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. More...

#include <organized_connected_component_segmentation.h>

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

[legend]

List of all members.

Classes
struct	Neighbor
Public Types
typedef pcl::Comparator< PointT >	Comparator
typedef Comparator::ConstPtr	ComparatorConstPtr
typedef Comparator::Ptr	ComparatorPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef pcl::PointCloud< PointLT >	PointCloudL
typedef PointCloudL::ConstPtr	PointCloudLConstPtr
typedef PointCloudL::Ptr	PointCloudLPtr
typedef PointCloud::Ptr	PointCloudPtr
Public Member Functions
ComparatorConstPtr	getComparator () const
	Get the comparator.
	OrganizedConnectedComponentSegmentation (const ComparatorConstPtr &compare)
	Constructor for OrganizedConnectedComponentSegmentation.
void	segment (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
	Perform the connected component segmentation.
void	setComparator (const ComparatorConstPtr &compare)
	Provide a pointer to the comparator to be used for segmentation.
virtual	~OrganizedConnectedComponentSegmentation ()
	Destructor for OrganizedConnectedComponentSegmentation.
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.
Protected Member Functions
unsigned	findRoot (const std::vector< unsigned > &runs, unsigned index) const
Protected Attributes
ComparatorConstPtr	compare_

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 67 of file organized_connected_component_segmentation.h.

template<typename PointT, typename PointLT>

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

Reimplemented from pcl::PCLBase< PointT >.

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 68 of file organized_connected_component_segmentation.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 ( ) [inline, virtual]

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.

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

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

unsigned pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::findRoot	(	const std::vector< unsigned > &	runs,
		unsigned	index
	)		const `[inline, protected]`

Definition at line 126 of file organized_connected_component_segmentation.h.

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 , 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]