Point Cloud Library (PCL)  1.13.0-dev
gpu_extract_clusters.h
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39 
40 #pragma once
41 
42 #include <pcl/gpu/containers/device_array.h>
43 #include <pcl/gpu/octree/octree.hpp>
44 #include <pcl/PointIndices.h>
45 #include <pcl/pcl_macros.h>
46 #include <pcl/point_cloud.h>
47 #include <pcl/point_types.h>
48 
49 namespace pcl {
50 namespace gpu {
51 template <typename PointT>
52 void
53 extractEuclideanClusters(const typename pcl::PointCloud<PointT>::Ptr& host_cloud_,
54  const pcl::gpu::Octree::Ptr& tree,
55  float tolerance,
56  std::vector<PointIndices>& clusters,
57  unsigned int min_pts_per_cluster,
58  unsigned int max_pts_per_cluster);
59 
60 /** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster
61  * 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 public:
71 
74 
77 
79 
80  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
81  /** \brief Empty constructor. */
83 
84  /** \brief Default virtual destructor. */
85  virtual ~EuclideanClusterExtraction() = default;
86 
87  /** \brief the destructor */
88  /* ~EuclideanClusterExtraction ()
89  {
90  tree_.clear();
91  };
92  */
93  /** \brief Provide a pointer to the search object.
94  * \param tree a pointer to the spatial search object.
95  */
96  inline void
98  {
99  tree_ = tree;
100  }
101 
102  /** \brief Get a pointer to the search method used.
103  * @todo fix this for a generic search tree
104  */
105  inline GPUTreePtr
107  {
108  return (tree_);
109  }
110 
111  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
112  * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean
113  * space
114  */
115  inline void
116  setClusterTolerance(double tolerance)
117  {
118  cluster_tolerance_ = tolerance;
119  }
120 
121  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
122  */
123  inline double
125  {
126  return (cluster_tolerance_);
127  }
128 
129  /** \brief Set the minimum number of points that a cluster needs to contain in order
130  * to be considered valid.
131  * \param min_cluster_size the minimum cluster size
132  */
133  inline void
134  setMinClusterSize(int min_cluster_size)
135  {
136  min_pts_per_cluster_ = min_cluster_size;
137  }
138 
139  /** \brief Get the minimum number of points that a cluster needs to contain in order
140  * to be considered valid. */
141  inline int
143  {
144  return (min_pts_per_cluster_);
145  }
146 
147  /** \brief Set the maximum number of points that a cluster needs to contain in order
148  * to be considered valid.
149  * \param max_cluster_size the maximum cluster size
150  */
151  inline void
152  setMaxClusterSize(int max_cluster_size)
153  {
154  max_pts_per_cluster_ = max_cluster_size;
155  }
156 
157  /** \brief Get the maximum number of points that a cluster needs to contain in order
158  * to be considered valid. */
159  inline int
161  {
162  return (max_pts_per_cluster_);
163  }
164 
165  inline void
167  {
168  input_ = input;
169  }
170 
171  inline void
173  {
174  host_cloud_ = host_cloud;
175  }
176 
177  /** \brief extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
178  * \param clusters the resultant point clusters
179  */
180  void
181  extract(std::vector<pcl::PointIndices>& clusters);
182 
183 protected:
184  /** \brief the input cloud on the GPU */
186 
187  /** \brief the original cloud the Host */
189 
190  /** \brief A pointer to the spatial search object. */
192 
193  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
195 
196  /** \brief The minimum number of points that a cluster needs to contain in order to be
197  * considered valid (default = 1). */
199 
200  /** \brief The maximum number of points that a cluster needs to contain in order to be
201  * considered valid (default = MAXINT). */
202  int max_pts_per_cluster_{std::numeric_limits<int>::max()};
203 
204  /** \brief Class getName method. */
205  virtual std::string
206  getClassName() const
207  {
208  return ("gpu::EuclideanClusterExtraction");
209  }
210 };
211 /** \brief Sort clusters method (for std::sort).
212  * \ingroup segmentation
213  */
214 inline bool
216 {
217  return (a.indices.size() < b.indices.size());
218 }
219 } // namespace gpu
220 } // namespace pcl
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
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)
extract clusters of 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.
virtual ~EuclideanClusterExtraction()=default
Default virtual destructor.
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:59
shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:69
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition: octree.hpp:76
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
Definition: PointIndices.h:13
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14