extract_labeled_clusters.h

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#pragma once
 
#include <pcl/search/search.h>
#include <pcl/pcl_base.h>
 
namespace pcl {
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief Decompose a region of space into clusters based on the Euclidean distance
 * between points
 * \param[in] cloud the point cloud message
 * \param[in] tree the spatial locator (e.g., kd-tree) used for nearest neighbors
 * searching \note the tree has to be created as a spatial locator on \a cloud
 * \param[in] tolerance the spatial cluster tolerance as a measure in L2 Euclidean space
 * \param[out] labeled_clusters the resultant clusters containing point indices
 * (as a vector of PointIndices)
 * \param[in] min_pts_per_cluster minimum number of points that a cluster may contain
 * (default: 1)
 * \param[in] max_pts_per_cluster maximum number of points that a cluster may contain
 * (default: max int)
 * \ingroup segmentation
 */
template <typename PointT>
void
extractLabeledEuclideanClusters(
    const PointCloud<PointT>& cloud,
    const typename search::Search<PointT>::Ptr& 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());
 
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b LabeledEuclideanClusterExtraction represents a segmentation class for
 * cluster extraction in an Euclidean sense, with label info. \author Koen Buys
 * \ingroup segmentation
 */
template <typename PointT>
class LabeledEuclideanClusterExtraction : public PCLBase<PointT> {
  using BasePCLBase = PCLBase<PointT>;
 
public:
  using PointCloud = pcl::PointCloud<PointT>;
  using PointCloudPtr = typename PointCloud::Ptr;
  using PointCloudConstPtr = typename PointCloud::ConstPtr;
 
  using KdTree = pcl::search::Search<PointT>;
  using KdTreePtr = typename KdTree::Ptr;
 
  using PointIndicesPtr = PointIndices::Ptr;
  using PointIndicesConstPtr = PointIndices::ConstPtr;
 
  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  /** \brief Empty constructor. */
  LabeledEuclideanClusterExtraction() = default;
 
  /** \brief Provide a pointer to the search object.
   * \param[in] tree a pointer to the spatial search object.
   */
  inline void
  setSearchMethod(const KdTreePtr& tree)
  {
    tree_ = tree;
  }
 
  /** \brief Get a pointer to the search method used. */
  inline KdTreePtr
  getSearchMethod() const
  {
    return (tree_);
  }
 
  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
   * \param[in] tolerance the spatial cluster tolerance as a measure in the L2 Euclidean
   * space
   */
  inline void
  setClusterTolerance(double tolerance)
  {
    cluster_tolerance_ = tolerance;
  }
 
  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
   */
  inline double
  getClusterTolerance() const
  {
    return (cluster_tolerance_);
  }
 
  /** \brief Set the minimum number of points that a cluster needs to contain in order
   * to be considered valid. \param[in] min_cluster_size the minimum cluster size
   */
  inline void
  setMinClusterSize(int min_cluster_size)
  {
    min_pts_per_cluster_ = min_cluster_size;
  }
 
  /** \brief Get the minimum number of points that a cluster needs to contain in order
   * to be considered valid. */
  inline int
  getMinClusterSize() const
  {
    return (min_pts_per_cluster_);
  }
 
  /** \brief Set the maximum number of points that a cluster needs to contain in order
   * to be considered valid. \param[in] max_cluster_size the maximum cluster size
   */
  inline void
  setMaxClusterSize(int max_cluster_size)
  {
    max_pts_per_cluster_ = max_cluster_size;
  }
 
  /** \brief Get the maximum number of points that a cluster needs to contain in order
   * to be considered valid. */
  inline int
  getMaxClusterSize() const
  {
    return (max_pts_per_cluster_);
  }
 
  /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices
   * ()> \param[out] labeled_clusters the resultant point clusters
   */
  void
  extract(std::vector<std::vector<PointIndices>>& labeled_clusters);
 
protected:
  // Members derived from the base class
  using BasePCLBase::deinitCompute;
  using BasePCLBase::indices_;
  using BasePCLBase::initCompute;
  using BasePCLBase::input_;
 
  /** \brief A pointer to the spatial search object. */
  KdTreePtr tree_{nullptr};
 
  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
  double cluster_tolerance_{0.0};
 
  /** \brief The minimum number of points that a cluster needs to contain in order to be
   * considered valid (default = 1). */
  int min_pts_per_cluster_{1};
 
  /** \brief The maximum number of points that a cluster needs to contain in order to be
   * considered valid (default = MAXINT). */
  int max_pts_per_cluster_{std::numeric_limits<int>::max()};
 
  /** \brief The maximum number of labels we can find in this pointcloud (default =
   * MAXINT)*/
  unsigned int max_label_{std::numeric_limits<int>::max()};
 
  /** \brief Class getName method. */
  virtual std::string
  getClassName() const
  {
    return ("LabeledEuclideanClusterExtraction");
  }
};
 
/** \brief Sort clusters method (for std::sort).
 * \ingroup segmentation
 */
inline bool
compareLabeledPointClusters(const pcl::PointIndices& a, const pcl::PointIndices& b)
{
  return (a.indices.size() < b.indices.size());
}
} // namespace pcl
 
#ifdef PCL_NO_PRECOMPILE
#include <pcl/segmentation/impl/extract_labeled_clusters.hpp>
#endif