Point Cloud Library (PCL)  1.12.0-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. */
82  EuclideanClusterExtraction() = default;
83 
84  /** \brief the destructor */
85  /* ~EuclideanClusterExtraction ()
86  {
87  tree_.clear();
88  };
89  */
90  /** \brief Provide a pointer to the search object.
91  * \param tree a pointer to the spatial search object.
92  */
93  inline void
95  {
96  tree_ = tree;
97  }
98 
99  /** \brief Get a pointer to the search method used.
100  * @todo fix this for a generic search tree
101  */
102  inline GPUTreePtr
104  {
105  return (tree_);
106  }
107 
108  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
109  * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean
110  * space
111  */
112  inline void
113  setClusterTolerance(double tolerance)
114  {
115  cluster_tolerance_ = tolerance;
116  }
117 
118  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
119  */
120  inline double
122  {
123  return (cluster_tolerance_);
124  }
125 
126  /** \brief Set the minimum number of points that a cluster needs to contain in order
127  * to be considered valid.
128  * \param min_cluster_size the minimum cluster size
129  */
130  inline void
131  setMinClusterSize(int min_cluster_size)
132  {
133  min_pts_per_cluster_ = min_cluster_size;
134  }
135 
136  /** \brief Get the minimum number of points that a cluster needs to contain in order
137  * to be considered valid. */
138  inline int
140  {
141  return (min_pts_per_cluster_);
142  }
143 
144  /** \brief Set the maximum number of points that a cluster needs to contain in order
145  * to be considered valid.
146  * \param max_cluster_size the maximum cluster size
147  */
148  inline void
149  setMaxClusterSize(int max_cluster_size)
150  {
151  max_pts_per_cluster_ = max_cluster_size;
152  }
153 
154  /** \brief Get the maximum number of points that a cluster needs to contain in order
155  * to be considered valid. */
156  inline int
158  {
159  return (max_pts_per_cluster_);
160  }
161 
162  inline void
164  {
165  input_ = input;
166  }
167 
168  inline void
170  {
171  host_cloud_ = host_cloud;
172  }
173 
174  /** \brief extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
175  * \param clusters the resultant point clusters
176  */
177  void
178  extract(std::vector<pcl::PointIndices>& clusters);
179 
180 protected:
181  /** \brief the input cloud on the GPU */
183 
184  /** \brief the original cloud the Host */
186 
187  /** \brief A pointer to the spatial search object. */
189 
190  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
192 
193  /** \brief The minimum number of points that a cluster needs to contain in order to be
194  * considered valid (default = 1). */
196 
197  /** \brief The maximum number of points that a cluster needs to contain in order to be
198  * considered valid (default = MAXINT). */
199  int max_pts_per_cluster_{std::numeric_limits<int>::max()};
200 
201  /** \brief Class getName method. */
202  virtual std::string
203  getClassName() const
204  {
205  return ("gpu::EuclideanClusterExtraction");
206  }
207 };
208 /** \brief Sort clusters method (for std::sort).
209  * \ingroup segmentation
210  */
211 inline bool
213 {
214  return (a.indices.size() < b.indices.size());
215 }
216 } // namespace gpu
217 } // namespace pcl
pcl::gpu::EuclideanClusterExtraction::setClusterTolerance
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition: gpu_extract_clusters.h:113
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::gpu::EuclideanClusterExtraction::EuclideanClusterExtraction
EuclideanClusterExtraction()=default
Empty constructor.
point_types.h
pcl::gpu::EuclideanClusterExtraction::setSearchMethod
void setSearchMethod(GPUTreePtr &tree)
the destructor
Definition: gpu_extract_clusters.h:94
pcl::gpu::EuclideanClusterExtraction::getMaxClusterSize
int getMaxClusterSize()
Get the maximum number of points that a cluster needs to contain in order to be considered valid.
Definition: gpu_extract_clusters.h:157
pcl::gpu::Octree::PointCloud
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition: octree.hpp:75
pcl::gpu::EuclideanClusterExtraction::host_cloud_
PointCloudHostPtr host_cloud_
the original cloud the Host
Definition: gpu_extract_clusters.h:185
pcl::gpu::EuclideanClusterExtraction::PointCloudHostPtr
typename PointCloudHost::Ptr PointCloudHostPtr
Definition: gpu_extract_clusters.h:69
pcl::gpu::EuclideanClusterExtraction::setMinClusterSize
void setMinClusterSize(int min_cluster_size)
Set the minimum number of points that a cluster needs to contain in order to be considered valid.
Definition: gpu_extract_clusters.h:131
pcl::gpu::EuclideanClusterExtraction::PointCloudHostConstPtr
typename PointCloudHost::ConstPtr PointCloudHostConstPtr
Definition: gpu_extract_clusters.h:70
pcl::PointIndices::indices
Indices indices
Definition: PointIndices.h:21
pcl::gpu::Octree
Octree implementation on GPU.
Definition: octree.hpp:57
pcl::gpu::EuclideanClusterExtraction::setInput
void setInput(CloudDevice input)
Definition: gpu_extract_clusters.h:163
pcl::gpu::EuclideanClusterExtraction::max_pts_per_cluster_
int max_pts_per_cluster_
The maximum number of points that a cluster needs to contain in order to be considered valid (default...
Definition: gpu_extract_clusters.h:199
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::gpu::EuclideanClusterExtraction
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen...
Definition: gpu_extract_clusters.h:66
pcl::gpu::EuclideanClusterExtraction::getClassName
virtual std::string getClassName() const
Class getName method.
Definition: gpu_extract_clusters.h:203
pcl::gpu::comparePointClusters
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
Definition: gpu_extract_clusters.h:212
pcl::gpu::EuclideanClusterExtraction::getClusterTolerance
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition: gpu_extract_clusters.h:121
pcl::gpu::EuclideanClusterExtraction::GPUTreePtr
pcl::gpu::Octree::Ptr GPUTreePtr
Definition: gpu_extract_clusters.h:76
pcl::gpu::EuclideanClusterExtraction::tree_
GPUTreePtr tree_
A pointer to the spatial search object.
Definition: gpu_extract_clusters.h:188
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14
pcl::gpu::EuclideanClusterExtraction::min_pts_per_cluster_
int min_pts_per_cluster_
The minimum number of points that a cluster needs to contain in order to be considered valid (default...
Definition: gpu_extract_clusters.h:195
pcl::gpu::EuclideanClusterExtraction::extract
void extract(std::vector< pcl::PointIndices > &clusters)
extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
Definition: gpu_extract_clusters.hpp:188
pcl::gpu::DeviceArray< PointType >
pcl::gpu::EuclideanClusterExtraction::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: gpu_extract_clusters.h:72
pcl::gpu::EuclideanClusterExtraction::cluster_tolerance_
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition: gpu_extract_clusters.h:191
pcl::gpu::EuclideanClusterExtraction::setMaxClusterSize
void setMaxClusterSize(int max_cluster_size)
Set the maximum number of points that a cluster needs to contain in order to be considered valid.
Definition: gpu_extract_clusters.h:149
pcl::gpu::EuclideanClusterExtraction::getMinClusterSize
int getMinClusterSize()
Get the minimum number of points that a cluster needs to contain in order to be considered valid.
Definition: gpu_extract_clusters.h:139
pcl::PointIndices
Definition: PointIndices.h:11
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:13
pcl::gpu::EuclideanClusterExtraction::input_
CloudDevice input_
the input cloud on the GPU
Definition: gpu_extract_clusters.h:182
pcl::gpu::EuclideanClusterExtraction::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: gpu_extract_clusters.h:73
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
pcl::gpu::extractEuclideanClusters
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)
Definition: gpu_extract_clusters.hpp:57
pcl::gpu::EuclideanClusterExtraction::setHostCloud
void setHostCloud(PointCloudHostPtr host_cloud)
Definition: gpu_extract_clusters.h:169
pcl::gpu::EuclideanClusterExtraction::getSearchMethod
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition: gpu_extract_clusters.h:103
pcl::gpu::Octree::Ptr
shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:68