Point Cloud Library (PCL)
1.10.1
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EuclideanClusterComparator is a comparator used for finding clusters based on euclidian distance. More...
#include <pcl/segmentation/euclidean_cluster_comparator.h>
Public Member Functions | |
EuclideanClusterComparator () | |
Default constructor for EuclideanClusterComparator. More... | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input normals. More... | |
PointCloudNConstPtr | getInputNormals () const |
Get the input normals. More... | |
void | setAngularThreshold (float angular_threshold) |
Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More... | |
float | getAngularThreshold () const |
Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More... | |
void | setExcludeLabels (const std::vector< bool > &exclude_labels) |
Set labels in the label cloud to exclude. More... | |
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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... | |
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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 | |
PointCloudNConstPtr | normals_ |
float | angular_threshold_ |
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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_ |
EuclideanClusterComparator is a comparator used for finding clusters based on euclidian distance.
Definition at line 196 of file euclidean_cluster_comparator.h.
using pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::ConstPtr = shared_ptr<const EuclideanClusterComparator<PointT, PointNT, PointLT> > |
Definition at line 209 of file euclidean_cluster_comparator.h.
using pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudN = pcl::PointCloud<PointNT> |
Definition at line 204 of file euclidean_cluster_comparator.h.
using pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
Definition at line 206 of file euclidean_cluster_comparator.h.
using pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudNPtr = typename PointCloudN::Ptr |
Definition at line 205 of file euclidean_cluster_comparator.h.
using pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::Ptr = shared_ptr<EuclideanClusterComparator<PointT, PointNT, PointLT> > |
Definition at line 208 of file euclidean_cluster_comparator.h.
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inline |
Default constructor for EuclideanClusterComparator.
Definition at line 215 of file euclidean_cluster_comparator.h.
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inline |
Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
Definition at line 245 of file euclidean_cluster_comparator.h.
References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::angular_threshold_.
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Get the input normals.
Definition at line 230 of file euclidean_cluster_comparator.h.
References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::normals_.
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inline |
Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
[in] | angular_threshold | the tolerance in radians |
Definition at line 237 of file euclidean_cluster_comparator.h.
References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::angular_threshold_.
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Set labels in the label cloud to exclude.
[in] | exclude_labels | a vector of bools corresponding to whether or not a given label should be considered |
Definition at line 252 of file euclidean_cluster_comparator.h.
References pcl::experimental::EuclideanClusterComparator< PointT, PointLT >::exclude_labels_.
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Provide a pointer to the input normals.
[in] | normals | the input normal cloud |
Definition at line 225 of file euclidean_cluster_comparator.h.
References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::normals_.
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protected |
Definition at line 264 of file euclidean_cluster_comparator.h.
Referenced by pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::getAngularThreshold(), and pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setAngularThreshold().
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protected |
Definition at line 262 of file euclidean_cluster_comparator.h.
Referenced by pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::getInputNormals(), and pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setInputNormals().