Make gpu_extract_clusters templated.

Make gpu_extract_clusters exported.
PointCloudLibrary · Feb 19, 2021 · 8119908 · 8119908
1 parent 05bb178
commit 8119908
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Showing 5 changed files with 42 additions and 27 deletions.
diff --git a/gpu/segmentation/CMakeLists.txt b/gpu/segmentation/CMakeLists.txt
@@ -33,7 +33,7 @@ set(impl_incs
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-target_link_libraries("${LIB_NAME}" pcl_gpu_octree pcl_gpu_utils pcl_gpu_containers)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_gpu_octree pcl_gpu_utils pcl_gpu_containers)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # Install include files

diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h b/gpu/segmentation/include/pcl/gpu/segmentation/gpu_extract_clusters.h
@@ -50,8 +50,8 @@ namespace pcl
 {
   namespace gpu
   {
-    void
-    extractEuclideanClusters (const pcl::PointCloud<pcl::PointXYZ>::Ptr &host_cloud_,
+    template <typename PointT> void
+    extractEuclideanClusters (const typename pcl::PointCloud<PointT>::Ptr &host_cloud_,
                               const pcl::gpu::Octree::Ptr               &tree,
                               float                                     tolerance,
                               std::vector<PointIndices>                 &clusters,
@@ -62,13 +62,13 @@ namespace pcl
     * \author Koen Buys, Radu Bogdan Rusu
     * \ingroup segmentation
     */
+    template <typename PointT>
     class EuclideanClusterExtraction
     {
       public:
-        using PointType = pcl::PointXYZ;
-        using PointCloudHost = pcl::PointCloud<pcl::PointXYZ>;
-        using PointCloudHostPtr = PointCloudHost::Ptr;
-        using PointCloudHostConstPtr = PointCloudHost::ConstPtr;
+        using PointCloudHost = pcl::PointCloud<PointT>;
+        using PointCloudHostPtr = typename PointCloudHost::Ptr;
+        using PointCloudHostConstPtr = typename PointCloudHost::ConstPtr;
 
         using PointIndicesPtr = PointIndices::Ptr;
         using PointIndicesConstPtr = PointIndices::ConstPtr;
@@ -80,7 +80,7 @@ namespace pcl
 
         //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
         /** \brief Empty constructor. */
-        EuclideanClusterExtraction () : min_pts_per_cluster_ (1), max_pts_per_cluster_ (std::numeric_limits<int>::max ())
+        EuclideanClusterExtraction ()
         {};
 
         /** \brief the destructor */
@@ -143,13 +143,13 @@ namespace pcl
         GPUTreePtr tree_;
 
         /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
-        double cluster_tolerance_;
+        double cluster_tolerance_ {0};
 
         /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
-        int min_pts_per_cluster_;
+        int min_pts_per_cluster_ {1};
 
         /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
-        int max_pts_per_cluster_;
+        int max_pts_per_cluster_ {std::numeric_limits<int>::max()};
 
         /** \brief Class getName method. */
         virtual std::string getClassName () const { return ("gpu::EuclideanClusterExtraction"); }

diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp b/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp
@@ -36,13 +36,12 @@
  * @author: Koen Buys
  */
 
-#ifndef PCL_GPU_SEGMENTATION_IMPL_EXTRACT_CLUSTERS_H_
-#define PCL_GPU_SEGMENTATION_IMPL_EXTRACT_CLUSTERS_H_
-
+#pragma once
+#include <pcl/common/copy_point.h>
 #include <pcl/gpu/segmentation/gpu_extract_clusters.h>
 
-void
-pcl::gpu::extractEuclideanClusters (const pcl::PointCloud<pcl::PointXYZ>::Ptr  &host_cloud_,
+template <typename PointT> void
+pcl::gpu::extractEuclideanClusters (const typename pcl::PointCloud<PointT>::Ptr  &host_cloud_,
                                     const pcl::gpu::Octree::Ptr                &tree,
                                     float                                      tolerance,
                                     std::vector<PointIndices>                  &clusters,
@@ -80,9 +79,14 @@ pcl::gpu::extractEuclideanClusters (const pcl::PointCloud<pcl::PointXYZ>::Ptr  &
     // Create the query queue on the device, point based not indices
     pcl::gpu::Octree::Queries queries_device;
     // Create the query queue on the host
-	pcl::PointCloud<pcl::PointXYZ>::VectorType queries_host;
+    pcl::PointCloud<pcl::PointXYZ>::VectorType queries_host;
+
+    // Buffer in a new PointXYZ type
+    PointXYZ p;
+    pcl::copyPoint((*host_cloud_)[i], p);
+
     // Push the starting point in the vector
-    queries_host.push_back ((*host_cloud_)[i]);
+    queries_host.push_back (p);
     // Clear vector
     r.indices.clear();
     // Push the starting point in
@@ -123,7 +127,12 @@ pcl::gpu::extractEuclideanClusters (const pcl::PointCloud<pcl::PointXYZ>::Ptr  &
           if(processed[data[i]])
             continue;
           processed[data[i]] = true;
-          queries_host.push_back ((*host_cloud_)[data[i]]);
+
+          // Buffer in a new PointXYZ type
+          PointXYZ p;
+          pcl::copyPoint((*host_cloud_)[data[i]], p);
+
+          queries_host.push_back (p);
           found_points++;
           r.indices.push_back(data[i]);
         }
@@ -153,7 +162,11 @@ pcl::gpu::extractEuclideanClusters (const pcl::PointCloud<pcl::PointXYZ>::Ptr  &
             if(processed[data[qp_r + qp * max_answers]])
               continue;
             processed[data[qp_r + qp * max_answers]] = true;
-            queries_host.push_back ((*host_cloud_)[data[qp_r + qp * max_answers]]);
+            // Buffer in a new PointXYZ type
+            PointXYZ p;
+            pcl::copyPoint((*host_cloud_)[data[qp_r + qp * max_answers]], p);
+
+            queries_host.push_back (p);
             found_points++;
             r.indices.push_back(data[qp_r + qp * max_answers]);
           }
@@ -176,8 +189,8 @@ pcl::gpu::extractEuclideanClusters (const pcl::PointCloud<pcl::PointXYZ>::Ptr  &
   }
 }
 
-void 
-pcl::gpu::EuclideanClusterExtraction::extract (std::vector<pcl::PointIndices> &clusters)
+template <typename PointT> void
+pcl::gpu::EuclideanClusterExtraction<PointT>::extract (std::vector<pcl::PointIndices> &clusters)
 {
 /*
   // Initialize the GPU search tree
@@ -200,10 +213,11 @@ pcl::gpu::EuclideanClusterExtraction::extract (std::vector<pcl::PointIndices> &c
   }
 */
   // Extract the actual clusters
-  extractEuclideanClusters (host_cloud_, tree_, cluster_tolerance_, clusters, min_pts_per_cluster_, max_pts_per_cluster_);
+  extractEuclideanClusters<PointT> (host_cloud_, tree_, cluster_tolerance_, clusters, min_pts_per_cluster_, max_pts_per_cluster_);
   std::cout << "INFO: end of extractEuclideanClusters " << std::endl;
   // Sort the clusters based on their size (largest one first)
   //std::sort (clusters.rbegin (), clusters.rend (), comparePointClusters);
 }
 
-#endif //PCL_GPU_SEGMENTATION_IMPL_EXTRACT_CLUSTERS_H_
+#define PCL_INSTANTIATE_extractEuclideanClusters(T) template void PCL_EXPORTS pcl::gpu::extractEuclideanClusters<T> (const typename pcl::PointCloud<T>::Ptr  &, const pcl::gpu::Octree::Ptr &,float, std::vector<PointIndices> &, unsigned int, unsigned int);
+#define PCL_INSTANTIATE_EuclideanClusterExtraction(T) template class PCL_EXPORTS pcl::gpu::EuclideanClusterExtraction<T>;
diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_labeled_clusters.hpp b/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_labeled_clusters.hpp
@@ -36,8 +36,7 @@
  *
  */
 
-#ifndef PCL_GPU_SEGMENTATION_IMPL_EXTRACT_LABELED_CLUSTERS_H_
-#define PCL_GPU_SEGMENTATION_IMPL_EXTRACT_LABELED_CLUSTERS_H_
+#pragma once
 
 #include <pcl/gpu/segmentation/gpu_extract_labeled_clusters.h>
 
@@ -176,4 +175,3 @@ pcl::gpu::EuclideanLabeledClusterExtraction<PointT>::extract (std::vector<PointI
 
 #define PCL_INSTANTIATE_extractLabeledEuclideanClusters(T) template void PCL_EXPORTS pcl::gpu::extractLabeledEuclideanClusters<T> (const typename pcl::PointCloud<T>::Ptr  &, const pcl::gpu::Octree::Ptr &,float, std::vector<PointIndices> &, unsigned int, unsigned int);
 #define PCL_INSTANTIATE_EuclideanLabeledClusterExtraction(T) template class PCL_EXPORTS pcl::gpu::EuclideanLabeledClusterExtraction<T>;
-#endif //PCL_GPU_SEGMENTATION_IMPL_EXTRACT_LABELED_CLUSTERS_H_
diff --git a/gpu/segmentation/src/extract_clusters.cpp b/gpu/segmentation/src/extract_clusters.cpp
@@ -38,8 +38,11 @@
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>
 //#include <pcl/gpu/segmentation/gpu_extract_labeled_clusters.h>
+#include <pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp>
 #include <pcl/gpu/segmentation/impl/gpu_extract_labeled_clusters.hpp>
 
 // Instantiations of specific point types
+PCL_INSTANTIATE(extractEuclideanClusters, PCL_XYZ_POINT_TYPES);
+PCL_INSTANTIATE(EuclideanClusterExtraction, PCL_XYZ_POINT_TYPES);
 PCL_INSTANTIATE(extractLabeledEuclideanClusters, PCL_XYZL_POINT_TYPES);
 PCL_INSTANTIATE(EuclideanLabeledClusterExtraction, PCL_XYZL_POINT_TYPES);