
	This method should get called before starting the actual computation. More...
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...
bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
KdTreePtr	tree_ {nullptr}
	A pointer to the spatial search object. More...
double	cluster_tolerance_ {0.0}
	The spatial cluster tolerance as a measure in the L2 Euclidean space. More...
int	min_pts_per_cluster_ {1}
	The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). More...
int	max_pts_per_cluster_ {std::numeric_limits<int>::max()}
	The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). More...
unsigned int	max_label_ {std::numeric_limits<unsigned int>::max()}
	The maximum number of labels we can find in this pointcloud (default = MAXINT) More...
IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...
PointCloudConstPtr	input_
	The input point cloud dataset. More...
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...
IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...
bool	use_indices_
	Set to true if point indices are used. More...
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointT>
class pcl::LabeledEuclideanClusterExtraction< PointT >

LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, with label info.

Author: Koen Buys

Definition at line 75 of file extract_labeled_clusters.h.

Member Typedef Documentation

KdTree

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::KdTree = pcl::search::Search<PointT>

Definition at line 83 of file extract_labeled_clusters.h.

KdTreePtr

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::KdTreePtr = typename KdTree::Ptr

Definition at line 84 of file extract_labeled_clusters.h.

PointCloud

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 79 of file extract_labeled_clusters.h.

PointCloudConstPtr

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 81 of file extract_labeled_clusters.h.

PointCloudPtr

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 80 of file extract_labeled_clusters.h.

PointIndicesConstPtr

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 87 of file extract_labeled_clusters.h.

PointIndicesPtr

template<typename PointT >

using pcl::LabeledEuclideanClusterExtraction< PointT >::PointIndicesPtr = PointIndices::Ptr

Definition at line 86 of file extract_labeled_clusters.h.

Constructor & Destructor Documentation

LabeledEuclideanClusterExtraction()

template<typename PointT >

pcl::LabeledEuclideanClusterExtraction< PointT >::LabeledEuclideanClusterExtraction ( )

default

Empty constructor.

Member Function Documentation

deinitCompute()

template<typename PointT >

bool pcl::PCLBase< PointT >::deinitCompute

protected

This method should get called after finishing the actual computation.

Definition at line 173 of file pcl_base.hpp.

extract()

template<typename PointT >

void pcl::LabeledEuclideanClusterExtraction< PointT >::extract ( std::vector< std::vector< PointIndices >> & labeled_clusters )

Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>

Parameters

[out] labeled_clusters the resultant point clusters

Definition at line 129 of file extract_labeled_clusters.hpp.

References pcl::gpu::comparePointClusters(), and pcl::extractLabeledEuclideanClusters().

getClassName()

template<typename PointT >

virtual std::string pcl::LabeledEuclideanClusterExtraction< PointT >::getClassName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 195 of file extract_labeled_clusters.h.

getClusterTolerance()

template<typename PointT >

double pcl::LabeledEuclideanClusterExtraction< PointT >::getClusterTolerance ( ) const

inline

Get the spatial cluster tolerance as a measure in the L2 Euclidean space.

Definition at line 122 of file extract_labeled_clusters.h.

References pcl::LabeledEuclideanClusterExtraction< PointT >::cluster_tolerance_.

getMaxClusterSize()

template<typename PointT >

int pcl::LabeledEuclideanClusterExtraction< PointT >::getMaxClusterSize ( ) const

inline

Get the maximum number of points that a cluster needs to contain in order to be considered valid.

Definition at line 156 of file extract_labeled_clusters.h.

References pcl::LabeledEuclideanClusterExtraction< PointT >::max_pts_per_cluster_.

getMinClusterSize()

template<typename PointT >

int pcl::LabeledEuclideanClusterExtraction< PointT >::getMinClusterSize ( ) const

inline

Get the minimum number of points that a cluster needs to contain in order to be considered valid.

Definition at line 139 of file extract_labeled_clusters.h.

References pcl::LabeledEuclideanClusterExtraction< PointT >::min_pts_per_cluster_.

getSearchMethod()

template<typename PointT >

KdTreePtr pcl::LabeledEuclideanClusterExtraction< PointT >::getSearchMethod ( ) const

inline

Get a pointer to the search method used.

Definition at line 104 of file extract_labeled_clusters.h.

References pcl::LabeledEuclideanClusterExtraction< PointT >::tree_.

initCompute()

template<typename PointT >

bool pcl::PCLBase< PointT >::initCompute

protected

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

checks if an input dataset is given, and returns false otherwise
checks whether a set of input indices has been given. Returns true if yes.
if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices

Definition at line 168 of file pcl_base.hpp.