Point Cloud Library (PCL)  1.12.0-dev
gpu_extract_clusters.h
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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 
49 namespace 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. */
83  EuclideanClusterExtraction () = default;
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. */
145  double cluster_tolerance_ {0};
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 }
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:104
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:123
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:139
pcl::gpu::EuclideanClusterExtraction::PointCloudHostPtr
typename PointCloudHost::Ptr PointCloudHostPtr
Definition: gpu_extract_clusters.h:70
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:112
pcl::gpu::EuclideanClusterExtraction::PointCloudHostConstPtr
typename PointCloudHost::ConstPtr PointCloudHostConstPtr
Definition: gpu_extract_clusters.h:71
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:125
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:151
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:154
pcl::gpu::comparePointClusters
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
Definition: gpu_extract_clusters.h:160
pcl::gpu::EuclideanClusterExtraction::getClusterTolerance
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition: gpu_extract_clusters.h:107
pcl::gpu::EuclideanClusterExtraction::GPUTreePtr
pcl::gpu::Octree::Ptr GPUTreePtr
Definition: gpu_extract_clusters.h:77
pcl::gpu::EuclideanClusterExtraction::tree_
GPUTreePtr tree_
A pointer to the spatial search object.
Definition: gpu_extract_clusters.h:142
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:148
pcl::gpu::EuclideanClusterExtraction::extract
void extract(std::vector< pcl::PointIndices > &clusters)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
Definition: gpu_extract_clusters.hpp:186
pcl::gpu::DeviceArray< PointType >
pcl::gpu::EuclideanClusterExtraction::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: gpu_extract_clusters.h:73
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:145
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:120
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:115
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:136
pcl::gpu::EuclideanClusterExtraction::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: gpu_extract_clusters.h:74
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:56
pcl::gpu::EuclideanClusterExtraction::setHostCloud
void setHostCloud(PointCloudHostPtr host_cloud)
Definition: gpu_extract_clusters.h:127
pcl::gpu::EuclideanClusterExtraction::getSearchMethod
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition: gpu_extract_clusters.h:99
pcl::gpu::Octree::Ptr
shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:68