EuclideanClusterComparator is a comparator used for finding clusters based on euclidean distance. More...

#include <pcl/segmentation/euclidean_cluster_comparator.h>

Inheritance diagram for pcl::EuclideanClusterComparator< PointT, PointLT >:

Collaboration diagram for pcl::EuclideanClusterComparator< PointT, PointLT >:

Public Types
using	PointCloudL = pcl::PointCloud< PointLT >

using	PointCloudLPtr = typename PointCloudL::Ptr

using	PointCloudLConstPtr = typename PointCloudL::ConstPtr

using	Ptr = shared_ptr< EuclideanClusterComparator< PointT, PointLT > >

using	ConstPtr = shared_ptr< const EuclideanClusterComparator< PointT, PointLT > >

using	ExcludeLabelSet = std::set< std::uint32_t >

using	ExcludeLabelSetPtr = shared_ptr< ExcludeLabelSet >

using	ExcludeLabelSetConstPtr = shared_ptr< const ExcludeLabelSet >

Public Types inherited from pcl::Comparator< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< Comparator< PointT > >

using	ConstPtr = shared_ptr< const Comparator< PointT > >

Public Member Functions
	EuclideanClusterComparator ()=default
	Default constructor for EuclideanClusterComparator. More...

void	setInputCloud (const PointCloudConstPtr &cloud) override
	Set the input cloud for the comparator. More...

void	setDistanceThreshold (float distance_threshold, bool depth_dependent)
	Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. More...

float	getDistanceThreshold () const
	Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. More...

bool	getDepthDependent () const
	Get if depth dependent. More...

void	setLabels (const PointCloudLPtr &labels)
	Set label cloud. More...

const PointCloudLPtr &	getLabels () const
	Get labels. More...

const ExcludeLabelSetConstPtr &	getExcludeLabels () const
	Get exclude labels. More...

void	setExcludeLabels (const ExcludeLabelSetConstPtr &exclude_labels)
	Set labels in the label cloud to exclude. More...

bool	compare (int idx1, int idx2) const override
	Compare points at two indices by their euclidean distance. More...

Public Member Functions inherited from pcl::Comparator< PointT >
	Comparator ()
	Empty constructor for comparator. More...

virtual	~Comparator ()=default
	Empty destructor for comparator. More...

virtual PointCloudConstPtr	getInputCloud () const
	Get the input cloud this comparator operates on. More...

Protected Attributes
PointCloudLPtr	labels_
	Set of labels with similar size as the input point cloud, aggregating points into groups based on a similar label identifier. More...

ExcludeLabelSetConstPtr	exclude_labels_
	Specifies which labels should be excluded com being clustered. More...

float	distance_threshold_ = 0.005f

bool	depth_dependent_ = false

Eigen::Vector3f	z_axis_

Protected Attributes inherited from pcl::Comparator< PointT >
PointCloudConstPtr	input_

Detailed Description

template<typename PointT, typename PointLT = pcl::Label>
class pcl::EuclideanClusterComparator< PointT, PointLT >

EuclideanClusterComparator is a comparator used for finding clusters based on euclidean distance.

Author: Alex Trevor

Definition at line 56 of file euclidean_cluster_comparator.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointLT = pcl::Label>

using pcl::EuclideanClusterComparator< PointT, PointLT >::ConstPtr = shared_ptr<const EuclideanClusterComparator<PointT, PointLT> >

Definition at line 71 of file euclidean_cluster_comparator.h.

◆ ExcludeLabelSet

template<typename PointT , typename PointLT = pcl::Label>

using pcl::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSet = std::set<std::uint32_t>

Definition at line 73 of file euclidean_cluster_comparator.h.

◆ ExcludeLabelSetConstPtr

template<typename PointT , typename PointLT = pcl::Label>

using pcl::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSetConstPtr = shared_ptr<const ExcludeLabelSet>

Definition at line 75 of file euclidean_cluster_comparator.h.

◆ ExcludeLabelSetPtr

template<typename PointT , typename PointLT = pcl::Label>

using pcl::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSetPtr = shared_ptr<ExcludeLabelSet>

Definition at line 74 of file euclidean_cluster_comparator.h.

◆ PointCloudL

template<typename PointT , typename PointLT = pcl::Label>

using pcl::EuclideanClusterComparator< PointT, PointLT >::PointCloudL = pcl::PointCloud<PointLT>

Definition at line 66 of file euclidean_cluster_comparator.h.

◆ PointCloudLConstPtr

template<typename PointT , typename PointLT = pcl::Label>

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

Definition at line 68 of file euclidean_cluster_comparator.h.

◆ PointCloudLPtr

template<typename PointT , typename PointLT = pcl::Label>

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

Definition at line 67 of file euclidean_cluster_comparator.h.

◆ Ptr

template<typename PointT , typename PointLT = pcl::Label>

using pcl::EuclideanClusterComparator< PointT, PointLT >::Ptr = shared_ptr<EuclideanClusterComparator<PointT, PointLT> >

Definition at line 70 of file euclidean_cluster_comparator.h.

Constructor & Destructor Documentation

◆ EuclideanClusterComparator()

template<typename PointT , typename PointLT = pcl::Label>

pcl::EuclideanClusterComparator< PointT, PointLT >::EuclideanClusterComparator ( )

default

Default constructor for EuclideanClusterComparator.

Member Function Documentation

◆ compare()

template<typename PointT , typename PointLT = pcl::Label>

bool pcl::EuclideanClusterComparator< PointT, PointLT >::compare	(	int	idx1,
		int	idx2
	)		const

inlineoverridevirtual

Compare points at two indices by their euclidean distance.

Parameters

idx1	The first index for the comparison
idx2	The second index for the comparison

Implements pcl::Comparator< PointT >.

Definition at line 150 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointLT >::depth_dependent_, pcl::EuclideanClusterComparator< PointT, PointLT >::distance_threshold_, pcl::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_, pcl::Comparator< PointT >::input_, pcl::EuclideanClusterComparator< PointT, PointLT >::labels_, and pcl::EuclideanClusterComparator< PointT, PointLT >::z_axis_.

◆ getDepthDependent()

template<typename PointT , typename PointLT = pcl::Label>

bool pcl::EuclideanClusterComparator< PointT, PointLT >::getDepthDependent ( ) const

inline

Get if depth dependent.

Definition at line 108 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointLT >::depth_dependent_.

◆ getDistanceThreshold()

template<typename PointT , typename PointLT = pcl::Label>

float pcl::EuclideanClusterComparator< PointT, PointLT >::getDistanceThreshold ( ) const

inline

Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane.

Definition at line 101 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointLT >::distance_threshold_.

◆ getExcludeLabels()

template<typename PointT , typename PointLT = pcl::Label>

const ExcludeLabelSetConstPtr& pcl::EuclideanClusterComparator< PointT, PointLT >::getExcludeLabels ( ) const

inline

Get exclude labels.

Definition at line 131 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_.

◆ getLabels()

template<typename PointT , typename PointLT = pcl::Label>

const PointCloudLPtr& pcl::EuclideanClusterComparator< PointT, PointLT >::getLabels ( ) const

inline

Get labels.

Definition at line 124 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointLT >::labels_.

◆ setDistanceThreshold()

template<typename PointT , typename PointLT = pcl::Label>

void pcl::EuclideanClusterComparator< PointT, PointLT >::setDistanceThreshold	(	float	distance_threshold,
		bool	depth_dependent
	)

inline

Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.

Parameters