Point Cloud Library (PCL) 1.12.0
gpu_seeded_hue_segmentation.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
47namespace pcl
48{
49 namespace gpu
50 {
51 void
53 const pcl::gpu::Octree::Ptr &tree,
54 float tolerance,
55 PointIndices &clusters_in,
56 PointIndices &clusters_out,
57 float delta_hue = 0.0);
58
60 {
61 public:
66
69
72
74
75 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
76 /** \brief Empty constructor. */
78
79 /** \brief Provide a pointer to the search object.
80 * \param tree a pointer to the spatial search object.
81 */
82 inline void setSearchMethod (const GPUTreePtr &tree) { tree_ = tree; }
83
84 /** \brief Get a pointer to the search method used.
85 * @todo fix this for a generic search tree
86 */
87 inline GPUTreePtr getSearchMethod () { return (tree_); }
88
89 /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
90 * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
91 */
92 inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
93
94 /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
95 inline double getClusterTolerance () { return (cluster_tolerance_); }
96
97 inline void setInput (CloudDevice input) {input_ = input;}
98
99 inline void setHostCloud (PointCloudHostPtr host_cloud) {host_cloud_ = host_cloud;}
100
101 /** \brief Set the tollerance on the hue
102 * \param[in] delta_hue the new delta hue
103 */
104 inline void
105 setDeltaHue (float delta_hue) { delta_hue_ = delta_hue; }
106
107 /** \brief Get the tolerance on the hue */
108 inline float
109 getDeltaHue () { return (delta_hue_); }
110
111 /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
112 * \param indices_in
113 * \param indices_out
114 */
115 void segment (PointIndices &indices_in, PointIndices &indices_out);
116
117 protected:
118 /** \brief the input cloud on the GPU */
120
121 /** \brief the original cloud the Host */
123
124 /** \brief A pointer to the spatial search object. */
126
127 /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
129
130 /** \brief The allowed difference on the hue*/
131 float delta_hue_ {0.0};
132
133 /** \brief Class getName method. */
134 virtual std::string getClassName () const { return ("gpu::SeededHueSegmentation"); }
135 };
136 /** \brief Sort clusters method (for std::sort).
137 * \ingroup segmentation
138 */
139 inline bool
141 {
142 return (a.indices.size () < b.indices.size ());
143 }
144 }
145}
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< pcl::PointXYZ > > ConstPtr
Definition: point_cloud.h:414
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
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 tollerance 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)
Cluster extraction in 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
Definition: PointIndices.h:13
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14
A point structure representing Euclidean xyz coordinates.