45 #include <pcl/segmentation/boost.h>
46 #include <pcl/segmentation/comparator.h>
51 namespace experimental
53 template<
typename Po
intT,
typename Po
intLT = pcl::Label>
68 using Ptr = shared_ptr<EuclideanClusterComparator<PointT, PointLT> >;
69 using ConstPtr = shared_ptr<const EuclideanClusterComparator<PointT, PointLT> >;
85 Eigen::Matrix3f rot =
input_->sensor_orientation_.toRotationMatrix ();
144 const std::set<std::uint32_t>::const_iterator it1 =
exclude_labels_->find (label1);
148 const std::set<std::uint32_t>::const_iterator it2 =
exclude_labels_->find (label2);
156 Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
158 dist_threshold *= z * z;
161 const float dist = ((*input_)[idx1].getVector3fMap ()
162 - (*input_)[idx2].getVector3fMap ()).norm ();
163 return (dist < dist_threshold);
197 template<
typename Po
intT,
typename Po
intNT,
typename Po
intLT = deprecated::T>
210 using Ptr = shared_ptr<EuclideanClusterComparator<PointT, PointNT, PointLT> >;
211 using ConstPtr = shared_ptr<const EuclideanClusterComparator<PointT, PointNT, PointLT> >;
225 PCL_DEPRECATED(1, 12,
"EuclideadClusterComparator never actually used normals and angular threshold, this function has no effect on the behavior of the comparator. It is deprecated and will be removed in future releases.")
230 PCL_DEPRECATED(1, 12,
"EuclideadClusterComparator never actually used normals and angular threshold, this function has no effect on the behavior of the comparator. It is deprecated and will be removed in future releases.")
237 PCL_DEPRECATED(1, 12,
"EuclideadClusterComparator never actually used normals and angular threshold, this function has no effect on the behavior of the comparator. It is deprecated and will be removed in future releases.")
245 PCL_DEPRECATED(1, 12,
"EuclideadClusterComparator never actually used normals and angular threshold, this function has no effect on the behavior of the comparator. It is deprecated and will be removed in future releases.")
252 PCL_DEPRECATED(1, 12,
"use setExcludeLabels(const ExcludeLabelSetConstPtr &) instead")
257 for (std::size_t i = 0; i < exclude_labels.size (); ++i)
258 if (exclude_labels[i])
269 template<
typename Po
intT,
typename Po
intLT>
Comparator is the base class for comparators that compare two points given some function.
PointCloudConstPtr input_
shared_ptr< Comparator< PointT > > Ptr
typename PointCloud::ConstPtr PointCloudConstPtr
shared_ptr< const Comparator< PointT > > ConstPtr
EuclideanClusterComparator is a comparator used for finding clusters based on euclidian distance.
PointCloudNConstPtr getInputNormals() const
Get the input normals.
PointCloudNConstPtr normals_
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
typename PointCloudN::ConstPtr PointCloudNConstPtr
void setExcludeLabels(const std::vector< bool > &exclude_labels)
Set labels in the label cloud to exclude.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
typename PointCloudN::Ptr PointCloudNPtr
void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
float distance_threshold_
shared_ptr< const ExcludeLabelSet > ExcludeLabelSetConstPtr
typename PointCloudL::ConstPtr PointCloudLConstPtr
std::set< std::uint32_t > ExcludeLabelSet
ExcludeLabelSetConstPtr exclude_labels_
Specifies which labels should be excluded com being clustered.
EuclideanClusterComparator()
Default constructor for EuclideanClusterComparator.
void setDistanceThreshold(float distance_threshold, bool depth_dependent)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
const ExcludeLabelSetConstPtr & getExcludeLabels() const
void setInputCloud(const PointCloudConstPtr &cloud) override
Set the input cloud for the comparator.
bool compare(int idx1, int idx2) const override
Compare points at two indices by their euclidean distance.
void setLabels(const PointCloudLPtr &labels)
Set label cloud.
shared_ptr< ExcludeLabelSet > ExcludeLabelSetPtr
typename PointCloudL::Ptr PointCloudLPtr
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
PointCloudLPtr labels_
Set of labels with similar size as the input point cloud, aggregating points into groups based on a s...
void setExcludeLabels(const ExcludeLabelSetConstPtr &exclude_labels)
Set labels in the label cloud to exclude.
Defines all the PCL implemented PointT point type structures.
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
A point structure representing Euclidean xyz coordinates, and the RGB color.