Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
gpu_extract_clusters.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * $Id:$
37 * @author: Koen Buys
38 */
39
40#pragma once
41
42#include <pcl/point_types.h>
43#include <pcl/point_cloud.h>
44#include <pcl/PointIndices.h>
45#include <pcl/pcl_macros.h>
46#include <pcl/gpu/octree/octree.hpp>
47#include <pcl/gpu/containers/device_array.h>
48
49namespace pcl
50{
51 namespace gpu
52 {
53 template <typename PointT> void
54 extractEuclideanClusters (const typename pcl::PointCloud<PointT>::Ptr &host_cloud_,
55 const pcl::gpu::Octree::Ptr &tree,
56 float tolerance,
57 std::vector<PointIndices> &clusters,
58 unsigned int min_pts_per_cluster,
59 unsigned int max_pts_per_cluster);
60
61 /** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree
62 * \author Koen Buys, Radu Bogdan Rusu
63 * \ingroup segmentation
64 */
65 template <typename PointT>
67 {
68 public:
72
75
78
80
81 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
82 /** \brief Empty constructor. */
84
85 /** \brief the destructor */
86/* ~EuclideanClusterExtraction ()
87 {
88 tree_.clear();
89 };
90*/
91 /** \brief Provide a pointer to the search object.
92 * \param tree a pointer to the spatial search object.
93 */
94 inline void setSearchMethod (GPUTreePtr &tree) { tree_ = tree; }
95
96 /** \brief Get a pointer to the search method used.
97 * @todo fix this for a generic search tree
98 */
99 inline GPUTreePtr getSearchMethod () { return (tree_); }
100
101 /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
102 * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
103 */
104 inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
105
106 /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
107 inline double getClusterTolerance () { return (cluster_tolerance_); }
108
109 /** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
110 * \param min_cluster_size the minimum cluster size
111 */
112 inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
113
114 /** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
115 inline int getMinClusterSize () { return (min_pts_per_cluster_); }
116
117 /** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
118 * \param max_cluster_size the maximum cluster size
119 */
120 inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
121
122 /** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
123 inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
124
125 inline void setInput (CloudDevice input) {input_ = input;}
126
127 inline void setHostCloud (PointCloudHostPtr host_cloud) {host_cloud_ = host_cloud;}
128
129 /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
130 * \param clusters the resultant point clusters
131 */
132 void extract (std::vector<pcl::PointIndices> &clusters);
133
134 protected:
135 /** \brief the input cloud on the GPU */
137
138 /** \brief the original cloud the Host */
140
141 /** \brief A pointer to the spatial search object. */
143
144 /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
146
147 /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
149
150 /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
151 int max_pts_per_cluster_ {std::numeric_limits<int>::max()};
152
153 /** \brief Class getName method. */
154 virtual std::string getClassName () const { return ("gpu::EuclideanClusterExtraction"); }
155 };
156 /** \brief Sort clusters method (for std::sort).
157 * \ingroup segmentation
158 */
159 inline bool
161 {
162 return (a.indices.size () < b.indices.size ());
163 }
164 }
165}
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen...
virtual std::string getClassName() const
Class getName method.
GPUTreePtr tree_
A pointer to the spatial search object.
EuclideanClusterExtraction()=default
Empty constructor.
CloudDevice input_
the input cloud on the GPU
int getMinClusterSize()
Get the minimum number of points that a cluster needs to contain in order to be considered valid.
typename PointCloudHost::Ptr PointCloudHostPtr
void setSearchMethod(GPUTreePtr &tree)
the destructor
typename PointCloudHost::ConstPtr PointCloudHostConstPtr
int min_pts_per_cluster_
The minimum number of points that a cluster needs to contain in order to be considered valid (default...
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
void extract(std::vector< pcl::PointIndices > &clusters)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
void setMinClusterSize(int min_cluster_size)
Set the minimum number of points that a cluster needs to contain in order to be considered valid.
int getMaxClusterSize()
Get the maximum number of points that a cluster needs to contain in order to be considered valid.
void setMaxClusterSize(int max_cluster_size)
Set the maximum number of points that a cluster needs to contain in order to be considered valid.
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
int max_pts_per_cluster_
The maximum number of points that a cluster needs to contain in order to be considered valid (default...
PointCloudHostPtr host_cloud_
the original cloud the Host
void setHostCloud(PointCloudHostPtr host_cloud)
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Octree implementation on GPU.
Definition octree.hpp:58
shared_ptr< Octree > Ptr
Types.
Definition octree.hpp:68
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition octree.hpp:75
Defines all the PCL implemented PointT point type structures.
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
void extractEuclideanClusters(const typename pcl::PointCloud< PointT >::Ptr &host_cloud_, const pcl::gpu::Octree::Ptr &tree, float tolerance, std::vector< PointIndices > &clusters, unsigned int min_pts_per_cluster, unsigned int max_pts_per_cluster)
Defines all the PCL and non-PCL macros used.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr