Point Cloud Library (PCL): pcl::gpu::EuclideanClusterExtraction Class Reference

EuclideanClusterExtraction 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_clusters.h>

Public Types
using	PointType = pcl::PointXYZ

using	PointCloudHost = pcl::PointCloud< pcl::PointXYZ >

using	PointCloudHostPtr = PointCloudHost::Ptr

using	PointCloudHostConstPtr = 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
	EuclideanClusterExtraction ()
	Empty constructor. More...

void	setSearchMethod (GPUTreePtr &tree)
	the destructor 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< pcl::PointIndices > &clusters)
	Cluster extraction in 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_
	The spatial cluster tolerance as a measure in the L2 Euclidean space. More...

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

Detailed Description

EuclideanClusterExtraction 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 65 of file gpu_extract_clusters.h.

Member Typedef Documentation

◆ CloudDevice

using pcl::gpu::EuclideanClusterExtraction::CloudDevice = pcl::gpu::Octree::PointCloud

Definition at line 79 of file gpu_extract_clusters.h.

◆ GPUTree

using pcl::gpu::EuclideanClusterExtraction::GPUTree = pcl::gpu::Octree

Definition at line 76 of file gpu_extract_clusters.h.

◆ GPUTreePtr

using pcl::gpu::EuclideanClusterExtraction::GPUTreePtr = pcl::gpu::Octree::Ptr

Definition at line 77 of file gpu_extract_clusters.h.

◆ PointCloudHost

using pcl::gpu::EuclideanClusterExtraction::PointCloudHost = pcl::PointCloud<pcl::PointXYZ>

Definition at line 69 of file gpu_extract_clusters.h.

◆ PointCloudHostConstPtr

using pcl::gpu::EuclideanClusterExtraction::PointCloudHostConstPtr = PointCloudHost::ConstPtr

Definition at line 71 of file gpu_extract_clusters.h.

◆ PointCloudHostPtr

using pcl::gpu::EuclideanClusterExtraction::PointCloudHostPtr = PointCloudHost::Ptr

Definition at line 70 of file gpu_extract_clusters.h.

◆ PointIndicesConstPtr

using pcl::gpu::EuclideanClusterExtraction::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 74 of file gpu_extract_clusters.h.

◆ PointIndicesPtr

using pcl::gpu::EuclideanClusterExtraction::PointIndicesPtr = PointIndices::Ptr

Definition at line 73 of file gpu_extract_clusters.h.

◆ PointType

using pcl::gpu::EuclideanClusterExtraction::PointType = pcl::PointXYZ

Definition at line 68 of file gpu_extract_clusters.h.

Constructor & Destructor Documentation

◆ EuclideanClusterExtraction()

pcl::gpu::EuclideanClusterExtraction::EuclideanClusterExtraction ( )

inline

Empty constructor.

Definition at line 83 of file gpu_extract_clusters.h.

Member Function Documentation

◆ extract()

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

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

Parameters

clusters the resultant point clusters

Definition at line 180 of file gpu_extract_clusters.hpp.

References cluster_tolerance_, pcl::gpu::extractEuclideanClusters(), host_cloud_, max_pts_per_cluster_, min_pts_per_cluster_, and tree_.

◆ getClassName()

virtual std::string pcl::gpu::EuclideanClusterExtraction::getClassName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 155 of file gpu_extract_clusters.h.

◆ getClusterTolerance()

double pcl::gpu::EuclideanClusterExtraction::getClusterTolerance ( )

inline

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

Definition at line 108 of file gpu_extract_clusters.h.

References cluster_tolerance_.

◆ getMaxClusterSize()

int pcl::gpu::EuclideanClusterExtraction::getMaxClusterSize ( )

inline

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

Definition at line 124 of file gpu_extract_clusters.h.

References max_pts_per_cluster_.

◆ getMinClusterSize()

int pcl::gpu::EuclideanClusterExtraction::getMinClusterSize ( )

inline

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

Definition at line 116 of file gpu_extract_clusters.h.

References min_pts_per_cluster_.

◆ getSearchMethod()

GPUTreePtr pcl::gpu::EuclideanClusterExtraction::getSearchMethod ( )

inline

Get a pointer to the search method used.

Todo:: fix this for a generic search tree

Definition at line 100 of file gpu_extract_clusters.h.

References tree_.

◆ setClusterTolerance()

void pcl::gpu::EuclideanClusterExtraction::setClusterTolerance ( double tolerance )

inline

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

Parameters

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

Definition at line 105 of file gpu_extract_clusters.h.

References cluster_tolerance_.

◆ setHostCloud()

void pcl::gpu::EuclideanClusterExtraction::setHostCloud ( PointCloudHostPtr host_cloud )

inline

Definition at line 128 of file gpu_extract_clusters.h.

References host_cloud_.

◆ setInput()

void pcl::gpu::EuclideanClusterExtraction::setInput ( CloudDevice input )

inline

Definition at line 126 of file gpu_extract_clusters.h.

References input_.

◆ setMaxClusterSize()

void pcl::gpu::EuclideanClusterExtraction::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 121 of file gpu_extract_clusters.h.

References max_pts_per_cluster_.

◆ setMinClusterSize()

void pcl::gpu::EuclideanClusterExtraction::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 113 of file gpu_extract_clusters.h.

References min_pts_per_cluster_.

◆ setSearchMethod()

void pcl::gpu::EuclideanClusterExtraction::setSearchMethod ( GPUTreePtr & tree )

inline

the destructor

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 95 of file gpu_extract_clusters.h.

References tree_.

Member Data Documentation

◆ cluster_tolerance_

double pcl::gpu::EuclideanClusterExtraction::cluster_tolerance_

protected

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

Definition at line 146 of file gpu_extract_clusters.h.

Referenced by extract(), getClusterTolerance(), and setClusterTolerance().

◆ host_cloud_

PointCloudHostPtr pcl::gpu::EuclideanClusterExtraction::host_cloud_

protected

the original cloud the Host

Definition at line 140 of file gpu_extract_clusters.h.

Referenced by extract(), and setHostCloud().

◆ input_

CloudDevice pcl::gpu::EuclideanClusterExtraction::input_

protected

the input cloud on the GPU

Definition at line 137 of file gpu_extract_clusters.h.

Referenced by setInput().

◆ max_pts_per_cluster_

int pcl::gpu::EuclideanClusterExtraction::max_pts_per_cluster_

protected

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

Definition at line 152 of file gpu_extract_clusters.h.

Referenced by extract(), getMaxClusterSize(), and setMaxClusterSize().

◆ min_pts_per_cluster_

int pcl::gpu::EuclideanClusterExtraction::min_pts_per_cluster_

protected

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

Definition at line 149 of file gpu_extract_clusters.h.

Referenced by extract(), getMinClusterSize(), and setMinClusterSize().

◆ tree_

GPUTreePtr pcl::gpu::EuclideanClusterExtraction::tree_

protected

A pointer to the spatial search object.

Definition at line 143 of file gpu_extract_clusters.h.

Referenced by extract(), getSearchMethod(), and setSearchMethod().

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CloudDevice

◆ GPUTree

◆ GPUTreePtr

◆ PointCloudHost

◆ PointCloudHostConstPtr

◆ PointCloudHostPtr

◆ PointIndicesConstPtr

◆ PointIndicesPtr

◆ PointType

Constructor & Destructor Documentation

◆ EuclideanClusterExtraction()

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_