OrganizedConnectedComponentSegmentation allows connected components to be found within organized point cloud data, given a comparison function. More...

#include <pcl/segmentation/organized_connected_component_segmentation.h>

Inheritance diagram for pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >:

Classes
struct	Neighbor

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef pcl::PointCloud< PointLT >	PointCloudL
typedef PointCloudL::Ptr	PointCloudLPtr
typedef PointCloudL::ConstPtr	PointCloudLConstPtr
typedef pcl::Comparator< PointT >	Comparator
typedef Comparator::Ptr	ComparatorPtr
typedef Comparator::ConstPtr	ComparatorConstPtr
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
	OrganizedConnectedComponentSegmentation (const ComparatorConstPtr &compare)
	Constructor for OrganizedConnectedComponentSegmentation.
virtual	~OrganizedConnectedComponentSegmentation ()
	Destructor for OrganizedConnectedComponentSegmentation.
void	setComparator (const ComparatorConstPtr &compare)
	Provide a pointer to the comparator to be used for segmentation.
ComparatorConstPtr	getComparator () const
	Get the comparator.
void	segment (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
	Perform the connected component segmentation.
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.

Static Public Member Functions
static void	findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices &boundary_indices)
	Find the boundary points / contour of a connected component.

Protected Member Functions
unsigned	findRoot (const std::vector< unsigned > &runs, unsigned index) const
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
ComparatorConstPtr	compare_
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, typename PointLT>
class pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >

OrganizedConnectedComponentSegmentation allows connected components to be found within organized point cloud data, given a comparison function.

Given an input cloud and a comparator, it will output a PointCloud of labels, giving each connected component a unique id, along with a vector of PointIndices corresponding to each component. See OrganizedMultiPlaneSegmentation for an example application.

Author: Alex Trevor, Suat Gedikli

Definition at line 59 of file organized_connected_component_segmentation.h.

Member Typedef Documentation

template<typename PointT, typename PointLT>

typedef pcl::Comparator<PointT> pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::Comparator

Definition at line 75 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef Comparator::ConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::ComparatorConstPtr

Definition at line 77 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef Comparator::Ptr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::ComparatorPtr

Definition at line 76 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef pcl::PointCloud<PointT> pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloud

Definition at line 67 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloud::ConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudConstPtr

Definition at line 69 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef pcl::PointCloud<PointLT> pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudL

Definition at line 71 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloudL::ConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudLConstPtr

Definition at line 73 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloudL::Ptr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudLPtr

Definition at line 72 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloud::Ptr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudPtr

Definition at line 68 of file organized_connected_component_segmentation.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointLT>

pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::OrganizedConnectedComponentSegmentation ( const ComparatorConstPtr & compare )

inline

Constructor for OrganizedConnectedComponentSegmentation.

Parameters

[in] compare A pointer to the comparator to be used for segmentation. Must be an instance of pcl::Comparator.

Definition at line 82 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

virtual pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::~OrganizedConnectedComponentSegmentation ( )

inlinevirtual

Destructor for OrganizedConnectedComponentSegmentation.

Definition at line 89 of file organized_connected_component_segmentation.h.

Member Function Documentation

template<typename PointT , typename PointLT >

void pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::findLabeledRegionBoundary	(	int	start_idx,
		PointCloudLPtr	labels,
		pcl::PointIndices &	boundary_indices
	)

static

Find the boundary points / contour of a connected component.

Directions: 1 2 3 0 x 4 7 6 5 e.g.

Parameters

[in]	start_idx	the first (lowest) index of the connected component for which a boundary shoudl be returned
[in]	labels	the Label cloud produced by segmentation
[out]	boundary_indices	the indices of the boundary points for the label corresponding to start_idx

direction y means we came from pixel with label y to the center pixel x

Definition at line 53 of file organized_connected_component_segmentation.hpp.

References pcl::PointIndices::indices.

Referenced by pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment(), and pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine().

template<typename PointT, typename PointLT>

unsigned pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::findRoot	(	const std::vector< unsigned > &	runs,
		unsigned	index
	)		const

inlineprotected

Definition at line 126 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

ComparatorConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::getComparator ( ) const

inline

Get the comparator.

Definition at line 104 of file organized_connected_component_segmentation.h.

References pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::compare_.

template<typename PointT , typename PointLT >

void pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::segment	(	pcl::PointCloud< PointLT > &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)		const

Perform the connected component segmentation.

Parameters

[out]	labels	a PointCloud of labels: each connected component will have a unique id.
[out]	label_indices	a vector of PointIndices corresponding to each label / component id.

Definition at line 118 of file organized_connected_component_segmentation.hpp.

References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment().

template<typename PointT, typename PointLT>

void pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::setComparator ( const ComparatorConstPtr & compare )