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

#include </__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h>

Collaboration diagram for pcl::gpu::EuclideanLabeledClusterExtraction< PointT >:

Public Types
using	PointType = pcl::PointXYZ

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
	EuclideanLabeledClusterExtraction ()=default
	Empty constructor. More...

virtual	~EuclideanLabeledClusterExtraction ()=default
	Default virtual destructor. More...

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

GPUTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

void	setClusterTolerance (double tolerance)
	Set the spatial cluster tolerance as a measure in the L2 Euclidean space. More...

double	getClusterTolerance ()
	Get the spatial cluster tolerance as a measure in the L2 Euclidean space. 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	setInput (CloudDevice input)

void	setHostCloud (PointCloudHostPtr host_cloud)

void	extract (std::vector< PointIndices > &clusters)
	extract clusters of a PointCloud given by <setInputCloud(), setIndices()> More...

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

Protected Attributes
CloudDevice	input_
	the input cloud on the GPU More...

PointCloudHostPtr	host_cloud_
	the original cloud the Host More...

GPUTreePtr	tree_
	A pointer to the spatial search object. More...

double	cluster_tolerance_ {0.0}
	The spatial cluster tolerance as a measure in the L2 Euclidean space. More...

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). More...

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). More...

Detailed Description

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

EuclideanLabeledClusterExtraction 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_labeled_clusters.h.

Member Typedef Documentation

◆ CloudDevice

template<typename PointT >

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

Definition at line 79 of file gpu_extract_labeled_clusters.h.

◆ GPUTree

template<typename PointT >

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

Definition at line 76 of file gpu_extract_labeled_clusters.h.

◆ GPUTreePtr

template<typename PointT >

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

Definition at line 77 of file gpu_extract_labeled_clusters.h.

◆ PointCloudHost

template<typename PointT >

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

Definition at line 69 of file gpu_extract_labeled_clusters.h.

◆ PointCloudHostConstPtr

template<typename PointT >

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

Definition at line 71 of file gpu_extract_labeled_clusters.h.

◆ PointCloudHostPtr

template<typename PointT >

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

Definition at line 70 of file gpu_extract_labeled_clusters.h.

◆ PointIndicesConstPtr

template<typename PointT >

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

Definition at line 74 of file gpu_extract_labeled_clusters.h.

◆ PointIndicesPtr

template<typename PointT >

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

Definition at line 73 of file gpu_extract_labeled_clusters.h.

◆ PointType

template<typename PointT >

using pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::PointType = pcl::PointXYZ

Definition at line 68 of file gpu_extract_labeled_clusters.h.

Constructor & Destructor Documentation

◆ EuclideanLabeledClusterExtraction()

template<typename PointT >

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

default

Empty constructor.

◆ ~EuclideanLabeledClusterExtraction()

template<typename PointT >

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

virtualdefault

Default virtual destructor.

Member Function Documentation

◆ extract()

template<typename PointT >

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

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

Parameters

clusters the resultant point clusters

Todo:: what do we do if input isn't a PointXYZ cloud?

Definition at line 152 of file gpu_extract_labeled_clusters.hpp.

References pcl::gpu::compareLabeledPointClusters().

◆ getClassName()

template<typename PointT >

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

inlineprotectedvirtual

Class getName method.

Definition at line 200 of file gpu_extract_labeled_clusters.h.

◆ getClusterTolerance()

template<typename PointT >

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

inline

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

Definition at line 118 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_.

◆ getMaxClusterSize()

template<typename PointT >

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

inline

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

Definition at line 154 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_.

◆ getMinClusterSize()

template<typename PointT >

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

inline

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

Definition at line 136 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_.

◆ getSearchMethod()

template<typename PointT >

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

inline

Get a pointer to the search method used.

Todo:: fix this for a generic search tree

Definition at line 101 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_.

◆ setClusterTolerance()

template<typename PointT >

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

inline

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

Parameters

tolerance the spatial cluster tolerance measured by L2 distance

Definition at line 110 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::cluster_tolerance_.

◆ setHostCloud()

template<typename PointT >

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

inline

Definition at line 166 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::host_cloud_.

◆ setInput()

template<typename PointT >

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

inline

Definition at line 160 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::input_.

◆ setMaxClusterSize()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< 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 146 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::max_pts_per_cluster_.

◆ setMinClusterSize()

template<typename PointT >

void pcl::gpu::EuclideanLabeledClusterExtraction< 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 128 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::min_pts_per_cluster_.

◆ setSearchMethod()

template<typename PointT >

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

inline

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 92 of file gpu_extract_labeled_clusters.h.

References pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::tree_.

Member Data Documentation

◆ cluster_tolerance_

template<typename PointT >

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

protected

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

Definition at line 188 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getClusterTolerance(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setClusterTolerance().

◆ host_cloud_

template<typename PointT >

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

protected

the original cloud the Host

Definition at line 182 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setHostCloud().

◆ input_

template<typename PointT >

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

protected

the input cloud on the GPU

Definition at line 179 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setInput().

◆ max_pts_per_cluster_

template<typename PointT >

int pcl::gpu::EuclideanLabeledClusterExtraction< 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 196 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMaxClusterSize(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMaxClusterSize().

◆ min_pts_per_cluster_

template<typename PointT >

int pcl::gpu::EuclideanLabeledClusterExtraction< 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 192 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getMinClusterSize(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setMinClusterSize().

◆ tree_

template<typename PointT >

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

protected

A pointer to the spatial search object.

Definition at line 185 of file gpu_extract_labeled_clusters.h.

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::getSearchMethod(), and pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::setSearchMethod().

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

/__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_labeled_clusters.h
/__w/1/s/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_labeled_clusters.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ CloudDevice

◆ GPUTree

◆ GPUTreePtr

◆ PointCloudHost

◆ PointCloudHostConstPtr

◆ PointCloudHostPtr

◆ PointIndicesConstPtr

◆ PointIndicesPtr

◆ PointType

Constructor & Destructor Documentation

◆ EuclideanLabeledClusterExtraction()

◆ ~EuclideanLabeledClusterExtraction()

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_

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