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FabianSchuetzeFabianSchuetze
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Clang format gpu/segmentation (#4819)
* clang-format and some manual changes * second round of clang-format * corrected clang-format idiosyncrasies * corrected spelling mistake * added gpu/segmentation to format file
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‎.dev/format.sh

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@
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format() {
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# don't use a directory with whitespace
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local whitelist="apps/3d_rec_framework apps/include apps/modeler apps/src benchmarks 2d geometry ml octree simulation stereo tracking registration gpu/containers"
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local whitelist="apps/3d_rec_framework apps/include apps/modeler apps/src benchmarks 2d geometry ml octree simulation stereo tracking registration gpu/containers gpu/segmentation"
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local PCL_DIR="${2}"
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local formatter="${1}"

‎gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h

Lines changed: 170 additions & 118 deletions
Original file line numberDiff line numberDiff line change
@@ -39,127 +39,179 @@
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#pragma once
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#include <pcl/point_types.h>
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#include <pcl/point_cloud.h>
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#include <pcl/gpu/containers/device_array.h>
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#include <pcl/gpu/octree/octree.hpp>
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#include <pcl/PointIndices.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/gpu/octree/octree.hpp>
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#include <pcl/gpu/containers/device_array.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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namespace pcl
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{
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namespace gpu
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namespace pcl {
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namespace gpu {
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template <typename PointT>
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void
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extractEuclideanClusters(const typename pcl::PointCloud<PointT>::Ptr& host_cloud_,
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const pcl::gpu::Octree::Ptr& tree,
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float tolerance,
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std::vector<PointIndices>& clusters,
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unsigned int min_pts_per_cluster,
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unsigned int max_pts_per_cluster);
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/** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster
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* extraction in an Euclidean sense, depending on pcl::gpu::octree
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* \author Koen Buys, Radu Bogdan Rusu
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* \ingroup segmentation
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*/
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template <typename PointT>
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class EuclideanClusterExtraction {
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public:
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using PointCloudHost = pcl::PointCloud<PointT>;
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using PointCloudHostPtr = typename PointCloudHost::Ptr;
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using PointCloudHostConstPtr = typename PointCloudHost::ConstPtr;
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using PointIndicesPtr = PointIndices::Ptr;
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using PointIndicesConstPtr = PointIndices::ConstPtr;
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using GPUTree = pcl::gpu::Octree;
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using GPUTreePtr = pcl::gpu::Octree::Ptr;
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using CloudDevice = pcl::gpu::Octree::PointCloud;
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief Empty constructor. */
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EuclideanClusterExtraction() = default;
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/** \brief the destructor */
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/* ~EuclideanClusterExtraction ()
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{
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tree_.clear();
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};
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*/
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/** \brief Provide a pointer to the search object.
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* \param tree a pointer to the spatial search object.
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*/
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inline void
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setSearchMethod(GPUTreePtr& tree)
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{
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tree_ = tree;
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}
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/** \brief Get a pointer to the search method used.
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* @todo fix this for a generic search tree
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*/
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inline GPUTreePtr
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getSearchMethod()
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{
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return (tree_);
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}
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/** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
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* \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean
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* space
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*/
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inline void
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setClusterTolerance(double tolerance)
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{
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cluster_tolerance_ = tolerance;
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}
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/** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
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*/
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inline double
121+
getClusterTolerance()
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{
123+
return (cluster_tolerance_);
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}
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/** \brief Set the minimum number of points that a cluster needs to contain in order
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* to be considered valid.
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* \param min_cluster_size the minimum cluster size
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*/
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inline void
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setMinClusterSize(int min_cluster_size)
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{
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min_pts_per_cluster_ = min_cluster_size;
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}
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/** \brief Get the minimum number of points that a cluster needs to contain in order
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* to be considered valid. */
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inline int
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getMinClusterSize()
52140
{
53-
template <typename PointT> void
54-
extractEuclideanClusters (const typename pcl::PointCloud<PointT>::Ptr &host_cloud_,
55-
const pcl::gpu::Octree::Ptr &tree,
56-
float tolerance,
57-
std::vector<PointIndices> &clusters,
58-
unsigned int min_pts_per_cluster,
59-
unsigned int max_pts_per_cluster);
60-
61-
/** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree
62-
* \author Koen Buys, Radu Bogdan Rusu
63-
* \ingroup segmentation
64-
*/
65-
template <typename PointT>
66-
class EuclideanClusterExtraction
67-
{
68-
public:
69-
using PointCloudHost = pcl::PointCloud<PointT>;
70-
using PointCloudHostPtr = typename PointCloudHost::Ptr;
71-
using PointCloudHostConstPtr = typename PointCloudHost::ConstPtr;
72-
73-
using PointIndicesPtr = PointIndices::Ptr;
74-
using PointIndicesConstPtr = PointIndices::ConstPtr;
75-
76-
using GPUTree = pcl::gpu::Octree;
77-
using GPUTreePtr = pcl::gpu::Octree::Ptr;
78-
79-
using CloudDevice = pcl::gpu::Octree::PointCloud;
80-
81-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
82-
/** \brief Empty constructor. */
83-
EuclideanClusterExtraction () = default;
84-
85-
/** \brief the destructor */
86-
/* ~EuclideanClusterExtraction ()
87-
{
88-
tree_.clear();
89-
};
90-
*/
91-
/** \brief Provide a pointer to the search object.
92-
* \param tree a pointer to the spatial search object.
93-
*/
94-
inline void setSearchMethod (GPUTreePtr &tree) { tree_ = tree; }
95-
96-
/** \brief Get a pointer to the search method used.
97-
* @todo fix this for a generic search tree
98-
*/
99-
inline GPUTreePtr getSearchMethod () { return (tree_); }
100-
101-
/** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
102-
* \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
103-
*/
104-
inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
105-
106-
/** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
107-
inline double getClusterTolerance () { return (cluster_tolerance_); }
108-
109-
/** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
110-
* \param min_cluster_size the minimum cluster size
111-
*/
112-
inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
113-
114-
/** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
115-
inline int getMinClusterSize () { return (min_pts_per_cluster_); }
116-
117-
/** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
118-
* \param max_cluster_size the maximum cluster size
119-
*/
120-
inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
121-
122-
/** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
123-
inline int getMaxClusterSize () { return (max_pts_per_cluster_); }
124-
125-
inline void setInput (CloudDevice input) {input_ = input;}
126-
127-
inline void setHostCloud (PointCloudHostPtr host_cloud) {host_cloud_ = host_cloud;}
128-
129-
/** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
130-
* \param clusters the resultant point clusters
131-
*/
132-
void extract (std::vector<pcl::PointIndices> &clusters);
133-
134-
protected:
135-
/** \brief the input cloud on the GPU */
136-
CloudDevice input_;
137-
138-
/** \brief the original cloud the Host */
139-
PointCloudHostPtr host_cloud_;
140-
141-
/** \brief A pointer to the spatial search object. */
142-
GPUTreePtr tree_;
143-
144-
/** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
145-
double cluster_tolerance_ {0};
146-
147-
/** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
148-
int min_pts_per_cluster_ {1};
149-
150-
/** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
151-
int max_pts_per_cluster_ {std::numeric_limits<int>::max()};
152-
153-
/** \brief Class getName method. */
154-
virtual std::string getClassName () const { return ("gpu::EuclideanClusterExtraction"); }
155-
};
156-
/** \brief Sort clusters method (for std::sort).
157-
* \ingroup segmentation
158-
*/
159-
inline bool
160-
comparePointClusters (const pcl::PointIndices &a, const pcl::PointIndices &b)
161-
{
162-
return (a.indices.size () < b.indices.size ());
163-
}
141+
return (min_pts_per_cluster_);
164142
}
143+
144+
/** \brief Set the maximum number of points that a cluster needs to contain in order
145+
* to be considered valid.
146+
* \param max_cluster_size the maximum cluster size
147+
*/
148+
inline void
149+
setMaxClusterSize(int max_cluster_size)
150+
{
151+
max_pts_per_cluster_ = max_cluster_size;
152+
}
153+
154+
/** \brief Get the maximum number of points that a cluster needs to contain in order
155+
* to be considered valid. */
156+
inline int
157+
getMaxClusterSize()
158+
{
159+
return (max_pts_per_cluster_);
160+
}
161+
162+
inline void
163+
setInput(CloudDevice input)
164+
{
165+
input_ = input;
166+
}
167+
168+
inline void
169+
setHostCloud(PointCloudHostPtr host_cloud)
170+
{
171+
host_cloud_ = host_cloud;
172+
}
173+
174+
/** \brief extract clusters of a PointCloud given by <setInputCloud(), setIndices()>
175+
* \param clusters the resultant point clusters
176+
*/
177+
void
178+
extract(std::vector<pcl::PointIndices>& clusters);
179+
180+
protected:
181+
/** \brief the input cloud on the GPU */
182+
CloudDevice input_;
183+
184+
/** \brief the original cloud the Host */
185+
PointCloudHostPtr host_cloud_;
186+
187+
/** \brief A pointer to the spatial search object. */
188+
GPUTreePtr tree_;
189+
190+
/** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
191+
double cluster_tolerance_{0};
192+
193+
/** \brief The minimum number of points that a cluster needs to contain in order to be
194+
* considered valid (default = 1). */
195+
int min_pts_per_cluster_{1};
196+
197+
/** \brief The maximum number of points that a cluster needs to contain in order to be
198+
* considered valid (default = MAXINT). */
199+
int max_pts_per_cluster_{std::numeric_limits<int>::max()};
200+
201+
/** \brief Class getName method. */
202+
virtual std::string
203+
getClassName() const
204+
{
205+
return ("gpu::EuclideanClusterExtraction");
206+
}
207+
};
208+
/** \brief Sort clusters method (for std::sort).
209+
* \ingroup segmentation
210+
*/
211+
inline bool
212+
comparePointClusters(const pcl::PointIndices& a, const pcl::PointIndices& b)
213+
{
214+
return (a.indices.size() < b.indices.size());
165215
}
216+
} // namespace gpu
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} // namespace pcl

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