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EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree More...

#include </__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h>

Public Types

using PointType = pcl::PointXYZ
using PointCloudHost = pcl::PointCloud< PointT >
using PointCloudHostPtr = typename PointCloudHost::Ptr
using PointCloudHostConstPtr = typename PointCloudHost::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr
using GPUTree = pcl::gpu::Octree
using GPUTreePtr = pcl::gpu::Octree::Ptr
using CloudDevice = pcl::gpu::Octree::PointCloud

Public Member Functions

EuclideanLabeledClusterExtraction ()=default
Empty constructor. More...
void setSearchMethod (const GPUTreePtr &tree)
Provide a pointer to the search object. More...
GPUTreePtr getSearchMethod ()
Get a pointer to the search method used. More...
void setClusterTolerance (double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space. More...
double getClusterTolerance ()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space. More...
void setMinClusterSize (int min_cluster_size)
Set the minimum number of points that a cluster needs to contain in order to be considered valid. More...
int getMinClusterSize ()
Get the minimum number of points that a cluster needs to contain in order to be considered valid. More...
void setMaxClusterSize (int max_cluster_size)
Set the maximum number of points that a cluster needs to contain in order to be considered valid. More...
int getMaxClusterSize ()
Get the maximum number of points that a cluster needs to contain in order to be considered valid. More...
void setInput (CloudDevice input)
void setHostCloud (PointCloudHostPtr host_cloud)
void extract (std::vector< PointIndices > &clusters)
extract clusters of a PointCloud given by <setInputCloud(), setIndices()> More...

Protected Member Functions

virtual std::string getClassName () const
Class getName method. More...

Protected Attributes

CloudDevice input_
the input cloud on the GPU More...
PointCloudHostPtr host_cloud_
the original cloud the Host More...
GPUTreePtr tree_
A pointer to the spatial search object. More...
double cluster_tolerance_ {0}
The spatial cluster tolerance as a measure in the L2 Euclidean space. More...
int min_pts_per_cluster_ {1}
The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). More...
int max_pts_per_cluster_ {std::numeric_limits<int>::max()}
The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). More...

Detailed Description

template<typename PointT>
class pcl::gpu::EuclideanLabeledClusterExtraction< PointT >

EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree

Author
Koen Buys, Radu Bogdan Rusu

Definition at line 66 of file gpu_extract_labeled_clusters.h.

Member Typedef Documentation

CloudDevice

GPUTree

Definition at line 76 of file gpu_extract_labeled_clusters.h.

GPUTreePtr

PointCloudHost

PointCloudHostConstPtr

PointCloudHostPtr

Definition at line 70 of file gpu_extract_labeled_clusters.h.

PointIndicesConstPtr

PointIndicesPtr

PointType

Definition at line 68 of file gpu_extract_labeled_clusters.h.

Constructor & Destructor Documentation

EuclideanLabeledClusterExtraction()

Empty constructor.

Member Function Documentation

extract()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::extract ( std::vector< PointIndices > & clusters )

extract clusters of a PointCloud given by <setInputCloud(), setIndices()>

Parameters
clusters the resultant point clusters
Todo:
what do we do if input isn't a PointXYZ cloud?

Definition at line 152 of file gpu_extract_labeled_clusters.hpp.

References pcl::gpu::compareLabeledPointClusters().

getClassName()

template<typename PointT >
virtual std::string pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getClassName ( ) const
inlineprotectedvirtual

Class getName method.

Definition at line 197 of file gpu_extract_labeled_clusters.h.

getClusterTolerance()

template<typename PointT >
double pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getClusterTolerance ( )
inline

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

Definition at line 115 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_.

getMaxClusterSize()

template<typename PointT >
int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMaxClusterSize ( )
inline

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

Definition at line 151 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_.

getMinClusterSize()

template<typename PointT >
int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMinClusterSize ( )
inline

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

Definition at line 133 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_.

getSearchMethod()

template<typename PointT >
GPUTreePtr pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getSearchMethod ( )
inline

Get a pointer to the search method used.

Todo:
fix this for a generic search tree

Definition at line 98 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_.

setClusterTolerance()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setClusterTolerance ( double tolerance )
inline

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

Parameters
tolerance the spatial cluster tolerance measured by L2 distance

Definition at line 107 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_.

setHostCloud()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setHostCloud ( PointCloudHostPtr host_cloud )
inline

setInput()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setInput ( CloudDevice input )
inline

setMaxClusterSize()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< 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
max_cluster_size the maximum cluster size

Definition at line 143 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_.

setMinClusterSize()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< 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
min_cluster_size the minimum cluster size

Definition at line 125 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_.

setSearchMethod()

template<typename PointT >
void pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setSearchMethod ( const GPUTreePtr & tree )
inline

Provide a pointer to the search object.

Parameters
tree a pointer to the spatial search object.

Definition at line 89 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_.

Member Data Documentation

cluster_tolerance_

template<typename PointT >
double pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_ {0}
protected

host_cloud_

template<typename PointT >
PointCloudHostPtr pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::host_cloud_
protected

the original cloud the Host

Definition at line 179 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setHostCloud().

input_

template<typename PointT >
CloudDevice pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::input_
protected

the input cloud on the GPU

Definition at line 176 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setInput().

max_pts_per_cluster_

template<typename PointT >
int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_ {std::numeric_limits<int>::max()}
protected

The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT).

Definition at line 193 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMaxClusterSize(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMaxClusterSize().

min_pts_per_cluster_

template<typename PointT >
int pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_ {1}
protected

The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1).

Definition at line 189 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMinClusterSize(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMinClusterSize().

tree_


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_1gpu_1_1_euclidean_labeled_cluster_extraction.html