Point Cloud Library (PCL)
1.9.1
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#include <pcl/segmentation/euclidean_cluster_comparator.h>
Public Types | |
typedef pcl::PointCloud< PointLT > | PointCloudL |
typedef PointCloudL::Ptr | PointCloudLPtr |
typedef PointCloudL::ConstPtr | PointCloudLConstPtr |
typedef boost::shared_ptr< EuclideanClusterComparator< PointT, PointLT > > | Ptr |
typedef boost::shared_ptr< const EuclideanClusterComparator< PointT, PointLT > > | ConstPtr |
typedef std::set< uint32_t > | ExcludeLabelSet |
typedef boost::shared_ptr< ExcludeLabelSet > | ExcludeLabelSetPtr |
typedef boost::shared_ptr< const ExcludeLabelSet > | ExcludeLabelSetConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< Comparator< PointT > > | Ptr |
typedef boost::shared_ptr< const Comparator< PointT > > | ConstPtr |
Public Member Functions | |
EuclideanClusterComparator () | |
Default constructor for EuclideanClusterComparator. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
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... | |
virtual bool | compare (int idx1, int idx2) const |
Compare points at two indices by their euclidean distance. More... | |
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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_ |
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PointCloudConstPtr | input_ |
Definition at line 52 of file euclidean_cluster_comparator.h.
typedef boost::shared_ptr<const EuclideanClusterComparator<PointT, PointLT> > pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ConstPtr |
Definition at line 67 of file euclidean_cluster_comparator.h.
typedef std::set<uint32_t> pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSet |
Definition at line 69 of file euclidean_cluster_comparator.h.
typedef boost::shared_ptr<const ExcludeLabelSet> pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSetConstPtr |
Definition at line 71 of file euclidean_cluster_comparator.h.
typedef boost::shared_ptr<ExcludeLabelSet> pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::ExcludeLabelSetPtr |
Definition at line 70 of file euclidean_cluster_comparator.h.
typedef pcl::PointCloud<PointLT> pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::PointCloudL |
Definition at line 62 of file euclidean_cluster_comparator.h.
typedef PointCloudL::ConstPtr pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::PointCloudLConstPtr |
Definition at line 64 of file euclidean_cluster_comparator.h.
typedef PointCloudL::Ptr pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::PointCloudLPtr |
Definition at line 63 of file euclidean_cluster_comparator.h.
typedef boost::shared_ptr<EuclideanClusterComparator<PointT, PointLT> > pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::Ptr |
Definition at line 66 of file euclidean_cluster_comparator.h.
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inline |
Default constructor for EuclideanClusterComparator.
Definition at line 74 of file euclidean_cluster_comparator.h.
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inlinevirtual |
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 135 of file euclidean_cluster_comparator.h.
References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::depth_dependent_, pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::distance_threshold_, pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_, pcl::Comparator< PointT >::input_, pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::labels_, and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::z_axis_.
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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::experimental::EuclideanClusterComparator< PointT, PointLT >::distance_threshold_.
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inline |
Definition at line 116 of file euclidean_cluster_comparator.h.
References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_.
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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 93 of file euclidean_cluster_comparator.h.
References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::depth_dependent_, and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::distance_threshold_.
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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 125 of file euclidean_cluster_comparator.h.
References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_.
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inlinevirtual |
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 81 of file euclidean_cluster_comparator.h.
References pcl::Comparator< PointT >::input_, and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::z_axis_.
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Set label cloud.
[in] | labels | The label cloud |
Definition at line 110 of file euclidean_cluster_comparator.h.
References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::labels_.
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protected |
Definition at line 185 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::compare(), and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::setDistanceThreshold().
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protected |
Definition at line 183 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::compare(), pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::getDistanceThreshold(), and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::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 181 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::compare(), pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::getExcludeLabels(), pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::setExcludeLabels(), and pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 174 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::compare(), and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::setLabels().
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protected |
Definition at line 187 of file euclidean_cluster_comparator.h.
Referenced by pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::compare(), and pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::setInputCloud().