Point Cloud Library (PCL): pcl::LabeledEuclideanClusterExtraction< PointT

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

#include <pcl/segmentation/extract_labeled_clusters.h>

Inheritance diagram for pcl::LabeledEuclideanClusterExtraction< PointT >:

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 ()
	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	setMaxLabels (unsigned int max_label)
	Set the maximum number of labels in the cloud. More...

unsigned int	getMaxLabels () const
	Get the maximum number of labels. 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...

const PointCloudConstPtr	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...

const IndicesConstPtr	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_
	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...

unsigned int	max_label_
	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 segmentation

Definition at line 98 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 106 of file extract_labeled_clusters.h.

◆ KdTreePtr

template<typename PointT >

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

Definition at line 107 of file extract_labeled_clusters.h.

◆ PointCloud

template<typename PointT >

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

Definition at line 102 of file extract_labeled_clusters.h.

◆ PointCloudConstPtr

template<typename PointT >

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

Definition at line 104 of file extract_labeled_clusters.h.

◆ PointCloudPtr

template<typename PointT >

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

Definition at line 103 of file extract_labeled_clusters.h.

◆ PointIndicesConstPtr

template<typename PointT >

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

Definition at line 110 of file extract_labeled_clusters.h.

◆ PointIndicesPtr

template<typename PointT >

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

Definition at line 109 of file extract_labeled_clusters.h.

Constructor & Destructor Documentation

◆ LabeledEuclideanClusterExtraction()

template<typename PointT >

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

inline

Empty constructor.

Definition at line 114 of file extract_labeled_clusters.h.

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 171 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 148 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 240 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 150 of file extract_labeled_clusters.h.

◆ 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 184 of file extract_labeled_clusters.h.

◆ getMaxLabels()

template<typename PointT >

unsigned int pcl::LabeledEuclideanClusterExtraction< PointT >::getMaxLabels ( ) const

inline

Get the maximum number of labels.

Deprecated:: Scheduled for removal in version 1 . 14 : "Max label is being deprecated"

Definition at line 202 of file extract_labeled_clusters.h.

◆ 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 167 of file extract_labeled_clusters.h.

◆ getSearchMethod()

template<typename PointT >

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

inline

Get a pointer to the search method used.

Definition at line 132 of file extract_labeled_clusters.h.

◆ 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 138 of file pcl_base.hpp.

◆ setClusterTolerance()

template<typename PointT >

void pcl::LabeledEuclideanClusterExtraction< PointT >::setClusterTolerance ( double tolerance )

inline

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

Parameters

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

Definition at line 142 of file extract_labeled_clusters.h.

◆ setMaxClusterSize()

template<typename PointT >

void pcl::LabeledEuclideanClusterExtraction< 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

[in] max_cluster_size the maximum cluster size

Definition at line 176 of file extract_labeled_clusters.h.

◆ setMaxLabels()

template<typename PointT >

void pcl::LabeledEuclideanClusterExtraction< PointT >::setMaxLabels ( unsigned int max_label )

inline

Set the maximum number of labels in the cloud.

Parameters

[in] max_label the maximum

Deprecated:: Scheduled for removal in version 1 . 14 : "Max label is being deprecated"

Definition at line 194 of file extract_labeled_clusters.h.

◆ setMinClusterSize()

template<typename PointT >

void pcl::LabeledEuclideanClusterExtraction< 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

[in] min_cluster_size the minimum cluster size

Definition at line 159 of file extract_labeled_clusters.h.

◆ setSearchMethod()

template<typename PointT >

void pcl::LabeledEuclideanClusterExtraction< PointT >::setSearchMethod ( const KdTreePtr & tree )

inline

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 125 of file extract_labeled_clusters.h.

Member Data Documentation

◆ cluster_tolerance_

template<typename PointT >

double pcl::LabeledEuclideanClusterExtraction< PointT >::cluster_tolerance_

protected

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

Definition at line 224 of file extract_labeled_clusters.h.

◆ indices_

template<typename PointT >

IndicesPtr pcl::PCLBase< PointT >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 150 of file pcl_base.h.

◆ input_

template<typename PointT >

PointCloudConstPtr pcl::PCLBase< PointT >::input_

protected

The input point cloud dataset.

Definition at line 147 of file pcl_base.h.

◆ max_label_

template<typename PointT >

unsigned int pcl::LabeledEuclideanClusterExtraction< PointT >::max_label_

protected

The maximum number of labels we can find in this pointcloud (default = MAXINT)

Definition at line 236 of file extract_labeled_clusters.h.

◆ max_pts_per_cluster_

template<typename PointT >

int pcl::LabeledEuclideanClusterExtraction< PointT >::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 232 of file extract_labeled_clusters.h.

◆ min_pts_per_cluster_

template<typename PointT >

int pcl::LabeledEuclideanClusterExtraction< PointT >::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 228 of file extract_labeled_clusters.h.

◆ tree_

template<typename PointT >

KdTreePtr pcl::LabeledEuclideanClusterExtraction< PointT >::tree_

protected

A pointer to the spatial search object.

Definition at line 221 of file extract_labeled_clusters.h.

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

pcl/segmentation/extract_labeled_clusters.h
pcl/segmentation/impl/extract_labeled_clusters.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ KdTree

◆ KdTreePtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ PointIndicesConstPtr

◆ PointIndicesPtr

Constructor & Destructor Documentation

◆ LabeledEuclideanClusterExtraction()

Member Function Documentation

◆ deinitCompute()

◆ extract()

◆ getClassName()

◆ getClusterTolerance()

◆ getMaxClusterSize()

◆ getMaxLabels()

◆ getMinClusterSize()

◆ getSearchMethod()

◆ initCompute()

◆ setClusterTolerance()

◆ setMaxClusterSize()

◆ setMaxLabels()

◆ setMinClusterSize()

◆ setSearchMethod()

Member Data Documentation

◆ cluster_tolerance_

◆ indices_

◆ input_

◆ max_label_

◆ max_pts_per_cluster_

◆ min_pts_per_cluster_

◆ tree_

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