pcl命名空间：segmentation/extract_clusters.h与segmentation/imp/extract_clusters.hpp

class EuclideanClusterExtraction

该类属于模板继承类

template<typename PointT>
class E...: public PCLBase<pointT>

typename

#include <pcl/pcl_base.h>

using BasePCLBase=PCLBase<PointT>//别名BasePCLBase

 using PointCloud = pcl::PointCloud<PointT>;
 using PointCloudPtr = typename PointCloud::Ptr;//PointCloud是上行代码定义的别名
 using PointCloudConstPtr = typename PointCloud::ConstPtr;//可以写成 =pcl::PointCloud<PointT>::consterPtr;
 using PointIndicesPtr = PointIndices::Ptr;//可以写成 =pcl::PointIndices::Ptr;
using PointIndicesConstPtr = PointIndices::ConstPtr;

PointCLoud和PointIndices分别在pcl/pcl_base.h中进行了声明
#include <pcl/point_cloud.h>
#include <pcl/PointIndices.h>

#include <pcl/search/pcl_search.h>

using KdTree = pcl::search::Search<PointT>;
using KdTreePtr = typename KdTree::Ptr;

成员变量

 KdTreePtr tree_;//储存数据的结构
 double cluster_tolerance_;//聚类半径
 int min_pts_per_cluster_;//最小聚类数
 int max_pts_per_cluster_;//最大聚类数

构造函数完成内参初始化

EuclideanClusterExtraction () : tree_ (), 
                               cluster_tolera