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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>

Public Types

using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointCloudL = pcl::PointCloud< PointLT >
using PointCloudLPtr = typename PointCloudL::Ptr
using PointCloudLConstPtr = typename PointCloudL::ConstPtr
using Comparator = pcl::Comparator< PointT >
using ComparatorPtr = typename Comparator::Ptr
using ComparatorConstPtr = typename Comparator::ConstPtr
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

OrganizedConnectedComponentSegmentation (const ComparatorConstPtr &compare)
Constructor for OrganizedConnectedComponentSegmentation. More...
~OrganizedConnectedComponentSegmentation ()
Destructor for OrganizedConnectedComponentSegmentation. More...
void setComparator (const ComparatorConstPtr &compare)
Provide a pointer to the comparator to be used for segmentation. More...
ComparatorConstPtr getComparator () const
Get the comparator. More...
void segment (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the connected component segmentation. More...
- Public Member Functions inherited from pcl::PCLBase< PointT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

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. More...

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. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Protected Attributes

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

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 58 of file organized_connected_component_segmentation.h.

Member Typedef Documentation

Comparator

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::Comparator = pcl::Comparator<PointT>

Definition at line 74 of file organized_connected_component_segmentation.h.

ComparatorConstPtr

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::ComparatorConstPtr = typename Comparator::ConstPtr

Definition at line 76 of file organized_connected_component_segmentation.h.

ComparatorPtr

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::ComparatorPtr = typename Comparator::Ptr

Definition at line 75 of file organized_connected_component_segmentation.h.

PointCloud

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 66 of file organized_connected_component_segmentation.h.

PointCloudConstPtr

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 68 of file organized_connected_component_segmentation.h.

PointCloudL

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudL = pcl::PointCloud<PointLT>

Definition at line 70 of file organized_connected_component_segmentation.h.

PointCloudLConstPtr

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudLConstPtr = typename PointCloudL::ConstPtr

Definition at line 72 of file organized_connected_component_segmentation.h.

PointCloudLPtr

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudLPtr = typename PointCloudL::Ptr

Definition at line 71 of file organized_connected_component_segmentation.h.

PointCloudPtr

template<typename PointT , typename PointLT >
using pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 67 of file organized_connected_component_segmentation.h.

Constructor & Destructor Documentation

OrganizedConnectedComponentSegmentation()

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 81 of file organized_connected_component_segmentation.h.

~OrganizedConnectedComponentSegmentation()

template<typename PointT , typename PointLT >
pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::~OrganizedConnectedComponentSegmentation ( )
inline

Member Function Documentation

findLabeledRegionBoundary()

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 should 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< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::segment(), and pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::segmentAndRefine().

findRoot()

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

getComparator()

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

segment()

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::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::segment().

setComparator()

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

Provide a pointer to the comparator to be used for segmentation.

Parameters
[in] compare the comparator

Definition at line 96 of file organized_connected_component_segmentation.h.

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

Member Data Documentation

compare_


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_organized_connected_component_segmentation.html