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 >:

Collaboration diagram for pcl::EuclideanClusterExtraction< PointT >:

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
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
	EuclideanClusterExtraction ()
	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	extract (std::vector< PointIndices > &clusters)
	Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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

template<typename PointT>

typedef pcl::search::Search<PointT> pcl::EuclideanClusterExtraction< PointT >::KdTree

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.

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::EuclideanClusterExtraction< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 300 of file extract_clusters.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::EuclideanClusterExtraction< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 302 of file extract_clusters.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::EuclideanClusterExtraction< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 301 of file extract_clusters.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::EuclideanClusterExtraction< PointT >::PointIndicesConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 308 of file extract_clusters.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::EuclideanClusterExtraction< PointT >::PointIndicesPtr

Reimplemented from pcl::PCLBase< PointT >.

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] clusters the resultant point clusters

Definition at line 206 of file extract_clusters.hpp.

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.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

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.

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.

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.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

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

Definition at line 340 of file extract_clusters.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

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_size the maximum cluster size

Definition at line 372 of file extract_clusters.h.

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_size the minimum cluster size

Definition at line 356 of file extract_clusters.h.

template<typename PointT>

void pcl::EuclideanClusterExtraction< PointT >::setSearchMethod ( const KdTreePtr & tree ) [inline]

Provide a pointer to the search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 322 of file extract_clusters.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/extract_clusters.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/impl/extract_clusters.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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