gpu_seeded_hue_segmentation.h

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#pragma once
 
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PointIndices.h>
 
namespace pcl {
namespace gpu {
void
seededHueSegmentation(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& host_cloud_,
                      const pcl::gpu::Octree::Ptr& tree,
                      float tolerance,
                      PointIndices& clusters_in,
                      PointIndices& clusters_out,
                      float delta_hue = 0.0);
 
class SeededHueSegmentation {
public:
  using PointType = pcl::PointXYZ;
  using PointCloudHost = pcl::PointCloud<pcl::PointXYZ>;
  using PointCloudHostPtr = PointCloudHost::Ptr;
  using PointCloudHostConstPtr = PointCloudHost::ConstPtr;
 
  using PointIndicesPtr = PointIndices::Ptr;
  using PointIndicesConstPtr = PointIndices::ConstPtr;
 
  using GPUTree = pcl::gpu::Octree;
  using GPUTreePtr = pcl::gpu::Octree::Ptr;
 
  using CloudDevice = pcl::gpu::Octree::PointCloud;
 
  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  /** \brief Empty constructor. */
  SeededHueSegmentation() = default;
 
  /** \brief Provide a pointer to the search object.
   * \param tree a pointer to the spatial search object.
   */
  inline void
  setSearchMethod(const GPUTreePtr& tree)
  {
    tree_ = tree;
  }
 
  /** \brief Get a pointer to the search method used.
   *  @todo fix this for a generic search tree
   */
  inline GPUTreePtr
  getSearchMethod()
  {
    return (tree_);
  }
 
  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
   * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean
   * space
   */
  inline void
  setClusterTolerance(double tolerance)
  {
    cluster_tolerance_ = tolerance;
  }
 
  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
   */
  inline double
  getClusterTolerance()
  {
    return (cluster_tolerance_);
  }
 
  inline void
  setInput(CloudDevice input)
  {
    input_ = input;
  }
 
  inline void
  setHostCloud(PointCloudHostPtr host_cloud)
  {
    host_cloud_ = host_cloud;
  }
 
  /** \brief Set the tolerance on the hue
   * \param[in] delta_hue the new delta hue
   */
  inline void
  setDeltaHue(float delta_hue)
  {
    delta_hue_ = delta_hue;
  }
 
  /** \brief Get the tolerance on the hue */
  inline float
  getDeltaHue()
  {
    return (delta_hue_);
  }
 
  /** \brief extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
   * \param indices_in
   * \param indices_out
   */
  void
  segment(PointIndices& indices_in, PointIndices& indices_out);
 
protected:
  /** \brief the input cloud on the GPU */
  CloudDevice input_;
 
  /** \brief the original cloud the Host */
  PointCloudHostPtr host_cloud_;
 
  /** \brief A pointer to the spatial search object. */
  GPUTreePtr tree_;
 
  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
  double cluster_tolerance_{0.0};
 
  /** \brief The allowed difference on the hue*/
  float delta_hue_{0.0};
 
  /** \brief Class getName method. */
  virtual std::string
  getClassName() const
  {
    return ("gpu::SeededHueSegmentation");
  }
};
/** \brief Sort clusters method (for std::sort).
 * \ingroup segmentation
 */
inline bool
comparePointClusters(const pcl::PointIndices& a, const pcl::PointIndices& b)
{
  return (a.indices.size() < b.indices.size());
}
} // namespace gpu
} // namespace pcl