Point Cloud Library (PCL)  1.11.0-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  void
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  */
66  {
67  public:
72 
75 
78 
80 
81  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
82  /** \brief Empty constructor. */
83  EuclideanClusterExtraction () : min_pts_per_cluster_ (1), max_pts_per_cluster_ (std::numeric_limits<int>::max ())
84  {};
85 
86  /** \brief the destructor */
87 /* ~EuclideanClusterExtraction ()
88  {
89  tree_.clear();
90  };
91 */
92  /** \brief Provide a pointer to the search object.
93  * \param tree a pointer to the spatial search object.
94  */
95  inline void setSearchMethod (GPUTreePtr &tree) { tree_ = tree; }
96 
97  /** \brief Get a pointer to the search method used.
98  * @todo fix this for a generic search tree
99  */
100  inline GPUTreePtr getSearchMethod () { return (tree_); }
101 
102  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
103  * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
104  */
105  inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
106 
107  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
108  inline double getClusterTolerance () { return (cluster_tolerance_); }
109 
110  /** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
111  * \param min_cluster_size the minimum cluster size
112  */
113  inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
114 
115  /** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
116  inline int getMinClusterSize () { return (min_pts_per_cluster_); }
117 
118  /** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
119  * \param max_cluster_size the maximum cluster size
120  */
121  inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
122 
123  /** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
124  inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
125 
126  inline void setInput (CloudDevice input) {input_ = input;}
127 
128  inline void setHostCloud (PointCloudHostPtr host_cloud) {host_cloud_ = host_cloud;}
129 
130  /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
131  * \param clusters the resultant point clusters
132  */
133  void extract (std::vector<pcl::PointIndices> &clusters);
134 
135  protected:
136  /** \brief the input cloud on the GPU */
138 
139  /** \brief the original cloud the Host */
141 
142  /** \brief A pointer to the spatial search object. */
144 
145  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
147 
148  /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
150 
151  /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
153 
154  /** \brief Class getName method. */
155  virtual std::string getClassName () const { return ("gpu::EuclideanClusterExtraction"); }
156  };
157  /** \brief Sort clusters method (for std::sort).
158  * \ingroup segmentation
159  */
160  inline bool
162  {
163  return (a.indices.size () < b.indices.size ());
164  }
165  }
166 }
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:116
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
point_types.h
pcl::gpu::EuclideanClusterExtraction::tree_
GPUTreePtr tree_
A pointer to the spatial search object.
Definition: gpu_extract_clusters.h:143
pcl::gpu::EuclideanClusterExtraction::input_
CloudDevice input_
the input cloud on the GPU
Definition: gpu_extract_clusters.h:137
pcl::gpu::Octree::PointCloud
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition: octree.hpp:75
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:124
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:146
pcl::PointIndices::indices
Indices indices
Definition: PointIndices.h:23
pcl::gpu::Octree
Octree implementation on GPU.
Definition: octree.hpp:57
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:105
pcl::gpu::extractEuclideanClusters
void extractEuclideanClusters(const pcl::PointCloud< pcl::PointXYZ >::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:45
pcl::gpu::EuclideanClusterExtraction::getClassName
virtual std::string getClassName() const
Class getName method.
Definition: gpu_extract_clusters.h:155
pcl::PointCloud< pcl::PointXYZ >
pcl::gpu::EuclideanClusterExtraction
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen...
Definition: gpu_extract_clusters.h:65
pcl::gpu::EuclideanClusterExtraction::PointCloudHostPtr
PointCloudHost::Ptr PointCloudHostPtr
Definition: gpu_extract_clusters.h:70
pcl::gpu::EuclideanClusterExtraction::getSearchMethod
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition: gpu_extract_clusters.h:100
pcl::gpu::comparePointClusters
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
Definition: gpu_extract_clusters.h:161
pcl::gpu::EuclideanClusterExtraction::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: gpu_extract_clusters.h:74
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:16
pcl::gpu::EuclideanClusterExtraction::GPUTreePtr
pcl::gpu::Octree::Ptr GPUTreePtr
Definition: gpu_extract_clusters.h:77
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:300
pcl::gpu::EuclideanClusterExtraction::setInput
void setInput(CloudDevice input)
Definition: gpu_extract_clusters.h:126
pcl::gpu::DeviceArray< PointType >
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:121
pcl::gpu::EuclideanClusterExtraction::setHostCloud
void setHostCloud(PointCloudHostPtr host_cloud)
Definition: gpu_extract_clusters.h:128
pcl::gpu::EuclideanClusterExtraction::PointCloudHostConstPtr
PointCloudHost::ConstPtr PointCloudHostConstPtr
Definition: gpu_extract_clusters.h:71
pcl::PointIndices
Definition: PointIndices.h:13
pcl::gpu::EuclideanClusterExtraction::host_cloud_
PointCloudHostPtr host_cloud_
the original cloud the Host
Definition: gpu_extract_clusters.h:140
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:15
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:113
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:429
pcl::PointCloud< pcl::PointXYZ >::ConstPtr
shared_ptr< const PointCloud< pcl::PointXYZ > > ConstPtr
Definition: point_cloud.h:430
pcl::gpu::EuclideanClusterExtraction::getClusterTolerance
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition: gpu_extract_clusters.h:108
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:149
pcl::gpu::EuclideanClusterExtraction::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: gpu_extract_clusters.h:73
pcl::gpu::Octree::Ptr
shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:68
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:152
pcl::gpu::EuclideanClusterExtraction::setSearchMethod
void setSearchMethod(GPUTreePtr &tree)
the destructor
Definition: gpu_extract_clusters.h:95
pcl::gpu::EuclideanClusterExtraction::EuclideanClusterExtraction
EuclideanClusterExtraction()
Empty constructor.
Definition: gpu_extract_clusters.h:83
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:180