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< 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 Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointT >	PointCloud
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.
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 ()>
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

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).
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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

Definition at line 300 of file extract_clusters.h.

template<typename PointT>

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

Definition at line 302 of file extract_clusters.h.

template<typename PointT>

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

Definition at line 301 of file extract_clusters.h.

template<typename PointT>

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

Definition at line 308 of file extract_clusters.h.

template<typename PointT>

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

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 210 of file extract_clusters.hpp.

References pcl::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] tolerance the 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_size the 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_size the 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] tree a 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

A pointer to the spatial search object.

Definition at line 398 of file extract_clusters.h.

Referenced by pcl::EuclideanClusterExtraction< PointT >::getSearchMethod(), and pcl::EuclideanClusterExtraction< PointT >::setSearchMethod().

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

/tmp/buildd/pcl-1.7.2/segmentation/include/pcl/segmentation/extract_clusters.h
/tmp/buildd/pcl-1.7.2/segmentation/include/pcl/segmentation/impl/extract_clusters.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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