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gpu_extract_labeled_clusters.h
/*
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#pragma once
#include <pcl/gpu/octree/octree.hpp>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PointIndices.h>
namespace pcl {
namespace gpu {
template <typename PointT>
void
extractLabeledEuclideanClusters(
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);
/** \brief @b EuclideanLabeledClusterExtraction represents a segmentation class for
* cluster extraction in an Euclidean sense, depending on pcl::gpu::octree
* \author Koen Buys, Radu Bogdan Rusu
* \ingroup segmentation
*/
template <typename PointT>
class EuclideanLabeledClusterExtraction {
public:
using PointType = pcl::PointXYZ;
using PointCloudHost = pcl::PointCloud<PointT>;
using PointCloudHostPtr = typename PointCloudHost::Ptr;
using PointCloudHostConstPtr = typename 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. */
EuclideanLabeledClusterExtraction() = default;
/** \brief Default virtual destructor. */
virtual ~EuclideanLabeledClusterExtraction() = 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 measured by L2 distance
*/
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_);
}
/** \brief Set the minimum number of points that a cluster needs to contain in order
* to be considered valid.
* \param min_cluster_size the minimum cluster size
*/
inline void
setMinClusterSize(int min_cluster_size)
{
min_pts_per_cluster_ = min_cluster_size;
}
/** \brief Get the minimum number of points that a cluster needs to contain in order
* to be considered valid. */
inline int
getMinClusterSize()
{
return (min_pts_per_cluster_);
}
/** \brief Set the maximum number of points that a cluster needs to contain in order
* to be considered valid.
* \param max_cluster_size the maximum cluster size
*/
inline void
setMaxClusterSize(int max_cluster_size)
{
max_pts_per_cluster_ = max_cluster_size;
}
/** \brief Get the maximum number of points that a cluster needs to contain in order
* to be considered valid. */
inline int
getMaxClusterSize()
{
return (max_pts_per_cluster_);
}
inline void
setInput(CloudDevice input)
{
input_ = input;
}
inline void
setHostCloud(PointCloudHostPtr host_cloud)
{
host_cloud_ = host_cloud;
}
/** \brief extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
* \param clusters the resultant point clusters
*/
void
extract(std::vector<PointIndices>& clusters);
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 minimum number of points that a cluster needs to contain in order to be
* considered valid (default = 1). */
int min_pts_per_cluster_{1};
/** \brief The maximum number of points that a cluster needs to contain in order to be
* considered valid (default = MAXINT). */
int max_pts_per_cluster_{std::numeric_limits<int>::max()};
/** \brief Class getName method. */
virtual std::string
getClassName() const
{
return ("gpu::EuclideanLabeledClusterExtraction");
}
};
/** \brief Sort clusters method (for std::sort).
* \ingroup segmentation
*/
inline bool
compareLabeledPointClusters(const pcl::PointIndices& a, const pcl::PointIndices& b)
{
return (a.indices.size() < b.indices.size());
}
} // namespace gpu
} // namespace pcl
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::gpu::DeviceArray< PointType >
pcl::gpu::EuclideanLabeledClusterExtraction
EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclid...
Definition gpu_extract_labeled_clusters.h:66
pcl::gpu::EuclideanLabeledClusterExtraction::input_
CloudDevice input_
the input cloud on the GPU
Definition gpu_extract_labeled_clusters.h:179
pcl::gpu::EuclideanLabeledClusterExtraction::setClusterTolerance
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition gpu_extract_labeled_clusters.h:110
pcl::gpu::EuclideanLabeledClusterExtraction::tree_
GPUTreePtr tree_
A pointer to the spatial search object.
Definition gpu_extract_labeled_clusters.h:185
pcl::gpu::EuclideanLabeledClusterExtraction::~EuclideanLabeledClusterExtraction
virtual ~EuclideanLabeledClusterExtraction()=default
Default virtual destructor.
pcl::gpu::EuclideanLabeledClusterExtraction::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition gpu_extract_labeled_clusters.h:74
pcl::gpu::EuclideanLabeledClusterExtraction::getClassName
virtual std::string getClassName() const
Class getName method.
Definition gpu_extract_labeled_clusters.h:200
pcl::gpu::EuclideanLabeledClusterExtraction::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_labeled_clusters.h:192
pcl::gpu::EuclideanLabeledClusterExtraction::getSearchMethod
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition gpu_extract_labeled_clusters.h:101
pcl::gpu::EuclideanLabeledClusterExtraction::PointCloudHost
pcl::PointCloud< PointT > PointCloudHost
Definition gpu_extract_labeled_clusters.h:69
pcl::gpu::EuclideanLabeledClusterExtraction::PointCloudHostConstPtr
typename PointCloudHost::ConstPtr PointCloudHostConstPtr
Definition gpu_extract_labeled_clusters.h:71
pcl::gpu::EuclideanLabeledClusterExtraction::extract
void extract(std::vector< PointIndices > &clusters)
extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
Definition gpu_extract_labeled_clusters.hpp:152
pcl::gpu::EuclideanLabeledClusterExtraction::setHostCloud
void setHostCloud(PointCloudHostPtr host_cloud)
Definition gpu_extract_labeled_clusters.h:166
pcl::gpu::EuclideanLabeledClusterExtraction::setSearchMethod
void setSearchMethod(const GPUTreePtr &tree)
Provide a pointer to the search object.
Definition gpu_extract_labeled_clusters.h:92
pcl::gpu::EuclideanLabeledClusterExtraction::getMinClusterSize
int getMinClusterSize()
Get the minimum number of points that a cluster needs to contain in order to be considered valid.
Definition gpu_extract_labeled_clusters.h:136
pcl::gpu::EuclideanLabeledClusterExtraction::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition gpu_extract_labeled_clusters.h:73
pcl::gpu::EuclideanLabeledClusterExtraction::cluster_tolerance_
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition gpu_extract_labeled_clusters.h:188
pcl::gpu::EuclideanLabeledClusterExtraction::host_cloud_
PointCloudHostPtr host_cloud_
the original cloud the Host
Definition gpu_extract_labeled_clusters.h:182
pcl::gpu::EuclideanLabeledClusterExtraction::setInput
void setInput(CloudDevice input)
Definition gpu_extract_labeled_clusters.h:160
pcl::gpu::EuclideanLabeledClusterExtraction::PointCloudHostPtr
typename PointCloudHost::Ptr PointCloudHostPtr
Definition gpu_extract_labeled_clusters.h:70
pcl::gpu::EuclideanLabeledClusterExtraction::GPUTreePtr
pcl::gpu::Octree::Ptr GPUTreePtr
Definition gpu_extract_labeled_clusters.h:77
pcl::gpu::EuclideanLabeledClusterExtraction::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_labeled_clusters.h:146
pcl::gpu::EuclideanLabeledClusterExtraction::EuclideanLabeledClusterExtraction
EuclideanLabeledClusterExtraction()=default
Empty constructor.
pcl::gpu::EuclideanLabeledClusterExtraction::getMaxClusterSize
int getMaxClusterSize()
Get the maximum number of points that a cluster needs to contain in order to be considered valid.
Definition gpu_extract_labeled_clusters.h:154
pcl::gpu::EuclideanLabeledClusterExtraction::getClusterTolerance
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition gpu_extract_labeled_clusters.h:118
pcl::gpu::EuclideanLabeledClusterExtraction::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_labeled_clusters.h:196
pcl::gpu::EuclideanLabeledClusterExtraction::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_labeled_clusters.h:128
pcl::gpu::Octree
Octree implementation on GPU.
Definition octree.hpp:59
pcl::gpu::Octree::Ptr
shared_ptr< Octree > Ptr
Types.
Definition octree.hpp:69
pcl::gpu::Octree::PointCloud
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition octree.hpp:76
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl::gpu::compareLabeledPointClusters
bool compareLabeledPointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
Definition gpu_extract_labeled_clusters.h:209
pcl::gpu::extractLabeledEuclideanClusters
void extractLabeledEuclideanClusters(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_labeled_clusters.hpp:45
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl::PointIndices
Definition PointIndices.h:12
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition PointIndices.h:13
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition PointIndices.h:14
pcl::PointIndices::indices
Indices indices
Definition PointIndices.h:20
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition point_types.hpp:351