pcl::gpu::EuclideanLabeledClusterExtraction — PointCloudLibrary

EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree More...

#include </__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h>

Public Types
using	PointType = pcl::PointXYZ
using	PointCloudHost = pcl::PointCloud< PointT >
using	PointCloudHostPtr = typename PointCloudHost::Ptr
using	PointCloudHostConstPtr = typename PointCloudHost::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr
using	GPUTree = pcl::gpu::Octree
using	GPUTreePtr = pcl::gpu::Octree::Ptr
using	CloudDevice = pcl::gpu::Octree::PointCloud

Public Member Functions
	EuclideanLabeledClusterExtraction ()=default
	Empty constructor. More...
virtual	~EuclideanLabeledClusterExtraction ()=default
	Default virtual destructor. More...
void	setSearchMethod (const GPUTreePtr &tree)
	Provide a pointer to the search object. More...
GPUTreePtr	getSearchMethod ()
	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 ()
	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 ()
	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 ()
	Get the maximum number of points that a cluster needs to contain in order to be considered valid. More...
void	setInput (CloudDevice input)
void	setHostCloud (PointCloudHostPtr host_cloud)
void	extract (std::vector< PointIndices > &clusters)
	extract clusters of a PointCloud given by <setInputCloud(), setIndices()> More...

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method. More...

Protected Attributes
CloudDevice	input_
	the input cloud on the GPU More...
PointCloudHostPtr	host_cloud_
	the original cloud the Host More...
GPUTreePtr	tree_
	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...

Detailed Description

template<typename PointT>
class pcl::gpu::EuclideanLabeledClusterExtraction< PointT >

EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree

Author: Koen Buys, Radu Bogdan Rusu

Definition at line 66 of file gpu_extract_labeled_clusters.h.

Member Typedef Documentation

CloudDevice

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::CloudDevice = pcl::gpu::Octree::PointCloud

Definition at line 79 of file gpu_extract_labeled_clusters.h.

GPUTree

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::GPUTree = pcl::gpu::Octree

Definition at line 76 of file gpu_extract_labeled_clusters.h.

GPUTreePtr

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::GPUTreePtr = pcl::gpu::Octree::Ptr

Definition at line 77 of file gpu_extract_labeled_clusters.h.

PointCloudHost

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointCloudHost = pcl::PointCloud<PointT>

Definition at line 69 of file gpu_extract_labeled_clusters.h.

PointCloudHostConstPtr

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointCloudHostConstPtr = typename PointCloudHost::ConstPtr

Definition at line 71 of file gpu_extract_labeled_clusters.h.

PointCloudHostPtr

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointCloudHostPtr = typename PointCloudHost::Ptr

Definition at line 70 of file gpu_extract_labeled_clusters.h.

PointIndicesConstPtr

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 74 of file gpu_extract_labeled_clusters.h.

PointIndicesPtr

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointIndicesPtr = PointIndices::Ptr

Definition at line 73 of file gpu_extract_labeled_clusters.h.

PointType

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointType = pcl::PointXYZ

Definition at line 68 of file gpu_extract_labeled_clusters.h.

Constructor & Destructor Documentation

EuclideanLabeledClusterExtraction()

template<typename PointT >

pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::EuclideanLabeledClusterExtraction ( )

default

Empty constructor.

~EuclideanLabeledClusterExtraction()

template<typename PointT >

virtual pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::~EuclideanLabeledClusterExtraction ( )

virtualdefault

Default virtual destructor.

Member Function Documentation

extract()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::extract ( std::vector< PointIndices > & clusters )

extract clusters of a PointCloud given by <setInputCloud(), setIndices()>

Parameters

clusters the resultant point clusters

Todo:: what do we do if input isn't a PointXYZ cloud?

Definition at line 152 of file gpu_extract_labeled_clusters.hpp.

References pcl::gpu::compareLabeledPointClusters().

getClassName()

template<typename PointT >

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

inlineprotectedvirtual

Class getName method.

Definition at line 200 of file gpu_extract_labeled_clusters.h.

getClusterTolerance()

template<typename PointT >

double pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getClusterTolerance ( )

inline

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

Definition at line 118 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_.

getMaxClusterSize()

template<typename PointT >

int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMaxClusterSize ( )

inline

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

Definition at line 154 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_.

getMinClusterSize()

template<typename PointT >

int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMinClusterSize ( )

inline

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

Definition at line 136 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_.

getSearchMethod()

template<typename PointT >

GPUTreePtr pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getSearchMethod ( )

inline

Get a pointer to the search method used.

Todo:: fix this for a generic search tree

Definition at line 101 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_.

setClusterTolerance()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setClusterTolerance ( double tolerance )

inline

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

Parameters

tolerance the spatial cluster tolerance measured by L2 distance

Definition at line 110 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_.

setHostCloud()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setHostCloud ( PointCloudHostPtr host_cloud )

inline

Definition at line 166 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::host_cloud_.

setInput()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setInput ( CloudDevice input )

inline

Definition at line 160 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::input_.

setMaxClusterSize()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMaxClusterSize ( int max_cluster_size )

inline

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

Parameters

max_cluster_size the maximum cluster size

Definition at line 146 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_.

setMinClusterSize()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMinClusterSize ( int min_cluster_size )

inline

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

Parameters

min_cluster_size the minimum cluster size

Definition at line 128 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_.

setSearchMethod()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setSearchMethod ( const GPUTreePtr & tree )

inline

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 92 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_.

Member Data Documentation

cluster_tolerance_

template<typename PointT >

double pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_ {0.0}

protected

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

Definition at line 188 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getClusterTolerance(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setClusterTolerance().

host_cloud_

template<typename PointT >

PointCloudHostPtr pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::host_cloud_

protected

the original cloud the Host

Definition at line 182 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setHostCloud().

input_

template<typename PointT >

CloudDevice pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::input_

protected

the input cloud on the GPU

Definition at line 179 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setInput().

max_pts_per_cluster_

template<typename PointT >

int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_ {std::numeric_limits<int>::max()}

protected

The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT).

Definition at line 196 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMaxClusterSize(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMaxClusterSize().

min_pts_per_cluster_

template<typename PointT >

int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_ {1}

protected

The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1).

Definition at line 192 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMinClusterSize(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMinClusterSize().

tree_

template<typename PointT >

GPUTreePtr pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_

protected

A pointer to the spatial search object.

Definition at line 185 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getSearchMethod(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setSearchMethod().

The documentation for this class was generated from the following files:

/__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h
/__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_labeled_clusters.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1gpu_1_1_euclidean_labeled_cluster_extraction.html

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::gpu::EuclideanLabeledClusterExtraction< PointT >

Member Typedef Documentation

CloudDevice

GPUTree

GPUTreePtr

PointCloudHost

PointCloudHostConstPtr

PointCloudHostPtr

PointIndicesConstPtr

PointIndicesPtr

PointType

Constructor & Destructor Documentation

EuclideanLabeledClusterExtraction()

~EuclideanLabeledClusterExtraction()

Member Function Documentation

extract()

getClassName()

getClusterTolerance()

getMaxClusterSize()

getMinClusterSize()

getSearchMethod()

setClusterTolerance()

setHostCloud()

setInput()

setMaxClusterSize()

setMinClusterSize()

setSearchMethod()

Member Data Documentation

cluster_tolerance_

host_cloud_

input_

max_pts_per_cluster_

min_pts_per_cluster_

tree_

template<typename PointT>
class pcl::gpu::EuclideanLabeledClusterExtraction< PointT >