Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::LabeledEuclideanClusterExtraction< PointT > Class Template Reference

LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, with label info. More...

#include <pcl/segmentation/extract_labeled_clusters.h>

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

List of all members.

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 Member Functions

 LabeledEuclideanClusterExtraction ()
 Empty constructor.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used.
void setClusterTolerance (double tolerance)
 Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
double getClusterTolerance () const
 Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
void setMinClusterSize (int min_cluster_size)
 Set the minimum number of points that a cluster needs to contain in order to be considered valid.
int getMinClusterSize () const
 Get the minimum number of points that a cluster needs to contain in order to be considered valid.
void setMaxClusterSize (int max_cluster_size)
 Set the maximum number of points that a cluster needs to contain in order to be considered valid.
int getMaxClusterSize () const
 Get the maximum number of points that a cluster needs to contain in order to be considered valid.
void setMaxLabels (unsigned int max_label)
 Set the maximum number of labels in the cloud.
unsigned int getMaxLabels () const
 Get the maximum number of labels.
void extract (std::vector< std::vector< PointIndices > > &labeled_clusters)
 Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>

Protected Member Functions

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

Protected Attributes

KdTreePtr tree_
 A pointer to the spatial search object.
double cluster_tolerance_
 The spatial cluster tolerance as a measure in the L2 Euclidean space.
int min_pts_per_cluster_
 The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1).
int max_pts_per_cluster_
 The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT).
unsigned int max_label_
 The maximum number of labels we can find in this pointcloud (default = MAXINT)

Detailed Description

template<typename PointT>
class pcl::LabeledEuclideanClusterExtraction< PointT >

LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, with label info.

Author:
Koen Buys

Definition at line 71 of file extract_labeled_clusters.h.


Member Typedef Documentation

Definition at line 80 of file extract_labeled_clusters.h.

Definition at line 81 of file extract_labeled_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 76 of file extract_labeled_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 78 of file extract_labeled_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 77 of file extract_labeled_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 84 of file extract_labeled_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 83 of file extract_labeled_clusters.h.


Constructor & Destructor Documentation

Empty constructor.

Definition at line 88 of file extract_labeled_clusters.h.


Member Function Documentation

template<typename PointT >
void pcl::LabeledEuclideanClusterExtraction< PointT >::extract ( std::vector< std::vector< PointIndices > > &  labeled_clusters)

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

Parameters:
[out]labeled_clustersthe resultant point clusters

Definition at line 123 of file extract_labeled_clusters.hpp.

References pcl::comparePointClusters(), and pcl::extractLabeledEuclideanClusters().

template<typename PointT >
virtual std::string pcl::LabeledEuclideanClusterExtraction< PointT >::getClassName ( ) const [inline, protected, virtual]

Class getName method.

Definition at line 175 of file extract_labeled_clusters.h.

template<typename PointT >
double pcl::LabeledEuclideanClusterExtraction< PointT >::getClusterTolerance ( ) const [inline]

Get 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_.

template<typename PointT >
int pcl::LabeledEuclideanClusterExtraction< 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 134 of file extract_labeled_clusters.h.

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

template<typename PointT >
unsigned int pcl::LabeledEuclideanClusterExtraction< PointT >::getMaxLabels ( ) const [inline]

Get the maximum number of labels.

Definition at line 144 of file extract_labeled_clusters.h.

References pcl::LabeledEuclideanClusterExtraction< PointT >::max_label_.

template<typename PointT >
int pcl::LabeledEuclideanClusterExtraction< 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 124 of file extract_labeled_clusters.h.

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

template<typename PointT >
KdTreePtr pcl::LabeledEuclideanClusterExtraction< PointT >::getSearchMethod ( ) const [inline]

Get a pointer to the search method used.

Definition at line 104 of file extract_labeled_clusters.h.

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

template<typename PointT >
void pcl::LabeledEuclideanClusterExtraction< 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 110 of file extract_labeled_clusters.h.

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

template<typename PointT >
void pcl::LabeledEuclideanClusterExtraction< 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 130 of file extract_labeled_clusters.h.

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

template<typename PointT >
void pcl::LabeledEuclideanClusterExtraction< PointT >::setMaxLabels ( unsigned int  max_label) [inline]

Set the maximum number of labels in the cloud.

Parameters:
[in]max_labelthe maximum

Definition at line 140 of file extract_labeled_clusters.h.

References pcl::LabeledEuclideanClusterExtraction< PointT >::max_label_.

template<typename PointT >
void pcl::LabeledEuclideanClusterExtraction< 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 120 of file extract_labeled_clusters.h.

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

template<typename PointT >
void pcl::LabeledEuclideanClusterExtraction< 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 100 of file extract_labeled_clusters.h.

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


Member Data Documentation

template<typename PointT >
double pcl::LabeledEuclideanClusterExtraction< PointT >::cluster_tolerance_ [protected]

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

Definition at line 163 of file extract_labeled_clusters.h.

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

template<typename PointT >
unsigned int pcl::LabeledEuclideanClusterExtraction< PointT >::max_label_ [protected]

The maximum number of labels we can find in this pointcloud (default = MAXINT)

Definition at line 172 of file extract_labeled_clusters.h.

Referenced by pcl::LabeledEuclideanClusterExtraction< PointT >::getMaxLabels(), and pcl::LabeledEuclideanClusterExtraction< PointT >::setMaxLabels().

template<typename PointT >
int pcl::LabeledEuclideanClusterExtraction< 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 169 of file extract_labeled_clusters.h.

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

template<typename PointT >
int pcl::LabeledEuclideanClusterExtraction< 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 166 of file extract_labeled_clusters.h.

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

template<typename PointT >
KdTreePtr pcl::LabeledEuclideanClusterExtraction< PointT >::tree_ [protected]

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