Point Cloud Library (PCL)  1.8.1-dev
gpu_extract_clusters.h
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39 
40 #ifndef PCL_GPU_EXTRACT_CLUSTERS_H_
41 #define PCL_GPU_EXTRACT_CLUSTERS_H_
42 
43 #include <pcl/point_types.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/PointIndices.h>
46 #include <pcl/pcl_macros.h>
47 #include <pcl/gpu/octree/octree.hpp>
48 #include <pcl/gpu/containers/device_array.h>
49 
50 namespace pcl
51 {
52  namespace gpu
53  {
54  void
55  extractEuclideanClusters (const boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > &host_cloud_,
56  const pcl::gpu::Octree::Ptr &tree,
57  float tolerance,
58  std::vector<PointIndices> &clusters,
59  unsigned int min_pts_per_cluster,
60  unsigned int max_pts_per_cluster);
61 
62  /** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree
63  * \author Koen Buys, Radu Bogdan Rusu
64  * \ingroup segmentation
65  */
67  {
68  public:
73 
76 
79 
81 
82  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
83  /** \brief Empty constructor. */
84  EuclideanClusterExtraction () : min_pts_per_cluster_ (1), max_pts_per_cluster_ (std::numeric_limits<int>::max ())
85  {};
86 
87  /** \brief the destructor */
88 /* ~EuclideanClusterExtraction ()
89  {
90  tree_.clear();
91  };
92 */
93  /** \brief Provide a pointer to the search object.
94  * \param tree a pointer to the spatial search object.
95  */
96  inline void setSearchMethod (GPUTreePtr &tree) { tree_ = tree; }
97 
98  /** \brief Get a pointer to the search method used.
99  * @todo fix this for a generic search tree
100  */
101  inline GPUTreePtr getSearchMethod () { return (tree_); }
102 
103  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
104  * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
105  */
106  inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
107 
108  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
109  inline double getClusterTolerance () { return (cluster_tolerance_); }
110 
111  /** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
112  * \param min_cluster_size the minimum cluster size
113  */
114  inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
115 
116  /** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
117  inline int getMinClusterSize () { return (min_pts_per_cluster_); }
118 
119  /** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
120  * \param max_cluster_size the maximum cluster size
121  */
122  inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
123 
124  /** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
125  inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
126 
127  inline void setInput (CloudDevice input) {input_ = input;}
128 
129  inline void setHostCloud (PointCloudHostPtr host_cloud) {host_cloud_ = host_cloud;}
130 
131  /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
132  * \param clusters the resultant point clusters
133  */
134  void extract (std::vector<pcl::PointIndices> &clusters);
135 
136  protected:
137  /** \brief the input cloud on the GPU */
139 
140  /** \brief the original cloud the Host */
142 
143  /** \brief A pointer to the spatial search object. */
145 
146  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
148 
149  /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
151 
152  /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
154 
155  /** \brief Class getName method. */
156  virtual std::string getClassName () const { return ("gpu::EuclideanClusterExtraction"); }
157  };
158  /** \brief Sort clusters method (for std::sort).
159  * \ingroup segmentation
160  */
161  inline bool
163  {
164  return (a.indices.size () < b.indices.size ());
165  }
166  }
167 }
168 
169 #endif //PCL_GPU_EXTRACT_CLUSTERS_H_
170 
171 
172 
173 
PointCloudHost::ConstPtr PointCloudHostConstPtr
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::gpu::Octree::PointCloud CloudDevice
GPUTreePtr tree_
A pointer to the spatial search object.
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
boost::shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:67
int max_pts_per_cluster_
The maximum number of points that a cluster needs to contain in order to be considered valid (default...
std::vector< int > indices
Definition: PointIndices.h:19
void extract(std::vector< pcl::PointIndices > &clusters)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
void setMaxClusterSize(int max_cluster_size)
Set the maximum number of points that a cluster needs to contain in order to be considered valid...
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
Octree implementation on GPU.
Definition: octree.hpp:56
PointCloudHostPtr host_cloud_
the original cloud the Host
void setHostCloud(PointCloudHostPtr host_cloud)
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
int min_pts_per_cluster_
The minimum number of points that a cluster needs to contain in order to be considered valid (default...
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
void setSearchMethod(GPUTreePtr &tree)
the destructor
A point structure representing Euclidean xyz coordinates.
CloudDevice input_
the input cloud on the GPU
void setMinClusterSize(int min_cluster_size)
Set the minimum number of points that a cluster needs to contain in order to be considered valid...
pcl::PointCloud< pcl::PointXYZ > PointCloudHost
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
int getMinClusterSize()
Get the minimum number of points that a cluster needs to contain in order to be considered valid...
boost::shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
int getMaxClusterSize()
Get the maximum number of points that a cluster needs to contain in order to be considered valid...
virtual std::string getClassName() const
Class getName method.
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen...
void extractEuclideanClusters(const boost::shared_ptr< pcl::PointCloud< pcl::PointXYZ > > &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)
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
Definition: PointIndices.h:23