#include <pcl/segmentation/euclidean_cluster_comparator.h>

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

Collaboration diagram for pcl::experimental::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 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_

Detailed Description

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

Definition at line 54 of file euclidean_cluster_comparator.h.

Member Typedef Documentation

◆ ConstPtr

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

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

Definition at line 69 of file euclidean_cluster_comparator.h.

◆ ExcludeLabelSet

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

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

Definition at line 71 of file euclidean_cluster_comparator.h.

◆ ExcludeLabelSetConstPtr

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

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

Definition at line 73 of file euclidean_cluster_comparator.h.

◆ ExcludeLabelSetPtr

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

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

Definition at line 72 of file euclidean_cluster_comparator.h.

◆ PointCloudL

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

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

Definition at line 64 of file euclidean_cluster_comparator.h.

◆ PointCloudLConstPtr

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

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

Definition at line 66 of file euclidean_cluster_comparator.h.

◆ PointCloudLPtr

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

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

Definition at line 65 of file euclidean_cluster_comparator.h.

◆ Ptr

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

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

Definition at line 68 of file euclidean_cluster_comparator.h.

Constructor & Destructor Documentation

◆ EuclideanClusterComparator()

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

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

inline

Default constructor for EuclideanClusterComparator.

Definition at line 76 of file euclidean_cluster_comparator.h.

Member Function Documentation

◆ compare()

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

bool pcl::experimental::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 136 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_.

◆ getDistanceThreshold()

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

float pcl::experimental::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 102 of file euclidean_cluster_comparator.h.

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

◆ getExcludeLabels()

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

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

inline

Definition at line 117 of file euclidean_cluster_comparator.h.

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

◆ setDistanceThreshold()

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

void pcl::experimental::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