Point Cloud Library (PCL)
1.11.1-dev
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38 #include <pcl/search/search.h>
39 #include <pcl/pcl_base.h>
59 template <
typename Po
intT>
63 const typename search::Search<
PointT>::Ptr& tree,
65 std::vector<std::vector<PointIndices>>& labeled_clusters,
66 unsigned int min_pts_per_cluster,
67 unsigned int max_pts_per_cluster,
68 unsigned int max_label);
84 const typename search::Search<
PointT>::Ptr& tree,
86 std::vector<std::vector<PointIndices>>& labeled_clusters,
87 unsigned int min_pts_per_cluster = 1,
88 unsigned int max_pts_per_cluster = std::numeric_limits<
unsigned int>::max());
116 , cluster_tolerance_(0)
117 , min_pts_per_cluster_(1)
118 , max_pts_per_cluster_(std::numeric_limits<int>::max())
119 , max_label_(std::numeric_limits<int>::max()){};
144 cluster_tolerance_ = tolerance;
152 return (cluster_tolerance_);
161 min_pts_per_cluster_ = min_cluster_size;
169 return (min_pts_per_cluster_);
178 max_pts_per_cluster_ = max_cluster_size;
186 return (max_pts_per_cluster_);
194 setMaxLabels(
unsigned int max_label)
196 max_label_ = max_label;
211 extract(std::vector<std::vector<PointIndices>>& labeled_clusters);
215 using BasePCLBase::deinitCompute;
216 using BasePCLBase::indices_;
217 using BasePCLBase::initCompute;
218 using BasePCLBase::input_;
242 return (
"LabeledEuclideanClusterExtraction");
256 #ifdef PCL_NO_PRECOMPILE
257 #include <pcl/segmentation/impl/extract_labeled_clusters.hpp>
typename PointCloud::ConstPtr PointCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
void extractLabeledEuclideanClusters(const PointCloud< PointT > &cloud, const typename search::Search< PointT >::Ptr &tree, float tolerance, std::vector< std::vector< PointIndices >> &labeled_clusters, unsigned int min_pts_per_cluster, unsigned int max_pts_per_cluster, unsigned int max_label)
Decompose a region of space into clusters based on the Euclidean distance between points.
PointIndices::ConstPtr PointIndicesConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
shared_ptr< const ::pcl::PointIndices > ConstPtr
shared_ptr< ::pcl::PointIndices > Ptr
bool compareLabeledPointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< KdTree< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
PointIndices::Ptr PointIndicesPtr