Point Cloud Library (PCL)
1.14.1-dev
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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 |
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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... | |
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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... | |
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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... | |
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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... | |
LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, with label info.
Definition at line 75 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::KdTree = pcl::search::Search<PointT> |
Definition at line 83 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::KdTreePtr = typename KdTree::Ptr |
Definition at line 84 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 79 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 81 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 80 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr |
Definition at line 87 of file extract_labeled_clusters.h.
using pcl::LabeledEuclideanClusterExtraction< PointT >::PointIndicesPtr = PointIndices::Ptr |
Definition at line 86 of file extract_labeled_clusters.h.
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default |
Empty constructor.
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protected |
This method should get called after finishing the actual computation.
Definition at line 173 of file pcl_base.hpp.
void pcl::LabeledEuclideanClusterExtraction< PointT >::extract | ( | std::vector< std::vector< PointIndices >> & | labeled_clusters | ) |
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
[out] | labeled_clusters | the resultant point clusters |
Definition at line 129 of file extract_labeled_clusters.hpp.
References pcl::gpu::comparePointClusters(), and pcl::extractLabeledEuclideanClusters().
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inlineprotectedvirtual |
Class getName method.
Definition at line 195 of file extract_labeled_clusters.h.
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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_.
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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_.
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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_.
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inline |
Get a pointer to the search method used.
Definition at line 104 of file extract_labeled_clusters.h.
References pcl::LabeledEuclideanClusterExtraction< PointT >::tree_.
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protected |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
Definition at line 168 of file pcl_base.hpp.
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inline |
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
[in] | tolerance | the spatial cluster tolerance as a measure in the L2 Euclidean space |
Definition at line 114 of file extract_labeled_clusters.h.
References pcl::LabeledEuclideanClusterExtraction< PointT >::cluster_tolerance_.
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inline |
Set the maximum number of points that a cluster needs to contain in order to be considered valid.
[in] | max_cluster_size | the maximum cluster size |
Definition at line 148 of file extract_labeled_clusters.h.
References pcl::LabeledEuclideanClusterExtraction< PointT >::max_pts_per_cluster_.
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inline |
Set the minimum number of points that a cluster needs to contain in order to be considered valid.
[in] | min_cluster_size | the minimum cluster size |
Definition at line 131 of file extract_labeled_clusters.h.
References pcl::LabeledEuclideanClusterExtraction< PointT >::min_pts_per_cluster_.
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inline |
Provide a pointer to the search object.
[in] | tree | a pointer to the spatial search object. |
Definition at line 97 of file extract_labeled_clusters.h.
References pcl::LabeledEuclideanClusterExtraction< PointT >::tree_.
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protected |
The spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition at line 178 of file extract_labeled_clusters.h.
Referenced by pcl::LabeledEuclideanClusterExtraction< PointT >::getClusterTolerance(), and pcl::LabeledEuclideanClusterExtraction< PointT >::setClusterTolerance().
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A pointer to the vector of point indices to use.
Definition at line 150 of file pcl_base.h.
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The input point cloud dataset.
Definition at line 147 of file pcl_base.h.
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The maximum number of labels we can find in this pointcloud (default = MAXINT)
Definition at line 191 of file extract_labeled_clusters.h.
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The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT).
Definition at line 186 of file extract_labeled_clusters.h.
Referenced by pcl::LabeledEuclideanClusterExtraction< PointT >::getMaxClusterSize(), and pcl::LabeledEuclideanClusterExtraction< PointT >::setMaxClusterSize().
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protected |
The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1).
Definition at line 182 of file extract_labeled_clusters.h.
Referenced by pcl::LabeledEuclideanClusterExtraction< PointT >::getMinClusterSize(), and pcl::LabeledEuclideanClusterExtraction< PointT >::setMinClusterSize().
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protected |
A pointer to the spatial search object.
Definition at line 175 of file extract_labeled_clusters.h.
Referenced by pcl::LabeledEuclideanClusterExtraction< PointT >::getSearchMethod(), and pcl::LabeledEuclideanClusterExtraction< PointT >::setSearchMethod().