Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::EuclideanClusterExtraction Class Reference

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense. More...

#include <pcl/segmentation/extract_clusters.h>

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List of all members.

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 ()
 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 ()
 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 ()
 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 ()
 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 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

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.

Author:
Radu Bogdan Rusu

Member Typedef Documentation

Definition at line 292 of file extract_clusters.h.

Definition at line 293 of file extract_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 288 of file extract_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 290 of file extract_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 289 of file extract_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 296 of file extract_clusters.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 295 of file extract_clusters.h.


Constructor & Destructor Documentation

pcl::EuclideanClusterExtraction::EuclideanClusterExtraction ( ) [inline]

Empty constructor.

Definition at line 300 of file extract_clusters.h.


Member Function Documentation

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

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

Parameters:
clustersthe resultant point clusters

Definition at line 197 of file extract_clusters.hpp.

double pcl::EuclideanClusterExtraction::getClusterTolerance ( ) [inline]

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

Definition at line 318 of file extract_clusters.h.

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

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

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

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

int pcl::EuclideanClusterExtraction::getMaxClusterSize ( ) [inline]

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

Definition at line 334 of file extract_clusters.h.

int pcl::EuclideanClusterExtraction::getMinClusterSize ( ) [inline]

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

Definition at line 326 of file extract_clusters.h.

KdTreePtr pcl::EuclideanClusterExtraction::getSearchMethod ( ) [inline]

Get a pointer to the search method used.

Definition at line 310 of file extract_clusters.h.

const PointT& pcl::PCLBase::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:
posposition in indices_ vector

Definition at line 178 of file pcl_base.h.

void pcl::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 315 of file extract_clusters.h.

void pcl::PCLBase::setIndices ( const IndicesPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const PointIndicesConstPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase::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_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

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

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

void pcl::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 331 of file extract_clusters.h.

void pcl::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 323 of file extract_clusters.h.

void pcl::EuclideanClusterExtraction::setSearchMethod ( const KdTreePtr tree) [inline]

Provide a pointer to the search object.

Parameters:
treea pointer to the spatial search object.

Definition at line 307 of file extract_clusters.h.


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