Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::EuclideanClusterExtraction< PointT > Class Template Reference

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense. More...

#include <pcl/segmentation/extract_clusters.h>

+ Inheritance diagram for pcl::EuclideanClusterExtraction< PointT >:

Public Types

typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef pcl::search::Search
< PointT
KdTree
 
typedef pcl::search::Search
< PointT >::Ptr 
KdTreePtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 EuclideanClusterExtraction ()
 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< PointIndices > &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 ()
 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const 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 PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual std::string getClassName () const
 Class getName method. 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...
 
- 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::EuclideanClusterExtraction< PointT >

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.

Author
Radu Bogdan Rusu

Definition at line 295 of file extract_clusters.h.

Member Typedef Documentation

Definition at line 304 of file extract_clusters.h.

template<typename PointT>
typedef pcl::search::Search<PointT>::Ptr pcl::EuclideanClusterExtraction< PointT >::KdTreePtr

Definition at line 305 of file extract_clusters.h.

Definition at line 300 of file extract_clusters.h.

Definition at line 302 of file extract_clusters.h.

Definition at line 301 of file extract_clusters.h.

Definition at line 308 of file extract_clusters.h.

Definition at line 307 of file extract_clusters.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::EuclideanClusterExtraction< PointT >::EuclideanClusterExtraction ( )
inline

Empty constructor.

Definition at line 312 of file extract_clusters.h.

Member Function Documentation

template<typename PointT >
void pcl::EuclideanClusterExtraction< PointT >::extract ( std::vector< PointIndices > &  clusters)

Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>

Parameters
[out]clustersthe resultant point clusters

Definition at line 210 of file extract_clusters.hpp.

References pcl::gpu::comparePointClusters(), and pcl::extractEuclideanClusters().

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

template<typename PointT>
virtual std::string pcl::EuclideanClusterExtraction< PointT >::getClassName ( ) const
inlineprotectedvirtual

Class getName method.

Definition at line 410 of file extract_clusters.h.

template<typename PointT>
double pcl::EuclideanClusterExtraction< PointT >::getClusterTolerance ( ) const
inline

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

Definition at line 347 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::cluster_tolerance_.

template<typename PointT>
int pcl::EuclideanClusterExtraction< 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 379 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::max_pts_per_cluster_.

template<typename PointT>
int pcl::EuclideanClusterExtraction< 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 363 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::min_pts_per_cluster_.

template<typename PointT>
KdTreePtr pcl::EuclideanClusterExtraction< PointT >::getSearchMethod ( ) const
inline

Get a pointer to the search method used.

Definition at line 331 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::tree_.

template<typename PointT>
void pcl::EuclideanClusterExtraction< PointT >::setClusterTolerance ( double  tolerance)
inline

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

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

Definition at line 340 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::cluster_tolerance_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

template<typename PointT>
void pcl::EuclideanClusterExtraction< 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_sizethe maximum cluster size

Definition at line 372 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::max_pts_per_cluster_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

template<typename PointT>
void pcl::EuclideanClusterExtraction< 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_sizethe minimum cluster size

Definition at line 356 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::min_pts_per_cluster_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

template<typename PointT>
void pcl::EuclideanClusterExtraction< PointT >::setSearchMethod ( const KdTreePtr tree)
inline

Provide a pointer to the search object.

Parameters
[in]treea pointer to the spatial search object.

Definition at line 322 of file extract_clusters.h.

References pcl::EuclideanClusterExtraction< PointT >::tree_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

Member Data Documentation

template<typename PointT>
double pcl::EuclideanClusterExtraction< PointT >::cluster_tolerance_
protected

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

Definition at line 401 of file extract_clusters.h.

Referenced by pcl::EuclideanClusterExtraction< PointT >::getClusterTolerance(), and pcl::EuclideanClusterExtraction< PointT >::setClusterTolerance().

template<typename PointT>
int pcl::EuclideanClusterExtraction< 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 407 of file extract_clusters.h.

Referenced by pcl::EuclideanClusterExtraction< PointT >::getMaxClusterSize(), and pcl::EuclideanClusterExtraction< PointT >::setMaxClusterSize().

template<typename PointT>
int pcl::EuclideanClusterExtraction< 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 404 of file extract_clusters.h.

Referenced by pcl::EuclideanClusterExtraction< PointT >::getMinClusterSize(), and pcl::EuclideanClusterExtraction< PointT >::setMinClusterSize().

template<typename PointT>
KdTreePtr pcl::EuclideanClusterExtraction< PointT >::tree_
protected

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