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gpu_seeded_hue_segmentation.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
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* with the distribution.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id:$
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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
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:174
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:414
pcl::PointCloud< pcl::PointXYZ >::ConstPtr
shared_ptr< const PointCloud< pcl::PointXYZ > > ConstPtr
Definition point_cloud.h:415
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
pcl::gpu::SeededHueSegmentation::host_cloud_
PointCloudHostPtr host_cloud_
the original cloud the Host
Definition gpu_seeded_hue_segmentation.h:152
pcl::gpu::SeededHueSegmentation::PointCloudHostPtr
PointCloudHost::Ptr PointCloudHostPtr
Definition gpu_seeded_hue_segmentation.h:61
pcl::gpu::SeededHueSegmentation::SeededHueSegmentation
SeededHueSegmentation()=default
Empty constructor.
pcl::gpu::SeededHueSegmentation::getClassName
virtual std::string getClassName() const
Class getName method.
Definition gpu_seeded_hue_segmentation.h:165
pcl::gpu::SeededHueSegmentation::GPUTree
pcl::gpu::Octree GPUTree
Definition gpu_seeded_hue_segmentation.h:67
pcl::gpu::SeededHueSegmentation::input_
CloudDevice input_
the input cloud on the GPU
Definition gpu_seeded_hue_segmentation.h:149
pcl::gpu::SeededHueSegmentation::setInput
void setInput(CloudDevice input)
Definition gpu_seeded_hue_segmentation.h:113
pcl::gpu::SeededHueSegmentation::getSearchMethod
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition gpu_seeded_hue_segmentation.h:89
pcl::gpu::SeededHueSegmentation::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition gpu_seeded_hue_segmentation.h:64
pcl::gpu::SeededHueSegmentation::getDeltaHue
float getDeltaHue()
Get the tolerance on the hue.
Definition gpu_seeded_hue_segmentation.h:135
pcl::gpu::SeededHueSegmentation::delta_hue_
float delta_hue_
The allowed difference on the hue.
Definition gpu_seeded_hue_segmentation.h:161
pcl::gpu::SeededHueSegmentation::setDeltaHue
void setDeltaHue(float delta_hue)
Set the tolerance on the hue.
Definition gpu_seeded_hue_segmentation.h:128
pcl::gpu::SeededHueSegmentation::cluster_tolerance_
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition gpu_seeded_hue_segmentation.h:158
pcl::gpu::SeededHueSegmentation::PointCloudHostConstPtr
PointCloudHost::ConstPtr PointCloudHostConstPtr
Definition gpu_seeded_hue_segmentation.h:62
pcl::gpu::SeededHueSegmentation::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition gpu_seeded_hue_segmentation.h:65
pcl::gpu::SeededHueSegmentation::setSearchMethod
void setSearchMethod(const GPUTreePtr &tree)
Provide a pointer to the search object.
Definition gpu_seeded_hue_segmentation.h:80
pcl::gpu::SeededHueSegmentation::CloudDevice
pcl::gpu::Octree::PointCloud CloudDevice
Definition gpu_seeded_hue_segmentation.h:70
pcl::gpu::SeededHueSegmentation::PointCloudHost
pcl::PointCloud< pcl::PointXYZ > PointCloudHost
Definition gpu_seeded_hue_segmentation.h:60
pcl::gpu::SeededHueSegmentation::getClusterTolerance
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition gpu_seeded_hue_segmentation.h:107
pcl::gpu::SeededHueSegmentation::segment
void segment(PointIndices &indices_in, PointIndices &indices_out)
extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
Definition gpu_seeded_hue_segmentation.hpp:135
pcl::gpu::SeededHueSegmentation::setHostCloud
void setHostCloud(PointCloudHostPtr host_cloud)
Definition gpu_seeded_hue_segmentation.h:119
pcl::gpu::SeededHueSegmentation::PointType
pcl::PointXYZ PointType
Definition gpu_seeded_hue_segmentation.h:59
pcl::gpu::SeededHueSegmentation::setClusterTolerance
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
Definition gpu_seeded_hue_segmentation.h:99
pcl::gpu::SeededHueSegmentation::GPUTreePtr
pcl::gpu::Octree::Ptr GPUTreePtr
Definition gpu_seeded_hue_segmentation.h:68
pcl::gpu::SeededHueSegmentation::tree_
GPUTreePtr tree_
A pointer to the spatial search object.
Definition gpu_seeded_hue_segmentation.h:155
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl::gpu::comparePointClusters
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
Definition gpu_extract_clusters.h:215
pcl::gpu
Definition device_array.h:45
pcl::gpu::seededHueSegmentation
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)
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:322