Point Cloud Library (PCL)  1.3.1
extract_labeled_clusters.h
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00035 
00036 #ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
00037 #define PCL_EXTRACT_LABELED_CLUSTERS_H_
00038 
00039 #include <pcl/pcl_base.h>
00040 #include "pcl/search/pcl_search.h"
00041 
00042 namespace pcl
00043 {
00045 
00055   template <typename PointT> void extractLabeledEuclideanClusters (const PointCloud<PointT> &cloud, const boost::shared_ptr<search::Search<PointT> > &tree, float tolerance, std::vector<std::vector<PointIndices> > &labeled_clusters, unsigned int min_pts_per_cluster = 1, unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) (), unsigned int max_label = (std::numeric_limits<int>::max));
00056 
00060 
00064   template <typename PointT>
00065   class LabeledEuclideanClusterExtraction: public PCLBase<PointT>
00066   {
00067     typedef PCLBase<PointT> BasePCLBase;
00068 
00069     public:
00070       typedef pcl::PointCloud<PointT> PointCloud;
00071       typedef typename PointCloud::Ptr PointCloudPtr;
00072       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00073 
00074       typedef typename pcl::search::Search<PointT> KdTree;
00075       typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
00076 
00077       typedef PointIndices::Ptr PointIndicesPtr;
00078       typedef PointIndices::ConstPtr PointIndicesConstPtr;
00079 
00081 
00082       LabeledEuclideanClusterExtraction () : tree_ (), min_pts_per_cluster_ (1), 
00083                                       max_pts_per_cluster_ (std::numeric_limits<int>::max ()),
00084                                       max_label_ (std::numeric_limits<int>::max ())
00085       {};
00086 
00090       inline void setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
00091 
00093       inline KdTreePtr getSearchMethod () { return (tree_); }
00094 
00098       inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
00099 
00101       inline double getClusterTolerance () { return (cluster_tolerance_); }
00102 
00106       inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
00107 
00109       inline int getMinClusterSize () { return (min_pts_per_cluster_); }
00110 
00114       inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
00115 
00117       inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
00118 
00122       inline void setMaxLabels (unsigned int max_label) { max_label_ = max_label; }
00123 
00125       inline unsigned int getMaxLabels () { return (max_label_); }
00126 
00130       void extract (std::vector<std::vector<PointIndices> > &labeled_clusters);
00131 
00132     protected:
00133       // Members derived from the base class
00134       using BasePCLBase::input_;
00135       using BasePCLBase::indices_;
00136       using BasePCLBase::initCompute;
00137       using BasePCLBase::deinitCompute;
00138 
00140       KdTreePtr tree_;
00141 
00143       double cluster_tolerance_;
00144 
00146       int min_pts_per_cluster_;
00147 
00149       int max_pts_per_cluster_;
00150 
00152       unsigned int max_label_;
00153 
00155       virtual std::string getClassName () const { return ("LabeledEuclideanClusterExtraction"); }
00156 
00157   };
00158 
00162   inline bool 
00163     compareLabeledPointClusters (const pcl::PointIndices &a, const pcl::PointIndices &b)
00164   {
00165     return (a.indices.size () < b.indices.size ());
00166   }
00167 }
00168 
00169 #endif  //#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
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