EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense. More...
#include <pcl/segmentation/extract_clusters.h>
Public Types |
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| 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 > |
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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 |
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| EuclideanClusterExtraction () | |
| Empty constructor. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| void | setClusterTolerance (double tolerance) |
| Set the spatial cluster tolerance as a measure in the L2 Euclidean space. More... |
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| double | getClusterTolerance () const |
| Get the spatial cluster tolerance as a measure in the L2 Euclidean space. More... |
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| void | setMinClusterSize (pcl::uindex_t min_cluster_size) |
| Set the minimum number of points that a cluster needs to contain in order to be considered valid. More... |
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| pcl::uindex_t | getMinClusterSize () const |
| Get the minimum number of points that a cluster needs to contain in order to be considered valid. More... |
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| void | setMaxClusterSize (pcl::uindex_t max_cluster_size) |
| Set the maximum number of points that a cluster needs to contain in order to be considered valid. More... |
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| pcl::uindex_t | getMaxClusterSize () const |
| Get the maximum number of points that a cluster needs to contain in order to be considered valid. More... |
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| void | extract (std::vector< PointIndices > &clusters) |
| Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()> More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| virtual std::string | getClassName () const |
| Class getName method. More... |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | cluster_tolerance_ |
| The spatial cluster tolerance as a measure in the L2 Euclidean space. More... |
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| pcl::uindex_t | min_pts_per_cluster_ |
| The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). More... |
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| pcl::uindex_t | max_pts_per_cluster_ |
| The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). More... |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointT>
class pcl::EuclideanClusterExtraction< PointT >
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
Definition at line 325 of file extract_clusters.h.
Member Typedef Documentation
KdTree
| using pcl::EuclideanClusterExtraction< PointT >::KdTree = pcl::search::Search<PointT> |
Definition at line 334 of file extract_clusters.h.
KdTreePtr
| using pcl::EuclideanClusterExtraction< PointT >::KdTreePtr = typename KdTree::Ptr |
Definition at line 335 of file extract_clusters.h.
PointCloud
| using pcl::EuclideanClusterExtraction< PointT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 330 of file extract_clusters.h.
PointCloudConstPtr
| using pcl::EuclideanClusterExtraction< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 332 of file extract_clusters.h.
PointCloudPtr
| using pcl::EuclideanClusterExtraction< PointT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 331 of file extract_clusters.h.
PointIndicesConstPtr
| using pcl::EuclideanClusterExtraction< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr |
Definition at line 338 of file extract_clusters.h.
PointIndicesPtr
| using pcl::EuclideanClusterExtraction< PointT >::PointIndicesPtr = PointIndices::Ptr |
Definition at line 337 of file extract_clusters.h.
Constructor & Destructor Documentation
EuclideanClusterExtraction()
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inline |
Empty constructor.
Definition at line 342 of file extract_clusters.h.
Member Function Documentation
deinitCompute()
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protected |
This method should get called after finishing the actual computation.
Definition at line 174 of file pcl_base.hpp.
extract()
| void pcl::EuclideanClusterExtraction< PointT >::extract | ( | std::vector< PointIndices > & | clusters | ) |
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
- Parameters
-
[out] clusters the resultant point clusters
Definition at line 228 of file extract_clusters.hpp.
References pcl::gpu::comparePointClusters(), and pcl::extractEuclideanClusters().
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().
getClassName()
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inlineprotectedvirtual |
Class getName method.
Definition at line 440 of file extract_clusters.h.
getClusterTolerance()
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inline |
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition at line 377 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::cluster_tolerance_.
getMaxClusterSize()
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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 409 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::max_pts_per_cluster_.
getMinClusterSize()
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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 393 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::min_pts_per_cluster_.
getSearchMethod()
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inline |
Get a pointer to the search method used.
- Todo:
- fix this for a generic search tree
Definition at line 361 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::tree_.
initCompute()
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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()
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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 370 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::cluster_tolerance_.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().
setMaxClusterSize()
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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 402 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::max_pts_per_cluster_.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().
setMinClusterSize()
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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 386 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::min_pts_per_cluster_.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().
setSearchMethod()
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inline |
Provide a pointer to the search object.
- Parameters
-
[in] tree a pointer to the spatial search object.
Definition at line 352 of file extract_clusters.h.
References pcl::EuclideanClusterExtraction< PointT >::tree_.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().
Member Data Documentation
cluster_tolerance_
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protected |
The spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition at line 431 of file extract_clusters.h.
Referenced by pcl::EuclideanClusterExtraction< PointT >::getClusterTolerance(), and pcl::EuclideanClusterExtraction< PointT >::setClusterTolerance().
indices_
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protected |
A pointer to the vector of point indices to use.
Definition at line 150 of file pcl_base.h.
input_
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protected |
The input point cloud dataset.
Definition at line 147 of file pcl_base.h.
max_pts_per_cluster_
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protected |
The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT).
Definition at line 437 of file extract_clusters.h.
Referenced by pcl::EuclideanClusterExtraction< PointT >::getMaxClusterSize(), and pcl::EuclideanClusterExtraction< PointT >::setMaxClusterSize().
min_pts_per_cluster_
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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 434 of file extract_clusters.h.
Referenced by pcl::EuclideanClusterExtraction< PointT >::getMinClusterSize(), and pcl::EuclideanClusterExtraction< PointT >::setMinClusterSize().
tree_
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protected |
A pointer to the spatial search object.
Definition at line 428 of file extract_clusters.h.
Referenced by pcl::EuclideanClusterExtraction< PointT >::getSearchMethod(), and pcl::EuclideanClusterExtraction< PointT >::setSearchMethod().
The documentation for this class was generated from the following files:
- pcl/segmentation/extract_clusters.h
- pcl/segmentation/impl/extract_clusters.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_euclidean_cluster_extraction.html
