Point Cloud Library (PCL) 1.14.0
Loading...
Searching...
No Matches
gpu_seeded_hue_segmentation.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * $Id:$
37 *
38 */
39
40#pragma once
41
42#include <pcl/pcl_macros.h>
43#include <pcl/point_cloud.h>
44#include <pcl/point_types.h>
45#include <pcl/PointIndices.h>
46
47namespace pcl {
48namespace gpu {
49void
51 const pcl::gpu::Octree::Ptr& tree,
52 float tolerance,
53 PointIndices& clusters_in,
54 PointIndices& clusters_out,
55 float delta_hue = 0.0);
56
58public:
63
66
69
71
72 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
73 /** \brief Empty constructor. */
75
76 /** \brief Provide a pointer to the search object.
77 * \param tree a pointer to the spatial search object.
78 */
79 inline void
81 {
82 tree_ = tree;
83 }
84
85 /** \brief Get a pointer to the search method used.
86 * @todo fix this for a generic search tree
87 */
88 inline GPUTreePtr
90 {
91 return (tree_);
92 }
93
94 /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
95 * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean
96 * space
97 */
98 inline void
99 setClusterTolerance(double tolerance)
100 {
101 cluster_tolerance_ = tolerance;
102 }
103
104 /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
105 */
106 inline double
108 {
109 return (cluster_tolerance_);
110 }
111
112 inline void
114 {
115 input_ = input;
116 }
117
118 inline void
120 {
121 host_cloud_ = host_cloud;
122 }
123
124 /** \brief Set the tolerance on the hue
125 * \param[in] delta_hue the new delta hue
126 */
127 inline void
128 setDeltaHue(float delta_hue)
129 {
130 delta_hue_ = delta_hue;
131 }
132
133 /** \brief Get the tolerance on the hue */
134 inline float
136 {
137 return (delta_hue_);
138 }
139
140 /** \brief extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
141 * \param indices_in
142 * \param indices_out
143 */
144 void
145 segment(PointIndices& indices_in, PointIndices& indices_out);
146
147protected:
148 /** \brief the input cloud on the GPU */
150
151 /** \brief the original cloud the Host */
153
154 /** \brief A pointer to the spatial search object. */
156
157 /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
159
160 /** \brief The allowed difference on the hue*/
161 float delta_hue_{0.0};
162
163 /** \brief Class getName method. */
164 virtual std::string
166 {
167 return ("gpu::SeededHueSegmentation");
168 }
169};
170/** \brief Sort clusters method (for std::sort).
171 * \ingroup segmentation
172 */
173inline bool
175{
176 return (a.indices.size() < b.indices.size());
177}
178} // namespace gpu
179} // namespace pcl
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< pcl::PointXYZ > > ConstPtr
Octree implementation on GPU.
Definition octree.hpp:59
shared_ptr< Octree > Ptr
Types.
Definition octree.hpp:69
DeviceArray< PointType > PointCloud
Point cloud supported.
Definition octree.hpp:76
PointCloudHostPtr host_cloud_
the original cloud the Host
SeededHueSegmentation()=default
Empty constructor.
virtual std::string getClassName() const
Class getName method.
CloudDevice input_
the input cloud on the GPU
GPUTreePtr getSearchMethod()
Get a pointer to the search method used.
float getDeltaHue()
Get the tolerance on the hue.
float delta_hue_
The allowed difference on the hue.
void setDeltaHue(float delta_hue)
Set the tolerance on the hue.
double cluster_tolerance_
The spatial cluster tolerance as a measure in the L2 Euclidean space.
PointCloudHost::ConstPtr PointCloudHostConstPtr
void setSearchMethod(const GPUTreePtr &tree)
Provide a pointer to the search object.
double getClusterTolerance()
Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
void segment(PointIndices &indices_in, PointIndices &indices_out)
extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
void setHostCloud(PointCloudHostPtr host_cloud)
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.
Defines all the PCL implemented PointT point type structures.
bool comparePointClusters(const pcl::PointIndices &a, const pcl::PointIndices &b)
Sort clusters method (for std::sort).
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)
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.