ConditionalEuclideanClustering performs segmentation based on Euclidean distance and a user-defined clustering condition. More...

#include <pcl/segmentation/conditional_euclidean_clustering.h>

Inheritance diagram for pcl::ConditionalEuclideanClustering< PointT >:

Collaboration diagram for pcl::ConditionalEuclideanClustering< PointT >:

Public Member Functions
	ConditionalEuclideanClustering (bool extract_removed_clusters=false)
	Constructor. More...

void	setSearchMethod (const SearcherPtr &tree)
	Provide a pointer to the search object. More...

const SearcherPtr &	getSearchMethod () const
	Get a pointer to the search method used. More...

void	setConditionFunction (bool(*condition_function)(const PointT &, const PointT &, float))
	Set the condition that needs to hold for neighboring points to be considered part of the same cluster. More...

void	setConditionFunction (std::function< bool(const PointT &, const PointT &, float)> condition_function)
	Set the condition that needs to hold for neighboring points to be considered part of the same cluster. More...

void	setClusterTolerance (float cluster_tolerance)
	Set the spatial tolerance for new cluster candidates. More...

float	getClusterTolerance ()
	Get the spatial tolerance for new cluster candidates. 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	segment (IndicesClusters &clusters)
	Segment the input into separate clusters. More...

void	getRemovedClusters (IndicesClustersPtr &small_clusters, IndicesClustersPtr &large_clusters)
	Get the clusters that are invalidated due to size constraints. 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...

PointCloudConstPtr const	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...

IndicesConstPtr const	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...

Protected Types
using	SearcherPtr = typename pcl::search::Search< PointT >::Ptr

Additional Inherited Members
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

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 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>
class pcl::ConditionalEuclideanClustering< PointT >

ConditionalEuclideanClustering performs segmentation based on Euclidean distance and a user-defined clustering condition.

The condition that need to hold is currently passed using a function pointer. For more information check the documentation of setConditionFunction() or the usage example below:

bool
enforceIntensitySimilarity (const pcl::PointXYZI& point_a, const pcl::PointXYZI& point_b, float squared_distance)
{
  if (std::abs (point_a.intensity - point_b.intensity) < 0.1f)
    return (true);
  else
    return (false);
}
// ...
// Somewhere down to the main code
// ...
pcl::ConditionalEuclideanClustering<pcl::PointXYZI> cec (true);
cec.setInputCloud (cloud_in);
cec.setConditionFunction (&enforceIntensitySimilarity);
// Points within this distance from one another are going to need to validate the enforceIntensitySimilarity function to be part of the same cluster:
cec.setClusterTolerance (0.09f);
// Size constraints for the clusters:
cec.setMinClusterSize (5);
cec.setMaxClusterSize (30);
// The resulting clusters (an array of pointindices):
cec.segment (*clusters);
// The clusters that are too small or too large in size can also be extracted separately:
cec.getRemovedClusters (small_clusters, large_clusters);

Author: Frits Florentinus

Definition at line 85 of file conditional_euclidean_clustering.h.

Member Typedef Documentation

◆ SearcherPtr

template<typename PointT >

using pcl::ConditionalEuclideanClustering< PointT >::SearcherPtr = typename pcl::search::Search<PointT>::Ptr

protected

Definition at line 88 of file conditional_euclidean_clustering.h.

Constructor & Destructor Documentation

◆ ConditionalEuclideanClustering()

template<typename PointT >

pcl::ConditionalEuclideanClustering< PointT >::ConditionalEuclideanClustering ( bool extract_removed_clusters = false )

inline

Constructor.

Parameters

[in] extract_removed_clusters Set to true if you want to be able to extract the clusters that are too large or too small (default = false)

Definition at line 99 of file conditional_euclidean_clustering.h.

Member Function Documentation

◆ getClusterTolerance()

template<typename PointT >

float pcl::ConditionalEuclideanClustering< PointT >::getClusterTolerance ( )

inline

Get the spatial tolerance for new cluster candidates.

Definition at line 169 of file conditional_euclidean_clustering.h.

◆ getMaxClusterSize()

template<typename PointT >

int pcl::ConditionalEuclideanClustering< PointT >::getMaxClusterSize ( )

inline

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

Definition at line 201 of file conditional_euclidean_clustering.h.

◆ getMinClusterSize()

template<typename PointT >

int pcl::ConditionalEuclideanClustering< PointT >::getMinClusterSize ( )

inline

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

Definition at line 185 of file conditional_euclidean_clustering.h.

◆ getRemovedClusters()

template<typename PointT >

void pcl::ConditionalEuclideanClustering< PointT >::getRemovedClusters	(	IndicesClustersPtr &	small_clusters,
		IndicesClustersPtr &	large_clusters
	)

inline

Get the clusters that are invalidated due to size constraints.

Note: The constructor of this class needs to be initialized with true, and the segment method needs to have been called prior to using this method.

Parameters

[out]	small_clusters	The resultant clusters that contain less than min_cluster_size points
[out]	large_clusters	The resultant clusters that contain more than max_cluster_size points

Definition at line 224 of file conditional_euclidean_clustering.h.

◆ getSearchMethod()

template<typename PointT >

const SearcherPtr& pcl::ConditionalEuclideanClustering< PointT >::getSearchMethod ( ) const

inline

Get a pointer to the search method used.

Definition at line 120 of file conditional_euclidean_clustering.h.

◆ segment()

template<typename PointT >

void pcl::ConditionalEuclideanClustering< PointT >::segment ( pcl::IndicesClusters & clusters )

Segment the input into separate clusters.

The input can be set using setInputCloud() and setIndices().
The size constraints for the resulting clusters can be set using setMinClusterSize() and setMaxClusterSize().
The region growing parameters can be set using setConditionFunction() and setClusterTolerance().

Parameters

[out] clusters The resultant set of indices, indexing the points of the input cloud that correspond to the clusters

Definition at line 45 of file conditional_euclidean_clustering.hpp.

References pcl::PointIndices::header, and pcl::PointIndices::indices.

◆ setClusterTolerance()

template<typename PointT >

void pcl::ConditionalEuclideanClustering< PointT >::setClusterTolerance ( float cluster_tolerance )

inline

Set the spatial tolerance for new cluster candidates.

Any two points within this distance from one another will need to evaluate a certain condition in order to be made part of the same cluster. The condition can be set using setConditionFunction().

Parameters

[in] cluster_tolerance The distance to scan for cluster candidates (default = 0.0)

Definition at line 162 of file conditional_euclidean_clustering.h.

◆ setConditionFunction() [1/2]

template<typename PointT >

void pcl::ConditionalEuclideanClustering< PointT >::setConditionFunction ( bool(*)(const PointT &, const PointT &, float) condition_function )

inline

Set the condition that needs to hold for neighboring points to be considered part of the same cluster.

Any two points within a certain distance from one another will need to evaluate this condition in order to be made part of the same cluster. The distance can be set using setClusterTolerance().
Note that for a point to be part of a cluster, the condition only needs to hold for at least 1 point pair. To clarify, the following statement is false: Any two points within a cluster always evaluate this condition function to true.

The input arguments of the condition function are:

PointT The first point of the point pair
PointT The second point of the point pair
float The squared distance between the points

The output argument is a boolean, returning true will merge the second point into the cluster of the first point.

Parameters

[in] condition_function The condition function that needs to hold for clustering

Definition at line 143 of file conditional_euclidean_clustering.h.

◆ setConditionFunction() [2/2]

template<typename PointT >

void pcl::ConditionalEuclideanClustering< PointT >::setConditionFunction ( std::function< bool(const PointT &, const PointT &, float)> condition_function )

inline

Set the condition that needs to hold for neighboring points to be considered part of the same cluster.

This is an overloaded function provided for convenience. See the documentation for setConditionFunction().

Definition at line 151 of file conditional_euclidean_clustering.h.

◆ setMaxClusterSize()

template<typename PointT >

void pcl::ConditionalEuclideanClustering< 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

[in] max_cluster_size The maximum cluster size (default = unlimited)

Definition at line 194 of file conditional_euclidean_clustering.h.

◆ setMinClusterSize()

template<typename PointT >

void pcl::ConditionalEuclideanClustering< 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

[in] min_cluster_size The minimum cluster size (default = 1)

Definition at line 178 of file conditional_euclidean_clustering.h.

◆ setSearchMethod()

template<typename PointT >

void pcl::ConditionalEuclideanClustering< PointT >::setSearchMethod ( const SearcherPtr & tree )

inline

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 112 of file conditional_euclidean_clustering.h.

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

pcl/segmentation/conditional_euclidean_clustering.h
pcl/segmentation/impl/conditional_euclidean_clustering.hpp

Public Member Functions

Protected Types

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::ConditionalEuclideanClustering< PointT >

Member Typedef Documentation

◆ SearcherPtr

Constructor & Destructor Documentation

◆ ConditionalEuclideanClustering()

Member Function Documentation

◆ getClusterTolerance()

◆ getMaxClusterSize()

◆ getMinClusterSize()

◆ getRemovedClusters()

◆ getSearchMethod()

◆ segment()

◆ setClusterTolerance()

◆ setConditionFunction() [1/2]

◆ setConditionFunction() [2/2]

◆ setMaxClusterSize()

◆ setMinClusterSize()

◆ setSearchMethod()

template<typename PointT>
class pcl::ConditionalEuclideanClustering< PointT >