36 #ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
37 #define PCL_EXTRACT_LABELED_CLUSTERS_H_
39 #include <pcl/pcl_base.h>
40 #include <pcl/search/pcl_search.h>
56 template <
typename Po
intT>
void
58 const PointCloud<PointT> &cloud,
const boost::shared_ptr<search::Search<PointT> > &tree,
59 float tolerance, std::vector<std::vector<PointIndices> > &labeled_clusters,
60 unsigned int min_pts_per_cluster = 1,
unsigned int max_pts_per_cluster = std::numeric_limits<unsigned int>::max (),
61 unsigned int max_label = std::numeric_limits<unsigned int>::max ());
70 template <
typename Po
intT>
150 extract (std::vector<std::vector<PointIndices> > &labeled_clusters);
175 virtual std::string
getClassName ()
const {
return (
"LabeledEuclideanClusterExtraction"); }
189 #ifdef PCL_NO_PRECOMPILE
190 #include <pcl/segmentation/impl/extract_labeled_clusters.hpp>
193 #endif //#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
boost::shared_ptr< PointCloud< PointT > > Ptr
bool compareLabeledPointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
IndicesPtr indices_
A pointer to the vector of point indices to use.
std::vector< int > indices
bool initCompute()
This method should get called before starting the actual computation.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
bool deinitCompute()
This method should get called after finishing the actual computation.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< ::pcl::PointIndices > Ptr
PointCloudConstPtr input_
The input point cloud dataset.
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
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< unsigned int >::max(), unsigned int max_label=std::numeric_limits< unsigned int >::max())
Decompose a region of space into clusters based on the Euclidean distance between points...