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>

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

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

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 () override=default
	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...

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...

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 59 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 75 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 77 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 76 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 67 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 69 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 71 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 73 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 72 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 68 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 82 of file organized_connected_component_segmentation.h.

◆ ~OrganizedConnectedComponentSegmentation()

template<typename PointT , typename PointLT >

pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::~OrganizedConnectedComponentSegmentation ( )

overridedefault

Destructor for OrganizedConnectedComponentSegmentation.

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< PointT, PointNT, PointLT >::segment(), and pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine().

◆ findRoot()

template<typename PointT , typename PointLT >

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

inlineprotected

Definition at line 124 of file organized_connected_component_segmentation.h.

◆ getComparator()

template<typename PointT , typename PointLT >

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

inline

Get the comparator.

Definition at line 102 of file organized_connected_component_segmentation.h.

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

◆ 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< PointT, PointNT, PointLT >::segment().