Point Cloud Library (PCL) 1.12.0
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gpu_extract_labeled_clusters.h
1/*
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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
48namespace pcl
49{
50 namespace gpu
51 {
52 template <typename PointT> void
54 const pcl::gpu::Octree::Ptr &tree,
55 float tolerance,
56 std::vector<PointIndices> &clusters,
57 unsigned int min_pts_per_cluster,
58 unsigned int max_pts_per_cluster);
59
60 /** \brief @b EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree
61 * \author Koen Buys, Radu Bogdan Rusu
62 * \ingroup segmentation
63 */
64 template <typename PointT>
66 {
67 public:
70 using PointCloudHostPtr = typename PointCloudHost::Ptr;
71 using PointCloudHostConstPtr = typename PointCloudHost::ConstPtr;
72
75
78
80
81 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
82 /** \brief Empty constructor. */
84
85 /** \brief Provide a pointer to the search object.
86 * \param tree a pointer to the spatial search object.
87 */
88 inline void setSearchMethod (const GPUTreePtr &tree) { tree_ = tree; }
89
90 /** \brief Get a pointer to the search method used.
91 * @todo fix this for a generic search tree
92 */
93 inline GPUTreePtr getSearchMethod () { return (tree_); }
94
95 /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
96 * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
97 */
99
100 /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
101 inline double getClusterTolerance () { return (cluster_tolerance_); }
102
103 /** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
104 * \param min_cluster_size the minimum cluster size
105 */
106 inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
107
108 /** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
109 inline int getMinClusterSize () { return (min_pts_per_cluster_); }
110
111 /** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
112 * \param max_cluster_size the maximum cluster size
113 */
114 inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
115
116 /** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
117 inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
118
120
122
123 /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
124 * \param clusters the resultant point clusters
125 */
126 void extract (std::vector<PointIndices> &clusters);
127
128 protected:
129 /** \brief the input cloud on the GPU */
131
132 /** \brief the original cloud the Host */
134
135 /** \brief A pointer to the spatial search object. */
137
138 /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
140
141 /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
143
144 /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
145 int max_pts_per_cluster_ {std::numeric_limits<int>::max()};
146
147 /** \brief Class getName method. */
148 virtual std::string getClassName () const { return ("gpu::EuclideanLabeledClusterExtraction"); }
149 };
150 /** \brief Sort clusters method (for std::sort).
151 * \ingroup segmentation
152 */
153 inline bool
155 {
156 return (a.indices.size () < b.indices.size ());
157 }
158 }
159}
Iterator class for point clouds with or without given indices.
std::size_t size() const
Size of the range the iterator is going through.
shared_ptr< PointCloud< PointT > > Ptr
EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclid...
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
GPUTreePtr tree_
A pointer to the spatial search object.
virtual std::string getClassName() const
Class getName method.
int min_pts_per_cluster_
The minimum number of points that a cluster needs to contain in order to be considered valid (default...
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
typename PointCloudHost::ConstPtr PointCloudHostConstPtr
void extract(std::vector< PointIndices > &clusters)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
void setSearchMethod(const GPUTreePtr &tree)
Provide a pointer to the search object.
int getMinClusterSize()
Get the minimum number of points that a cluster needs to contain in order to be considered valid.
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
PointCloudHostPtr host_cloud_
the original cloud the Host
void setMaxClusterSize(int max_cluster_size)
Set the maximum number of points that a cluster needs to contain in order to be considered valid.
EuclideanLabeledClusterExtraction()=default
Empty constructor.
int getMaxClusterSize()
Get the maximum number of points that a cluster needs to contain in order to be considered valid.
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
int max_pts_per_cluster_
The maximum number of points that a cluster needs to contain in order to be considered valid (default...
void setMinClusterSize(int min_cluster_size)
Set the minimum number of points that a cluster needs to contain in order to be considered valid.
Octree implementation on GPU.
Definition octree.hpp:58
shared_ptr< Octree > Ptr
Types.
Definition octree.hpp:68
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition octree.hpp:75
Defines all the PCL implemented PointT point type structures.
bool compareLabeledPointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
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)
Defines all the PCL and non-PCL macros used.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr
A point structure representing Euclidean xyz coordinates.