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

#include </build/pcl-uIWyNl/pcl-1.15.1+dfsg/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h>

Public Types
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
	EuclideanClusterExtraction ()=default
	Empty constructor.
virtual	~EuclideanClusterExtraction ()=default
	Default virtual destructor.
void	setSearchMethod (GPUTreePtr &tree)
	the destructor
GPUTreePtr	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	setInput (CloudDevice input)
void	setHostCloud (PointCloudHostPtr host_cloud)
void	extract (std::vector< pcl::PointIndices > &clusters)
	extract clusters of a PointCloud given by <setInputCloud(), setIndices()>

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method.

Protected Attributes
CloudDevice	input_
	the input cloud on the GPU
PointCloudHostPtr	host_cloud_
	the original cloud the Host
GPUTreePtr	tree_
	A pointer to the spatial search object.
double	cluster_tolerance_ {0.0}
	The spatial cluster tolerance as a measure in the L2 Euclidean space.
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).
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).

Detailed Description

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

EuclideanClusterExtraction 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_clusters.h.

Member Typedef Documentation

◆ CloudDevice

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::CloudDevice = pcl::gpu::Octree::PointCloud

Definition at line 78 of file gpu_extract_clusters.h.

◆ GPUTree

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::GPUTree = pcl::gpu::Octree

Definition at line 75 of file gpu_extract_clusters.h.

◆ GPUTreePtr

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::GPUTreePtr = pcl::gpu::Octree::Ptr

Definition at line 76 of file gpu_extract_clusters.h.

◆ PointCloudHost

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::PointCloudHost = pcl::PointCloud<PointT>

Definition at line 68 of file gpu_extract_clusters.h.

◆ PointCloudHostConstPtr

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::PointCloudHostConstPtr = typename PointCloudHost::ConstPtr

Definition at line 70 of file gpu_extract_clusters.h.

◆ PointCloudHostPtr

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::PointCloudHostPtr = typename PointCloudHost::Ptr

Definition at line 69 of file gpu_extract_clusters.h.

◆ PointIndicesConstPtr

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 73 of file gpu_extract_clusters.h.

◆ PointIndicesPtr

template<typename PointT>

using pcl::gpu::EuclideanClusterExtraction< PointT >::PointIndicesPtr = PointIndices::Ptr

Definition at line 72 of file gpu_extract_clusters.h.

Constructor & Destructor Documentation

◆ EuclideanClusterExtraction()

template<typename PointT>

pcl::gpu::EuclideanClusterExtraction< PointT >::EuclideanClusterExtraction ( )

default

Empty constructor.

◆ ~EuclideanClusterExtraction()

template<typename PointT>

virtual pcl::gpu::EuclideanClusterExtraction< PointT >::~EuclideanClusterExtraction ( )

virtualdefault

Default virtual destructor.

Member Function Documentation

◆ extract()

template<typename PointT>

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

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

Parameters

clusters the resultant point clusters

Definition at line 189 of file gpu_extract_clusters.hpp.

References cluster_tolerance_, pcl::gpu::extractEuclideanClusters(), host_cloud_, max_pts_per_cluster_, min_pts_per_cluster_, and tree_.

◆ getClassName()

template<typename PointT>

virtual std::string pcl::gpu::EuclideanClusterExtraction< PointT >::getClassName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 206 of file gpu_extract_clusters.h.

◆ getClusterTolerance()

template<typename PointT>

double pcl::gpu::EuclideanClusterExtraction< PointT >::getClusterTolerance ( )

inline

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

Definition at line 124 of file gpu_extract_clusters.h.

References cluster_tolerance_.

◆ getMaxClusterSize()

template<typename PointT>

int pcl::gpu::EuclideanClusterExtraction< PointT >::getMaxClusterSize ( )

inline

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

Definition at line 160 of file gpu_extract_clusters.h.

References max_pts_per_cluster_.

◆ getMinClusterSize()

template<typename PointT>

int pcl::gpu::EuclideanClusterExtraction< PointT >::getMinClusterSize ( )

inline

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

Definition at line 142 of file gpu_extract_clusters.h.

References min_pts_per_cluster_.

◆ getSearchMethod()

template<typename PointT>

GPUTreePtr pcl::gpu::EuclideanClusterExtraction< PointT >::getSearchMethod ( )

inline

Get a pointer to the search method used.

Todo: fix this for a generic search tree

Definition at line 106 of file gpu_extract_clusters.h.

References tree_.

◆ setClusterTolerance()

template<typename PointT>

void pcl::gpu::EuclideanClusterExtraction< PointT >::setClusterTolerance ( double tolerance )

inline

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

Parameters

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

Definition at line 116 of file gpu_extract_clusters.h.

References cluster_tolerance_.

◆ setHostCloud()

template<typename PointT>

void pcl::gpu::EuclideanClusterExtraction< PointT >::setHostCloud ( PointCloudHostPtr host_cloud )

inline

Definition at line 172 of file gpu_extract_clusters.h.

References host_cloud_.

◆ setInput()

template<typename PointT>

void pcl::gpu::EuclideanClusterExtraction< PointT >::setInput ( CloudDevice input )

inline

Definition at line 166 of file gpu_extract_clusters.h.

References input_.

◆ setMaxClusterSize()

template<typename PointT>

void pcl::gpu::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

max_cluster_size the maximum cluster size

Definition at line 152 of file gpu_extract_clusters.h.

References max_pts_per_cluster_.

◆ setMinClusterSize()

template<typename PointT>

void pcl::gpu::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

min_cluster_size the minimum cluster size

Definition at line 134 of file gpu_extract_clusters.h.

References min_pts_per_cluster_.

◆ setSearchMethod()

template<typename PointT>

void pcl::gpu::EuclideanClusterExtraction< PointT >::setSearchMethod ( GPUTreePtr & tree )

inline

the destructor

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 97 of file gpu_extract_clusters.h.

References tree_.

Member Data Documentation

◆ cluster_tolerance_

template<typename PointT>

double pcl::gpu::EuclideanClusterExtraction< PointT >::cluster_tolerance_ {0.0}

protected

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

Definition at line 194 of file gpu_extract_clusters.h.

Referenced by extract(), getClusterTolerance(), and setClusterTolerance().

◆ host_cloud_

template<typename PointT>

PointCloudHostPtr pcl::gpu::EuclideanClusterExtraction< PointT >::host_cloud_

protected

the original cloud the Host

Definition at line 188 of file gpu_extract_clusters.h.

Referenced by extract(), and setHostCloud().

◆ input_

template<typename PointT>

CloudDevice pcl::gpu::EuclideanClusterExtraction< PointT >::input_

protected

the input cloud on the GPU

Definition at line 185 of file gpu_extract_clusters.h.

Referenced by setInput().

◆ max_pts_per_cluster_

template<typename PointT>

int pcl::gpu::EuclideanClusterExtraction< 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 202 of file gpu_extract_clusters.h.

Referenced by extract(), getMaxClusterSize(), and setMaxClusterSize().

◆ min_pts_per_cluster_

template<typename PointT>

int pcl::gpu::EuclideanClusterExtraction< 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 198 of file gpu_extract_clusters.h.

Referenced by extract(), getMinClusterSize(), and setMinClusterSize().

◆ tree_

template<typename PointT>

GPUTreePtr pcl::gpu::EuclideanClusterExtraction< PointT >::tree_

protected

A pointer to the spatial search object.

Definition at line 191 of file gpu_extract_clusters.h.

Referenced by extract(), getSearchMethod(), and setSearchMethod().

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

/build/pcl-uIWyNl/pcl-1.15.1+dfsg/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h
/build/pcl-uIWyNl/pcl-1.15.1+dfsg/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CloudDevice

◆ GPUTree

◆ GPUTreePtr

◆ PointCloudHost

◆ PointCloudHostConstPtr

◆ PointCloudHostPtr

◆ PointIndicesConstPtr

◆ PointIndicesPtr

Constructor & Destructor Documentation

◆ EuclideanClusterExtraction()

◆ ~EuclideanClusterExtraction()

Member Function Documentation

◆ extract()

◆ getClassName()

◆ getClusterTolerance()

◆ getMaxClusterSize()

◆ getMinClusterSize()

◆ getSearchMethod()

◆ setClusterTolerance()

◆ setHostCloud()

◆ setInput()

◆ setMaxClusterSize()

◆ setMinClusterSize()

◆ setSearchMethod()

Member Data Documentation

◆ cluster_tolerance_

◆ host_cloud_

◆ input_

◆ max_pts_per_cluster_

◆ min_pts_per_cluster_

◆ tree_