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

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree More...

#include </home/travis/build/PointCloudLibrary/pcl/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h>

Public Types

typedef pcl::PointXYZ PointType
 
typedef pcl::PointCloud
< pcl::PointXYZ
PointCloudHost
 
typedef PointCloudHost::Ptr PointCloudHostPtr
 
typedef PointCloudHost::ConstPtr PointCloudHostConstPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
typedef pcl::gpu::Octree GPUTree
 
typedef pcl::gpu::Octree::Ptr GPUTreePtr
 
typedef
pcl::gpu::Octree::PointCloud 
CloudDevice
 

Public Member Functions

 EuclideanClusterExtraction ()
 Empty constructor. More...
 
void setSearchMethod (GPUTreePtr &tree)
 the destructor More...
 
GPUTreePtr getSearchMethod ()
 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 ()
 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 ()
 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 ()
 Get the maximum number of points that a cluster needs to contain in order to be considered valid. More...
 
void setInput (CloudDevice input)
 
void setHostCloud (PointCloudHostPtr host_cloud)
 
void extract (std::vector< pcl::PointIndices > &clusters)
 Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()> More...
 

Protected Member Functions

virtual std::string getClassName () const
 Class getName method. More...
 

Protected Attributes

CloudDevice input_
 the input cloud on the GPU More...
 
PointCloudHostPtr host_cloud_
 the original cloud the Host More...
 
GPUTreePtr 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...
 

Detailed Description

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree

Author
Koen Buys, Radu Bogdan Rusu

Definition at line 66 of file gpu_extract_clusters.h.

Member Typedef Documentation

Definition at line 80 of file gpu_extract_clusters.h.

Definition at line 77 of file gpu_extract_clusters.h.

Definition at line 78 of file gpu_extract_clusters.h.

Definition at line 70 of file gpu_extract_clusters.h.

Definition at line 72 of file gpu_extract_clusters.h.

Definition at line 71 of file gpu_extract_clusters.h.

Definition at line 75 of file gpu_extract_clusters.h.

Definition at line 74 of file gpu_extract_clusters.h.

Definition at line 69 of file gpu_extract_clusters.h.

Constructor & Destructor Documentation

pcl::gpu::EuclideanClusterExtraction::EuclideanClusterExtraction ( )
inline

Empty constructor.

Definition at line 84 of file gpu_extract_clusters.h.

Member Function Documentation

void pcl::gpu::EuclideanClusterExtraction::extract ( std::vector< pcl::PointIndices > &  clusters)

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

Parameters
clustersthe resultant point clusters

Definition at line 180 of file gpu_extract_clusters.hpp.

References cluster_tolerance_, pcl::gpu::extractEuclideanClusters(), host_cloud_, max_pts_per_cluster_, min_pts_per_cluster_, and tree_.

virtual std::string pcl::gpu::EuclideanClusterExtraction::getClassName ( ) const
inlineprotectedvirtual

Class getName method.

Definition at line 156 of file gpu_extract_clusters.h.

double pcl::gpu::EuclideanClusterExtraction::getClusterTolerance ( )
inline

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

Definition at line 109 of file gpu_extract_clusters.h.

References cluster_tolerance_.

int pcl::gpu::EuclideanClusterExtraction::getMaxClusterSize ( )
inline

Get the maximum number of points that a cluster needs to contain in order to be considered valid.

Definition at line 125 of file gpu_extract_clusters.h.

References max_pts_per_cluster_.

int pcl::gpu::EuclideanClusterExtraction::getMinClusterSize ( )
inline

Get the minimum number of points that a cluster needs to contain in order to be considered valid.

Definition at line 117 of file gpu_extract_clusters.h.

References min_pts_per_cluster_.

GPUTreePtr pcl::gpu::EuclideanClusterExtraction::getSearchMethod ( )
inline

Get a pointer to the search method used.

Definition at line 101 of file gpu_extract_clusters.h.

References tree_.

void pcl::gpu::EuclideanClusterExtraction::setClusterTolerance ( double  tolerance)
inline

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

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

Definition at line 106 of file gpu_extract_clusters.h.

References cluster_tolerance_.

void pcl::gpu::EuclideanClusterExtraction::setHostCloud ( PointCloudHostPtr  host_cloud)
inline

Definition at line 129 of file gpu_extract_clusters.h.

References host_cloud_.

void pcl::gpu::EuclideanClusterExtraction::setInput ( CloudDevice  input)
inline

Definition at line 127 of file gpu_extract_clusters.h.

References input_.

void pcl::gpu::EuclideanClusterExtraction::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
max_cluster_sizethe maximum cluster size

Definition at line 122 of file gpu_extract_clusters.h.

References max_pts_per_cluster_.

void pcl::gpu::EuclideanClusterExtraction::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
min_cluster_sizethe minimum cluster size

Definition at line 114 of file gpu_extract_clusters.h.

References min_pts_per_cluster_.

void pcl::gpu::EuclideanClusterExtraction::setSearchMethod ( GPUTreePtr tree)
inline

the destructor

Provide a pointer to the search object.

Parameters
treea pointer to the spatial search object.

Definition at line 96 of file gpu_extract_clusters.h.

References tree_.

Member Data Documentation

double pcl::gpu::EuclideanClusterExtraction::cluster_tolerance_
protected

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

Definition at line 147 of file gpu_extract_clusters.h.

Referenced by extract(), getClusterTolerance(), and setClusterTolerance().

PointCloudHostPtr pcl::gpu::EuclideanClusterExtraction::host_cloud_
protected

the original cloud the Host

Definition at line 141 of file gpu_extract_clusters.h.

Referenced by extract(), and setHostCloud().

CloudDevice pcl::gpu::EuclideanClusterExtraction::input_
protected

the input cloud on the GPU

Definition at line 138 of file gpu_extract_clusters.h.

Referenced by setInput().

int pcl::gpu::EuclideanClusterExtraction::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 153 of file gpu_extract_clusters.h.

Referenced by extract(), getMaxClusterSize(), and setMaxClusterSize().

int pcl::gpu::EuclideanClusterExtraction::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 150 of file gpu_extract_clusters.h.

Referenced by extract(), getMinClusterSize(), and setMinClusterSize().

GPUTreePtr pcl::gpu::EuclideanClusterExtraction::tree_
protected

A pointer to the spatial search object.

Definition at line 144 of file gpu_extract_clusters.h.

Referenced by extract(), getSearchMethod(), and setSearchMethod().


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