OrganizedConnectedComponentSegmentation allows connected components to be found within organized point cloud data, given a comparison function. More...

#include <pcl/segmentation/organized_connected_component_segmentation.h>

Inheritance diagram for pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >:

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Collaboration diagram for pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >:

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Public Types
typedef pcl::PointCloud< PointT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef pcl::PointCloud< PointLT >	PointCloudL

typedef PointCloudL::Ptr	PointCloudLPtr

typedef PointCloudL::ConstPtr	PointCloudLConstPtr

typedef pcl::Comparator< PointT >	Comparator

typedef Comparator::Ptr	ComparatorPtr

typedef Comparator::ConstPtr	ComparatorConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	OrganizedConnectedComponentSegmentation (const ComparatorConstPtr &compare)
	Constructor for OrganizedConnectedComponentSegmentation. More...

virtual	~OrganizedConnectedComponentSegmentation ()
	Destructor for OrganizedConnectedComponentSegmentation. More...

void	setComparator (const ComparatorConstPtr &compare)
	Provide a pointer to the comparator to be used for segmentation. More...

ComparatorConstPtr	getComparator () const
	Get the comparator. More...

void	segment (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
	Perform the connected component segmentation. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Static Public Member Functions
static void	findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices &boundary_indices)
	Find the boundary points / contour of a connected component. More...

Detailed Description

template<typename PointT, typename PointLT>
class pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >

OrganizedConnectedComponentSegmentation allows connected components to be found within organized point cloud data, given a comparison function.

Given an input cloud and a comparator, it will output a PointCloud of labels, giving each connected component a unique id, along with a vector of PointIndices corresponding to each component. See OrganizedMultiPlaneSegmentation for an example application.

Author: Alex Trevor, Suat Gedikli

Definition at line 59 of file organized_connected_component_segmentation.h.

Member Typedef Documentation

template<typename PointT, typename PointLT>

typedef pcl::Comparator<PointT> pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::Comparator

Definition at line 75 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef Comparator::ConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::ComparatorConstPtr

Definition at line 77 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef Comparator::Ptr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::ComparatorPtr

Definition at line 76 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef pcl::PointCloud<PointT> pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloud

Definition at line 67 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloud::ConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudConstPtr

Definition at line 69 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef pcl::PointCloud<PointLT> pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudL

Definition at line 71 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloudL::ConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudLConstPtr

Definition at line 73 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloudL::Ptr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudLPtr

Definition at line 72 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

typedef PointCloud::Ptr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::PointCloudPtr

Definition at line 68 of file organized_connected_component_segmentation.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointLT>

pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::OrganizedConnectedComponentSegmentation ( const ComparatorConstPtr & compare )

inline

Constructor for OrganizedConnectedComponentSegmentation.

Parameters

[in] compare A pointer to the comparator to be used for segmentation. Must be an instance of pcl::Comparator.

Definition at line 82 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

virtual pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::~OrganizedConnectedComponentSegmentation ( )

inlinevirtual

Destructor for OrganizedConnectedComponentSegmentation.

Definition at line 89 of file organized_connected_component_segmentation.h.

Member Function Documentation

template<typename PointT , typename PointLT >

void pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::findLabeledRegionBoundary	(	int	start_idx,
		PointCloudLPtr	labels,
		pcl::PointIndices &	boundary_indices
	)

static

Find the boundary points / contour of a connected component.

Directions: 1 2 3 0 x 4 7 6 5 e.g.

Parameters

[in]	start_idx	the first (lowest) index of the connected component for which a boundary shoudl be returned
[in]	labels	the Label cloud produced by segmentation
[out]	boundary_indices	the indices of the boundary points for the label corresponding to start_idx

direction y means we came from pixel with label y to the center pixel x

Definition at line 53 of file organized_connected_component_segmentation.hpp.

template<typename PointT, typename PointLT>

ComparatorConstPtr pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::getComparator ( ) const

inline

Get the comparator.

Definition at line 104 of file organized_connected_component_segmentation.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT , typename PointLT >

void pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::segment	(	pcl::PointCloud< PointLT > &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)		const

Perform the connected component segmentation.

Parameters

[out]	labels	a PointCloud of labels: each connected component will have a unique id.
[out]	label_indices	a vector of PointIndices corresponding to each label / component id.

Definition at line 118 of file organized_connected_component_segmentation.hpp.

template<typename PointT, typename PointLT>

void pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::setComparator ( const ComparatorConstPtr & compare )

inline

Provide a pointer to the comparator to be used for segmentation.

Parameters

[in] compare the comparator

Definition at line 97 of file organized_connected_component_segmentation.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/organized_connected_component_segmentation.h
/builddir/build/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/impl/organized_connected_component_segmentation.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

template<typename PointT, typename PointLT> class pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename PointLT>
class pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >