Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::EuclideanClusterComparator< PointT, PointNT, PointLT > Class Template Reference

EuclideanClusterComparator is a comparator used for finding clusters based on euclidian distance. More...

#include <pcl/segmentation/euclidean_cluster_comparator.h>

+ Inheritance diagram for pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >:

Public Types

typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr< EuclideanClusterComparator< PointT, PointNT, PointLT > > Ptr
 
typedef boost::shared_ptr< const EuclideanClusterComparator< PointT, PointNT, PointLT > > ConstPtr
 
- Public Types inherited from pcl::experimental::EuclideanClusterComparator< PointT, PointLT >
typedef pcl::PointCloud< PointLT > PointCloudL
 
typedef PointCloudL::Ptr PointCloudLPtr
 
typedef PointCloudL::ConstPtr PointCloudLConstPtr
 
typedef boost::shared_ptr< EuclideanClusterComparator< PointT, PointLT > > Ptr
 
typedef boost::shared_ptr< const EuclideanClusterComparator< PointT, PointLT > > ConstPtr
 
typedef std::set< uint32_t > ExcludeLabelSet
 
typedef boost::shared_ptr< ExcludeLabelSetExcludeLabelSetPtr
 
typedef boost::shared_ptr< const ExcludeLabelSetExcludeLabelSetConstPtr
 
- Public Types inherited from pcl::Comparator< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< Comparator< PointT > > Ptr
 
typedef boost::shared_ptr< const Comparator< PointT > > ConstPtr
 

Public Member Functions

 EuclideanClusterComparator ()
 Default constructor for EuclideanClusterComparator. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input normals. More...
 
PointCloudNConstPtr getInputNormals () const
 Get the input normals. More...
 
void setAngularThreshold (float angular_threshold)
 Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...
 
float getAngularThreshold () const
 Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...
 
void setExcludeLabels (const std::vector< bool > &exclude_labels)
 Set labels in the label cloud to exclude. More...
 
- Public Member Functions inherited from pcl::experimental::EuclideanClusterComparator< PointT, PointLT >
 EuclideanClusterComparator ()
 Default constructor for EuclideanClusterComparator. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Set the input cloud for the comparator. More...
 
void setDistanceThreshold (float distance_threshold, bool depth_dependent)
 Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. More...
 
float getDistanceThreshold () const
 Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. More...
 
void setLabels (const PointCloudLPtr &labels)
 Set label cloud. More...
 
const ExcludeLabelSetConstPtrgetExcludeLabels () const
 
void setExcludeLabels (const ExcludeLabelSetConstPtr &exclude_labels)
 Set labels in the label cloud to exclude. More...
 
virtual bool compare (int idx1, int idx2) const
 Compare points at two indices by their euclidean distance. More...
 
- Public Member Functions inherited from pcl::Comparator< PointT >
 Comparator ()
 Empty constructor for comparator. More...
 
virtual ~Comparator ()
 Empty destructor for comparator. More...
 
virtual PointCloudConstPtr getInputCloud () const
 Get the input cloud this comparator operates on. More...
 

Protected Attributes

PointCloudNConstPtr normals_
 
float angular_threshold_
 
- Protected Attributes inherited from pcl::experimental::EuclideanClusterComparator< PointT, PointLT >
PointCloudLPtr labels_
 Set of labels with similar size as the input point cloud, aggregating points into groups based on a similar label identifier. More...
 
ExcludeLabelSetConstPtr exclude_labels_
 Specifies which labels should be excluded com being clustered. More...
 
float distance_threshold_
 
bool depth_dependent_
 
Eigen::Vector3f z_axis_
 
- Protected Attributes inherited from pcl::Comparator< PointT >
PointCloudConstPtr input_
 

Detailed Description

template<typename PointT, typename PointNT, typename PointLT = deprecated::T>
class pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >

EuclideanClusterComparator is a comparator used for finding clusters based on euclidian distance.

Author
Alex Trevor

Definition at line 196 of file euclidean_cluster_comparator.h.

Member Typedef Documentation

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
typedef boost::shared_ptr<const EuclideanClusterComparator<PointT, PointNT, PointLT> > pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::ConstPtr

Definition at line 209 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
typedef pcl::PointCloud<PointNT> pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudN

Definition at line 204 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
typedef PointCloudN::ConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudNConstPtr

Definition at line 206 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
typedef PointCloudN::Ptr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudNPtr

Definition at line 205 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
typedef boost::shared_ptr<EuclideanClusterComparator<PointT, PointNT, PointLT> > pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::Ptr

Definition at line 208 of file euclidean_cluster_comparator.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::EuclideanClusterComparator ( )
inline

Default constructor for EuclideanClusterComparator.

Definition at line 215 of file euclidean_cluster_comparator.h.

Member Function Documentation

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::getAngularThreshold ( ) const
inline

Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Definition at line 253 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
PointCloudNConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::getInputNormals ( ) const
inline

Get the input normals.

Definition at line 234 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setAngularThreshold ( float  angular_threshold)
inline

Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Parameters
[in]angular_thresholdthe tolerance in radians

Definition at line 243 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setExcludeLabels ( const std::vector< bool > &  exclude_labels)
inline

Set labels in the label cloud to exclude.

Parameters
[in]exclude_labelsa vector of bools corresponding to whether or not a given label should be considered

Definition at line 260 of file euclidean_cluster_comparator.h.

References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setInputNormals ( const PointCloudNConstPtr normals)
inline

Provide a pointer to the input normals.

Parameters
[in]normalsthe input normal cloud

Definition at line 227 of file euclidean_cluster_comparator.h.

Member Data Documentation

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::angular_threshold_
protected

Definition at line 272 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT = deprecated::T>
PointCloudNConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::normals_
protected

Definition at line 270 of file euclidean_cluster_comparator.h.


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