Point Cloud Library (PCL)  1.9.1-dev
gpu_extract_labeled_clusters.h
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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 
48 namespace pcl
49 {
50  namespace gpu
51  {
52  template <typename PointT> void
53  extractLabeledEuclideanClusters (const boost::shared_ptr<pcl::PointCloud<PointT> > &host_cloud_,
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:
72 
75 
78 
80 
81  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
82  /** \brief Empty constructor. */
84  {};
85 
86  /** \brief Provide a pointer to the search object.
87  * \param tree a pointer to the spatial search object.
88  */
89  inline void setSearchMethod (const GPUTreePtr &tree) { tree_ = tree; }
90 
91  /** \brief Get a pointer to the search method used.
92  * @todo fix this for a generic search tree
93  */
94  inline GPUTreePtr getSearchMethod () { return (tree_); }
95 
96  /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
97  * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
98  */
99  inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
100 
101  /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
102  inline double getClusterTolerance () { return (cluster_tolerance_); }
103 
104  /** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
105  * \param min_cluster_size the minimum cluster size
106  */
107  inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
108 
109  /** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
110  inline int getMinClusterSize () { return (min_pts_per_cluster_); }
111 
112  /** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
113  * \param max_cluster_size the maximum cluster size
114  */
115  inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
116 
117  /** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
118  inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
119 
120  inline void setInput (CloudDevice input) {input_ = input;}
121 
122  inline void setHostCloud (PointCloudHostPtr host_cloud) {host_cloud_ = host_cloud;}
123 
124  /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
125  * \param clusters the resultant point clusters
126  */
127  void extract (std::vector<PointIndices> &clusters);
128 
129  protected:
130  /** \brief the input cloud on the GPU */
132 
133  /** \brief the original cloud the Host */
135 
136  /** \brief A pointer to the spatial search object. */
138 
139  /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
141 
142  /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
144 
145  /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
147 
148  /** \brief Class getName method. */
149  virtual std::string getClassName () const { return ("gpu::EuclideanLabeledClusterExtraction"); }
150  };
151  /** \brief Sort clusters method (for std::sort).
152  * \ingroup segmentation
153  */
154  inline bool
156  {
157  return (a.indices.size () < b.indices.size ());
158  }
159  }
160 }
int getMaxClusterSize()
Get the maximum number of points that a cluster needs to contain in order to be considered valid...
EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclid...
typename PointCloudHost::ConstPtr PointCloudHostConstPtr
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void setMaxClusterSize(int max_cluster_size)
Set the maximum number of points that a cluster needs to contain in order to be considered valid...
std::vector< int > indices
Definition: PointIndices.h:19
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
void setSearchMethod(const GPUTreePtr &tree)
Provide a pointer to the search object.
Octree implementation on GPU.
Definition: octree.hpp:56
void extractLabeledEuclideanClusters(const boost::shared_ptr< pcl::PointCloud< PointT > > &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)
void setMinClusterSize(int min_cluster_size)
Set the minimum number of points that a cluster needs to contain in order to be considered valid...
bool compareLabeledPointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
boost::shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:67
Defines all the PCL implemented PointT point type structures.
boost::shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
A point structure representing Euclidean xyz coordinates.
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:444
boost::shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:23
int min_pts_per_cluster_
The minimum number of points that a cluster needs to contain in order to be considered valid (default...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
virtual std::string getClassName() const
Class getName method.
int getMinClusterSize()
Get the minimum number of points that a cluster needs to contain in order to be considered valid...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:445
void extract(std::vector< PointIndices > &clusters)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
PointCloudHostPtr host_cloud_
the original cloud the Host
void setClusterTolerance(double tolerance)
Set the spatial cluster tolerance as a measure in the L2 Euclidean space.
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition: octree.hpp:73
CloudDevice input_
the input cloud on the GPU
int max_pts_per_cluster_
The maximum number of points that a cluster needs to contain in order to be considered valid (default...
Defines all the PCL and non-PCL macros used.
GPUTreePtr tree_
A pointer to the spatial search object.