Point Cloud Library (PCL)
1.11.1-dev
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#include <pcl/segmentation/euclidean_cluster_comparator.h>
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 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... | |
void | setLabels (const PointCloudLPtr &labels) |
Set label cloud. More... | |
const ExcludeLabelSetConstPtr & | getExcludeLabels () const |
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 () |
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_ |
bool | depth_dependent_ |
Eigen::Vector3f | z_axis_ |
Protected Attributes inherited from pcl::Comparator< PointT > | |
PointCloudConstPtr | input_ |
Definition at line 54 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ConstPtr = shared_ptr<const EuclideanClusterComparator<PointT, PointLT> > |
Definition at line 69 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSet = std::set<std::uint32_t> |
Definition at line 71 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSetConstPtr = shared_ptr<const ExcludeLabelSet> |
Definition at line 73 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSetPtr = shared_ptr<ExcludeLabelSet> |
Definition at line 72 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::PointCloudL = pcl::PointCloud<PointLT> |
Definition at line 64 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::PointCloudLConstPtr = typename PointCloudL::ConstPtr |
Definition at line 66 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::PointCloudLPtr = typename PointCloudL::Ptr |
Definition at line 65 of file euclidean_cluster_comparator.h.
using pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::Ptr = shared_ptr<EuclideanClusterComparator<PointT, PointLT> > |
Definition at line 68 of file euclidean_cluster_comparator.h.
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Default constructor for EuclideanClusterComparator.
Definition at line 76 of file euclidean_cluster_comparator.h.
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inlineoverridevirtual |
Compare points at two indices by their euclidean distance.
idx1 | The first index for the comparison |
idx2 | The second index for the comparison |
Implements pcl::Comparator< PointT >.
Definition at line 136 of file euclidean_cluster_comparator.h.
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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 102 of file euclidean_cluster_comparator.h.
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Definition at line 117 of file euclidean_cluster_comparator.h.
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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.
[in] | distance_threshold | the tolerance in meters |
depth_dependent |
Definition at line 94 of file euclidean_cluster_comparator.h.
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inline |
Set labels in the label cloud to exclude.
exclude_labels | a vector of bools corresponding to whether or not a given label should be considered |
Definition at line 126 of file euclidean_cluster_comparator.h.
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inlineoverridevirtual |
Set the input cloud for the comparator.
[in] | cloud | the point cloud this comparator will operate on |
Reimplemented from pcl::Comparator< PointT >.
Definition at line 82 of file euclidean_cluster_comparator.h.
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Set label cloud.
[in] | labels | The label cloud |
Definition at line 111 of file euclidean_cluster_comparator.h.
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protected |
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protected |
Definition at line 184 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::compare(), pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::getDistanceThreshold(), and pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::setDistanceThreshold().
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Specifies which labels should be excluded com being clustered.
If a label is not specified, it's assumed by default that it's intended be excluded
Definition at line 182 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::compare(), pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::getExcludeLabels(), and pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::setExcludeLabels().
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Set of labels with similar size as the input point cloud, aggregating points into groups based on a similar label identifier.
It needs to be set in conjunction with the exclude_labels_ member in order to provided a masking functionality.
Definition at line 175 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::compare(), and pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::setLabels().
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Definition at line 188 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::compare(), and pcl::experimental::EuclideanClusterComparator< PointT, deprecated::T >::setInputCloud().