├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc └── organized_segmentation_tools.in ├── include └── organized_segmentation_tools │ └── organized_segmentation_tbb.h └── src ├── organized_segmentation_tbb.cpp └── organized_segmentation_tbb_demo.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | *.obj 6 | 7 | # Compiled Dynamic libraries 8 | *.so 9 | *.dylib 10 | *.dll 11 | 12 | # Compiled Static libraries 13 | *.lai 14 | *.la 15 | *.a 16 | *.lib 17 | 18 | # Executables 19 | *.exe 20 | *.out 21 | *.app 22 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.6 FATAL_ERROR) 2 | 3 | project(organized_segmentation_tools) 4 | 5 | SET(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE) 6 | SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -std=c++11") 7 | SET(CMAKE_C_FLAGS_RELEASE "-O3 -std=c++11") 8 | 9 | #set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") 10 | message (MODULE_PATH= ${CMAKE_MODULE_PATH}) 11 | 12 | ########################################################################### 13 | # Find PCL 14 | find_package(PCL 1.7 REQUIRED) 15 | include_directories(${PCL_INCLUDE_DIRS}) 16 | link_directories(${PCL_LIBRARY_DIRS}) 17 | 18 | ########################################################################### 19 | # Find GTSAM 20 | #find_package(GTSAM REQUIRED) 21 | #include_directories(${GTSAM_INCLUDE_DIR}) 22 | 23 | ########################################################################### 24 | # Use GTSAM's Eigen 25 | # Use generic Eigen include paths e.g. 26 | #set(EIGEN_INCLUDE_DIRS ${GTSAM_DIR}/../../../include/gtsam/3rdparty/Eigen/) 27 | #message("EIGEN_INCLUDE_DIRS: " ${EIGEN_INCLUDE_DIRS}) 28 | 29 | include_directories(include) 30 | set(incs include/organized_segmentation_tools/organized_segmentation_tbb.h) 31 | 32 | set(srcs src/organized_segmentation_tbb.cpp) 33 | 34 | add_library(organized_segmentation_tools SHARED ${incs} ${srcs}) 35 | target_link_libraries(organized_segmentation_tools ${PCL_LIBRARIES} tbb tbbmalloc) 36 | 37 | add_executable(organized_segmentation_tbb_demo src/organized_segmentation_tbb_demo.cpp) 38 | target_link_libraries(organized_segmentation_tbb_demo organized_segmentation_tools) 39 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2014, Georgia Tech Research Corporation 2 | Atlanta, Georgia 30332-0415 3 | All Rights Reserved 4 | 5 | Redistribution and use in source and binary forms, with or without modification, 6 | are permitted provided that the following conditions are met: 7 | 8 | * Redistributions of source code must retain the above copyright notice, 9 | this list of conditions and the following disclaimer. 10 | 11 | * Redistributions in binary form must reproduce the above copyright notice, 12 | this list of conditions and the following disclaimer in the documentation 13 | and/or other materials provided with the distribution. 14 | 15 | * Neither the name of the copyright holders nor the names of its contributors 16 | may be used to endorse or promote products derived from this software without 17 | specific prior written permission. 18 | 19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY 20 | EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 21 | OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 22 | SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 23 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 24 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR 25 | BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 26 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY 27 | WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 28 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | organized_segmentation_tools 2 | ============================ 3 | 4 | ### Description 5 | 6 | Organized Segmentation Tools is a utility for segmenting organized point clouds, as produced by an RGB-D sensor. This includes plane segmentation, euclidean clustering, and edge detection. The provided library enables these to be run in a multi-threaded pipeline using Intel's Threading Building Blocks (TBB). For example, normal estimation, plane segmentation, and clustering may be run concurrently. The project builds both a shared library suitable for use in other projects, and an example application demonstrating the tools as applied to a live stream from an RGB-D sensor. 7 | 8 | ### Build 9 | 10 | * `mkdir build` 11 | * `cd build` 12 | * `cmake ..` 13 | * `make` 14 | 15 | ### Run 16 | 17 | `./organized_segmentation_tbb_demo` 18 | 19 | ### References 20 | 21 | The following papers describe the techniques used here: 22 | 23 | [Efficient Organized Point Cloud Segmentation with Connected Components](http://www.cc.gatech.edu/~atrevor/resources/publications/spme_2013_segmentation.pdf) 24 | 25 | `@inproceedings{trevor2013efficient, 26 | title={Efficient Organized Point Cloud Segmentation with Connected Components}, 27 | author={Trevor, A and Gedikli, Suat and Rusu, R and Christensen, H}, 28 | booktitle={3rd Workshop on Semantic Perception Mapping and Exploration (SPME), Karlsruhe, Germany}, 29 | year={2013} 30 | }` 31 | 32 | [RGB-D edge detection and edge-based registration](http://www.cc.gatech.edu/~cchoi/Publications_files/Choi13iros_edge.pdf) 33 | 34 | `@inproceedings{choi2013rgb, 35 | title={RGB-D edge detection and edge-based registration}, 36 | author={Choi, Changhyun and Trevor, Alexander JB and Christensen, Henrik I}, 37 | booktitle={Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on}, 38 | pages={1568--1575}, 39 | year={2013}, 40 | organization={IEEE} 41 | }` 42 | 43 | [Adaptive neighborhood selection for real-time surface normal estimation from organized point cloud data using integral images](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6385999&tag=1) 44 | 45 | `@inproceedings{holzer2012adaptive, 46 | title={Adaptive neighborhood selection for real-time surface normal estimation from organized point cloud data using integral images}, 47 | author={Holzer, Stefan and Rusu, Radu Bogdan and Dixon, M and Gedikli, Suat and Navab, Nassir}, 48 | booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on}, 49 | pages={2684--2689}, 50 | year={2012}, 51 | organization={IEEE} 52 | }` 53 | -------------------------------------------------------------------------------- /doc/organized_segmentation_tools.in: -------------------------------------------------------------------------------- 1 | # Doxyfile 1.8.3.1 2 | 3 | # This file describes the settings to be used by the documentation system 4 | # doxygen (www.doxygen.org) for a project. 5 | # 6 | # All text after a hash (#) is considered a comment and will be ignored. 7 | # The format is: 8 | # TAG = value [value, ...] 9 | # For lists items can also be appended using: 10 | # TAG += value [value, ...] 11 | # Values that contain spaces should be placed between quotes (" "). 12 | 13 | #--------------------------------------------------------------------------- 14 | # Project related configuration options 15 | #--------------------------------------------------------------------------- 16 | 17 | # This tag specifies the encoding used for all characters in the config file 18 | # that follow. 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If set to YES the scope will be hidden. 453 | 454 | HIDE_SCOPE_NAMES = NO 455 | 456 | # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen 457 | # will put a list of the files that are included by a file in the documentation 458 | # of that file. 459 | 460 | SHOW_INCLUDE_FILES = YES 461 | 462 | # If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen 463 | # will list include files with double quotes in the documentation 464 | # rather than with sharp brackets. 465 | 466 | FORCE_LOCAL_INCLUDES = NO 467 | 468 | # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] 469 | # is inserted in the documentation for inline members. 470 | 471 | INLINE_INFO = YES 472 | 473 | # If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen 474 | # will sort the (detailed) documentation of file and class members 475 | # alphabetically by member name. If set to NO the members will appear in 476 | # declaration order. 477 | 478 | SORT_MEMBER_DOCS = YES 479 | 480 | # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the 481 | # brief documentation of file, namespace and class members alphabetically 482 | # by member name. If set to NO (the default) the members will appear in 483 | # declaration order. 484 | 485 | SORT_BRIEF_DOCS = NO 486 | 487 | # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen 488 | # will sort the (brief and detailed) documentation of class members so that 489 | # constructors and destructors are listed first. If set to NO (the default) 490 | # the constructors will appear in the respective orders defined by 491 | # SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. 492 | # This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO 493 | # and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. 494 | 495 | SORT_MEMBERS_CTORS_1ST = NO 496 | 497 | # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the 498 | # hierarchy of group names into alphabetical order. If set to NO (the default) 499 | # the group names will appear in their defined order. 500 | 501 | SORT_GROUP_NAMES = NO 502 | 503 | # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be 504 | # sorted by fully-qualified names, including namespaces. If set to 505 | # NO (the default), the class list will be sorted only by class name, 506 | # not including the namespace part. 507 | # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. 508 | # Note: This option applies only to the class list, not to the 509 | # alphabetical list. 510 | 511 | SORT_BY_SCOPE_NAME = NO 512 | 513 | # If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to 514 | # do proper type resolution of all parameters of a function it will reject a 515 | # match between the prototype and the implementation of a member function even 516 | # if there is only one candidate or it is obvious which candidate to choose 517 | # by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen 518 | # will still accept a match between prototype and implementation in such cases. 519 | 520 | STRICT_PROTO_MATCHING = NO 521 | 522 | # The GENERATE_TODOLIST tag can be used to enable (YES) or 523 | # disable (NO) the todo list. This list is created by putting \todo 524 | # commands in the documentation. 525 | 526 | GENERATE_TODOLIST = YES 527 | 528 | # The GENERATE_TESTLIST tag can be used to enable (YES) or 529 | # disable (NO) the test list. This list is created by putting \test 530 | # commands in the documentation. 531 | 532 | GENERATE_TESTLIST = YES 533 | 534 | # The GENERATE_BUGLIST tag can be used to enable (YES) or 535 | # disable (NO) the bug list. This list is created by putting \bug 536 | # commands in the documentation. 537 | 538 | GENERATE_BUGLIST = YES 539 | 540 | # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or 541 | # disable (NO) the deprecated list. This list is created by putting 542 | # \deprecated commands in the documentation. 543 | 544 | GENERATE_DEPRECATEDLIST= YES 545 | 546 | # The ENABLED_SECTIONS tag can be used to enable conditional 547 | # documentation sections, marked by \if section-label ... \endif 548 | # and \cond section-label ... \endcond blocks. 549 | 550 | ENABLED_SECTIONS = 551 | 552 | # The MAX_INITIALIZER_LINES tag determines the maximum number of lines 553 | # the initial value of a variable or macro consists of for it to appear in 554 | # the documentation. If the initializer consists of more lines than specified 555 | # here it will be hidden. Use a value of 0 to hide initializers completely. 556 | # The appearance of the initializer of individual variables and macros in the 557 | # documentation can be controlled using \showinitializer or \hideinitializer 558 | # command in the documentation regardless of this setting. 559 | 560 | MAX_INITIALIZER_LINES = 30 561 | 562 | # Set the SHOW_USED_FILES tag to NO to disable the list of files generated 563 | # at the bottom of the documentation of classes and structs. If set to YES the 564 | # list will mention the files that were used to generate the documentation. 565 | 566 | SHOW_USED_FILES = YES 567 | 568 | # Set the SHOW_FILES tag to NO to disable the generation of the Files page. 569 | # This will remove the Files entry from the Quick Index and from the 570 | # Folder Tree View (if specified). The default is YES. 571 | 572 | SHOW_FILES = YES 573 | 574 | # Set the SHOW_NAMESPACES tag to NO to disable the generation of the 575 | # Namespaces page. 576 | # This will remove the Namespaces entry from the Quick Index 577 | # and from the Folder Tree View (if specified). The default is YES. 578 | 579 | SHOW_NAMESPACES = YES 580 | 581 | # The FILE_VERSION_FILTER tag can be used to specify a program or script that 582 | # doxygen should invoke to get the current version for each file (typically from 583 | # the version control system). Doxygen will invoke the program by executing (via 584 | # popen()) the command , where is the value of 585 | # the FILE_VERSION_FILTER tag, and is the name of an input file 586 | # provided by doxygen. Whatever the program writes to standard output 587 | # is used as the file version. See the manual for examples. 588 | 589 | FILE_VERSION_FILTER = 590 | 591 | # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed 592 | # by doxygen. The layout file controls the global structure of the generated 593 | # output files in an output format independent way. To create the layout file 594 | # that represents doxygen's defaults, run doxygen with the -l option. 595 | # You can optionally specify a file name after the option, if omitted 596 | # DoxygenLayout.xml will be used as the name of the layout file. 597 | 598 | LAYOUT_FILE = 599 | 600 | # The CITE_BIB_FILES tag can be used to specify one or more bib files 601 | # containing the references data. This must be a list of .bib files. The 602 | # .bib extension is automatically appended if omitted. Using this command 603 | # requires the bibtex tool to be installed. See also 604 | # http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style 605 | # of the bibliography can be controlled using LATEX_BIB_STYLE. To use this 606 | # feature you need bibtex and perl available in the search path. Do not use 607 | # file names with spaces, bibtex cannot handle them. 608 | 609 | CITE_BIB_FILES = 610 | 611 | #--------------------------------------------------------------------------- 612 | # configuration options related to warning and progress messages 613 | #--------------------------------------------------------------------------- 614 | 615 | # The QUIET tag can be used to turn on/off the messages that are generated 616 | # by doxygen. Possible values are YES and NO. If left blank NO is used. 617 | 618 | QUIET = NO 619 | 620 | # The WARNINGS tag can be used to turn on/off the warning messages that are 621 | # generated by doxygen. Possible values are YES and NO. If left blank 622 | # NO is used. 623 | 624 | WARNINGS = YES 625 | 626 | # If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings 627 | # for undocumented members. If EXTRACT_ALL is set to YES then this flag will 628 | # automatically be disabled. 629 | 630 | WARN_IF_UNDOCUMENTED = YES 631 | 632 | # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for 633 | # potential errors in the documentation, such as not documenting some 634 | # parameters in a documented function, or documenting parameters that 635 | # don't exist or using markup commands wrongly. 636 | 637 | WARN_IF_DOC_ERROR = YES 638 | 639 | # The WARN_NO_PARAMDOC option can be enabled to get warnings for 640 | # functions that are documented, but have no documentation for their parameters 641 | # or return value. If set to NO (the default) doxygen will only warn about 642 | # wrong or incomplete parameter documentation, but not about the absence of 643 | # documentation. 644 | 645 | WARN_NO_PARAMDOC = NO 646 | 647 | # The WARN_FORMAT tag determines the format of the warning messages that 648 | # doxygen can produce. The string should contain the $file, $line, and $text 649 | # tags, which will be replaced by the file and line number from which the 650 | # warning originated and the warning text. Optionally the format may contain 651 | # $version, which will be replaced by the version of the file (if it could 652 | # be obtained via FILE_VERSION_FILTER) 653 | 654 | WARN_FORMAT = "$file:$line: $text" 655 | 656 | # The WARN_LOGFILE tag can be used to specify a file to which warning 657 | # and error messages should be written. If left blank the output is written 658 | # to stderr. 659 | 660 | WARN_LOGFILE = 661 | 662 | #--------------------------------------------------------------------------- 663 | # configuration options related to the input files 664 | #--------------------------------------------------------------------------- 665 | 666 | # The INPUT tag can be used to specify the files and/or directories that contain 667 | # documented source files. You may enter file names like "myfile.cpp" or 668 | # directories like "/usr/src/myproject". Separate the files or directories 669 | # with spaces. 670 | 671 | INPUT = ../ 672 | 673 | # This tag can be used to specify the character encoding of the source files 674 | # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is 675 | # also the default input encoding. Doxygen uses libiconv (or the iconv built 676 | # into libc) for the transcoding. See http://www.gnu.org/software/libiconv for 677 | # the list of possible encodings. 678 | 679 | INPUT_ENCODING = UTF-8 680 | 681 | # If the value of the INPUT tag contains directories, you can use the 682 | # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 683 | # and *.h) to filter out the source-files in the directories. If left 684 | # blank the following patterns are tested: 685 | # *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh 686 | # *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py 687 | # *.f90 *.f *.for *.vhd *.vhdl 688 | 689 | FILE_PATTERNS = 690 | 691 | # The RECURSIVE tag can be used to turn specify whether or not subdirectories 692 | # should be searched for input files as well. Possible values are YES and NO. 693 | # If left blank NO is used. 694 | 695 | RECURSIVE = YES 696 | 697 | # The EXCLUDE tag can be used to specify files and/or directories that should be 698 | # excluded from the INPUT source files. This way you can easily exclude a 699 | # subdirectory from a directory tree whose root is specified with the INPUT tag. 700 | # Note that relative paths are relative to the directory from which doxygen is 701 | # run. 702 | 703 | EXCLUDE = 704 | 705 | # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or 706 | # directories that are symbolic links (a Unix file system feature) are excluded 707 | # from the input. 708 | 709 | EXCLUDE_SYMLINKS = NO 710 | 711 | # If the value of the INPUT tag contains directories, you can use the 712 | # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 713 | # certain files from those directories. Note that the wildcards are matched 714 | # against the file with absolute path, so to exclude all test directories 715 | # for example use the pattern */test/* 716 | 717 | EXCLUDE_PATTERNS = 718 | 719 | # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names 720 | # (namespaces, classes, functions, etc.) that should be excluded from the 721 | # output. The symbol name can be a fully qualified name, a word, or if the 722 | # wildcard * is used, a substring. Examples: ANamespace, AClass, 723 | # AClass::ANamespace, ANamespace::*Test 724 | 725 | EXCLUDE_SYMBOLS = 726 | 727 | # The EXAMPLE_PATH tag can be used to specify one or more files or 728 | # directories that contain example code fragments that are included (see 729 | # the \include command). 730 | 731 | EXAMPLE_PATH = 732 | 733 | # If the value of the EXAMPLE_PATH tag contains directories, you can use the 734 | # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 735 | # and *.h) to filter out the source-files in the directories. If left 736 | # blank all files are included. 737 | 738 | EXAMPLE_PATTERNS = 739 | 740 | # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be 741 | # searched for input files to be used with the \include or \dontinclude 742 | # commands irrespective of the value of the RECURSIVE tag. 743 | # Possible values are YES and NO. If left blank NO is used. 744 | 745 | EXAMPLE_RECURSIVE = NO 746 | 747 | # The IMAGE_PATH tag can be used to specify one or more files or 748 | # directories that contain image that are included in the documentation (see 749 | # the \image command). 750 | 751 | IMAGE_PATH = 752 | 753 | # The INPUT_FILTER tag can be used to specify a program that doxygen should 754 | # invoke to filter for each input file. Doxygen will invoke the filter program 755 | # by executing (via popen()) the command , where 756 | # is the value of the INPUT_FILTER tag, and is the name of an 757 | # input file. Doxygen will then use the output that the filter program writes 758 | # to standard output. 759 | # If FILTER_PATTERNS is specified, this tag will be 760 | # ignored. 761 | 762 | INPUT_FILTER = 763 | 764 | # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern 765 | # basis. 766 | # Doxygen will compare the file name with each pattern and apply the 767 | # filter if there is a match. 768 | # The filters are a list of the form: 769 | # pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further 770 | # info on how filters are used. If FILTER_PATTERNS is empty or if 771 | # non of the patterns match the file name, INPUT_FILTER is applied. 772 | 773 | FILTER_PATTERNS = 774 | 775 | # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 776 | # INPUT_FILTER) will be used to filter the input files when producing source 777 | # files to browse (i.e. when SOURCE_BROWSER is set to YES). 778 | 779 | FILTER_SOURCE_FILES = NO 780 | 781 | # The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file 782 | # pattern. A pattern will override the setting for FILTER_PATTERN (if any) 783 | # and it is also possible to disable source filtering for a specific pattern 784 | # using *.ext= (so without naming a filter). This option only has effect when 785 | # FILTER_SOURCE_FILES is enabled. 786 | 787 | FILTER_SOURCE_PATTERNS = 788 | 789 | # If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that 790 | # is part of the input, its contents will be placed on the main page (index.html). 791 | # This can be useful if you have a project on for instance GitHub and want reuse 792 | # the introduction page also for the doxygen output. 793 | 794 | USE_MDFILE_AS_MAINPAGE = 795 | 796 | #--------------------------------------------------------------------------- 797 | # configuration options related to source browsing 798 | #--------------------------------------------------------------------------- 799 | 800 | # If the SOURCE_BROWSER tag is set to YES then a list of source files will 801 | # be generated. Documented entities will be cross-referenced with these sources. 802 | # Note: To get rid of all source code in the generated output, make sure also 803 | # VERBATIM_HEADERS is set to NO. 804 | 805 | SOURCE_BROWSER = NO 806 | 807 | # Setting the INLINE_SOURCES tag to YES will include the body 808 | # of functions and classes directly in the documentation. 809 | 810 | INLINE_SOURCES = NO 811 | 812 | # Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct 813 | # doxygen to hide any special comment blocks from generated source code 814 | # fragments. Normal C, C++ and Fortran comments will always remain visible. 815 | 816 | STRIP_CODE_COMMENTS = YES 817 | 818 | # If the REFERENCED_BY_RELATION tag is set to YES 819 | # then for each documented function all documented 820 | # functions referencing it will be listed. 821 | 822 | REFERENCED_BY_RELATION = NO 823 | 824 | # If the REFERENCES_RELATION tag is set to YES 825 | # then for each documented function all documented entities 826 | # called/used by that function will be listed. 827 | 828 | REFERENCES_RELATION = NO 829 | 830 | # If the REFERENCES_LINK_SOURCE tag is set to YES (the default) 831 | # and SOURCE_BROWSER tag is set to YES, then the hyperlinks from 832 | # functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will 833 | # link to the source code. 834 | # Otherwise they will link to the documentation. 835 | 836 | REFERENCES_LINK_SOURCE = YES 837 | 838 | # If the USE_HTAGS tag is set to YES then the references to source code 839 | # will point to the HTML generated by the htags(1) tool instead of doxygen 840 | # built-in source browser. The htags tool is part of GNU's global source 841 | # tagging system (see http://www.gnu.org/software/global/global.html). You 842 | # will need version 4.8.6 or higher. 843 | 844 | USE_HTAGS = NO 845 | 846 | # If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen 847 | # will generate a verbatim copy of the header file for each class for 848 | # which an include is specified. Set to NO to disable this. 849 | 850 | VERBATIM_HEADERS = YES 851 | 852 | #--------------------------------------------------------------------------- 853 | # configuration options related to the alphabetical class index 854 | #--------------------------------------------------------------------------- 855 | 856 | # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index 857 | # of all compounds will be generated. Enable this if the project 858 | # contains a lot of classes, structs, unions or interfaces. 859 | 860 | ALPHABETICAL_INDEX = YES 861 | 862 | # If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then 863 | # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns 864 | # in which this list will be split (can be a number in the range [1..20]) 865 | 866 | COLS_IN_ALPHA_INDEX = 5 867 | 868 | # In case all classes in a project start with a common prefix, all 869 | # classes will be put under the same header in the alphabetical index. 870 | # The IGNORE_PREFIX tag can be used to specify one or more prefixes that 871 | # should be ignored while generating the index headers. 872 | 873 | IGNORE_PREFIX = 874 | 875 | #--------------------------------------------------------------------------- 876 | # configuration options related to the HTML output 877 | #--------------------------------------------------------------------------- 878 | 879 | # If the GENERATE_HTML tag is set to YES (the default) Doxygen will 880 | # generate HTML output. 881 | 882 | GENERATE_HTML = YES 883 | 884 | # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. 885 | # If a relative path is entered the value of OUTPUT_DIRECTORY will be 886 | # put in front of it. If left blank `html' will be used as the default path. 887 | 888 | HTML_OUTPUT = html 889 | 890 | # The HTML_FILE_EXTENSION tag can be used to specify the file extension for 891 | # each generated HTML page (for example: .htm,.php,.asp). If it is left blank 892 | # doxygen will generate files with .html extension. 893 | 894 | HTML_FILE_EXTENSION = .html 895 | 896 | # The HTML_HEADER tag can be used to specify a personal HTML header for 897 | # each generated HTML page. If it is left blank doxygen will generate a 898 | # standard header. Note that when using a custom header you are responsible 899 | # for the proper inclusion of any scripts and style sheets that doxygen 900 | # needs, which is dependent on the configuration options used. 901 | # It is advised to generate a default header using "doxygen -w html 902 | # header.html footer.html stylesheet.css YourConfigFile" and then modify 903 | # that header. Note that the header is subject to change so you typically 904 | # have to redo this when upgrading to a newer version of doxygen or when 905 | # changing the value of configuration settings such as GENERATE_TREEVIEW! 906 | 907 | HTML_HEADER = 908 | 909 | # The HTML_FOOTER tag can be used to specify a personal HTML footer for 910 | # each generated HTML page. If it is left blank doxygen will generate a 911 | # standard footer. 912 | 913 | HTML_FOOTER = 914 | 915 | # The HTML_STYLESHEET tag can be used to specify a user-defined cascading 916 | # style sheet that is used by each HTML page. It can be used to 917 | # fine-tune the look of the HTML output. If left blank doxygen will 918 | # generate a default style sheet. Note that it is recommended to use 919 | # HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this 920 | # tag will in the future become obsolete. 921 | 922 | HTML_STYLESHEET = 923 | 924 | # The HTML_EXTRA_STYLESHEET tag can be used to specify an additional 925 | # user-defined cascading style sheet that is included after the standard 926 | # style sheets created by doxygen. Using this option one can overrule 927 | # certain style aspects. This is preferred over using HTML_STYLESHEET 928 | # since it does not replace the standard style sheet and is therefor more 929 | # robust against future updates. Doxygen will copy the style sheet file to 930 | # the output directory. 931 | 932 | HTML_EXTRA_STYLESHEET = 933 | 934 | # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or 935 | # other source files which should be copied to the HTML output directory. Note 936 | # that these files will be copied to the base HTML output directory. Use the 937 | # $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these 938 | # files. In the HTML_STYLESHEET file, use the file name only. Also note that 939 | # the files will be copied as-is; there are no commands or markers available. 940 | 941 | HTML_EXTRA_FILES = 942 | 943 | # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. 944 | # Doxygen will adjust the colors in the style sheet and background images 945 | # according to this color. Hue is specified as an angle on a colorwheel, 946 | # see http://en.wikipedia.org/wiki/Hue for more information. 947 | # For instance the value 0 represents red, 60 is yellow, 120 is green, 948 | # 180 is cyan, 240 is blue, 300 purple, and 360 is red again. 949 | # The allowed range is 0 to 359. 950 | 951 | HTML_COLORSTYLE_HUE = 220 952 | 953 | # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of 954 | # the colors in the HTML output. For a value of 0 the output will use 955 | # grayscales only. A value of 255 will produce the most vivid colors. 956 | 957 | HTML_COLORSTYLE_SAT = 100 958 | 959 | # The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to 960 | # the luminance component of the colors in the HTML output. Values below 961 | # 100 gradually make the output lighter, whereas values above 100 make 962 | # the output darker. The value divided by 100 is the actual gamma applied, 963 | # so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, 964 | # and 100 does not change the gamma. 965 | 966 | HTML_COLORSTYLE_GAMMA = 80 967 | 968 | # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML 969 | # page will contain the date and time when the page was generated. Setting 970 | # this to NO can help when comparing the output of multiple runs. 971 | 972 | HTML_TIMESTAMP = YES 973 | 974 | # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML 975 | # documentation will contain sections that can be hidden and shown after the 976 | # page has loaded. 977 | 978 | HTML_DYNAMIC_SECTIONS = NO 979 | 980 | # With HTML_INDEX_NUM_ENTRIES one can control the preferred number of 981 | # entries shown in the various tree structured indices initially; the user 982 | # can expand and collapse entries dynamically later on. Doxygen will expand 983 | # the tree to such a level that at most the specified number of entries are 984 | # visible (unless a fully collapsed tree already exceeds this amount). 985 | # So setting the number of entries 1 will produce a full collapsed tree by 986 | # default. 0 is a special value representing an infinite number of entries 987 | # and will result in a full expanded tree by default. 988 | 989 | HTML_INDEX_NUM_ENTRIES = 100 990 | 991 | # If the GENERATE_DOCSET tag is set to YES, additional index files 992 | # will be generated that can be used as input for Apple's Xcode 3 993 | # integrated development environment, introduced with OSX 10.5 (Leopard). 994 | # To create a documentation set, doxygen will generate a Makefile in the 995 | # HTML output directory. Running make will produce the docset in that 996 | # directory and running "make install" will install the docset in 997 | # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find 998 | # it at startup. 999 | # See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html 1000 | # for more information. 1001 | 1002 | GENERATE_DOCSET = NO 1003 | 1004 | # When GENERATE_DOCSET tag is set to YES, this tag determines the name of the 1005 | # feed. A documentation feed provides an umbrella under which multiple 1006 | # documentation sets from a single provider (such as a company or product suite) 1007 | # can be grouped. 1008 | 1009 | DOCSET_FEEDNAME = "Doxygen generated docs" 1010 | 1011 | # When GENERATE_DOCSET tag is set to YES, this tag specifies a string that 1012 | # should uniquely identify the documentation set bundle. This should be a 1013 | # reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen 1014 | # will append .docset to the name. 1015 | 1016 | DOCSET_BUNDLE_ID = org.doxygen.Project 1017 | 1018 | # When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely 1019 | # identify the documentation publisher. This should be a reverse domain-name 1020 | # style string, e.g. com.mycompany.MyDocSet.documentation. 1021 | 1022 | DOCSET_PUBLISHER_ID = org.doxygen.Publisher 1023 | 1024 | # The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. 1025 | 1026 | DOCSET_PUBLISHER_NAME = Publisher 1027 | 1028 | # If the GENERATE_HTMLHELP tag is set to YES, additional index files 1029 | # will be generated that can be used as input for tools like the 1030 | # Microsoft HTML help workshop to generate a compiled HTML help file (.chm) 1031 | # of the generated HTML documentation. 1032 | 1033 | GENERATE_HTMLHELP = NO 1034 | 1035 | # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can 1036 | # be used to specify the file name of the resulting .chm file. You 1037 | # can add a path in front of the file if the result should not be 1038 | # written to the html output directory. 1039 | 1040 | CHM_FILE = 1041 | 1042 | # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can 1043 | # be used to specify the location (absolute path including file name) of 1044 | # the HTML help compiler (hhc.exe). If non-empty doxygen will try to run 1045 | # the HTML help compiler on the generated index.hhp. 1046 | 1047 | HHC_LOCATION = 1048 | 1049 | # If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag 1050 | # controls if a separate .chi index file is generated (YES) or that 1051 | # it should be included in the master .chm file (NO). 1052 | 1053 | GENERATE_CHI = NO 1054 | 1055 | # If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING 1056 | # is used to encode HtmlHelp index (hhk), content (hhc) and project file 1057 | # content. 1058 | 1059 | CHM_INDEX_ENCODING = 1060 | 1061 | # If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag 1062 | # controls whether a binary table of contents is generated (YES) or a 1063 | # normal table of contents (NO) in the .chm file. 1064 | 1065 | BINARY_TOC = NO 1066 | 1067 | # The TOC_EXPAND flag can be set to YES to add extra items for group members 1068 | # to the contents of the HTML help documentation and to the tree view. 1069 | 1070 | TOC_EXPAND = NO 1071 | 1072 | # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and 1073 | # QHP_VIRTUAL_FOLDER are set, an additional index file will be generated 1074 | # that can be used as input for Qt's qhelpgenerator to generate a 1075 | # Qt Compressed Help (.qch) of the generated HTML documentation. 1076 | 1077 | GENERATE_QHP = NO 1078 | 1079 | # If the QHG_LOCATION tag is specified, the QCH_FILE tag can 1080 | # be used to specify the file name of the resulting .qch file. 1081 | # The path specified is relative to the HTML output folder. 1082 | 1083 | QCH_FILE = 1084 | 1085 | # The QHP_NAMESPACE tag specifies the namespace to use when generating 1086 | # Qt Help Project output. For more information please see 1087 | # http://doc.trolltech.com/qthelpproject.html#namespace 1088 | 1089 | QHP_NAMESPACE = org.doxygen.Project 1090 | 1091 | # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating 1092 | # Qt Help Project output. For more information please see 1093 | # http://doc.trolltech.com/qthelpproject.html#virtual-folders 1094 | 1095 | QHP_VIRTUAL_FOLDER = doc 1096 | 1097 | # If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to 1098 | # add. For more information please see 1099 | # http://doc.trolltech.com/qthelpproject.html#custom-filters 1100 | 1101 | QHP_CUST_FILTER_NAME = 1102 | 1103 | # The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the 1104 | # custom filter to add. For more information please see 1105 | # 1106 | # Qt Help Project / Custom Filters. 1107 | 1108 | QHP_CUST_FILTER_ATTRS = 1109 | 1110 | # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this 1111 | # project's 1112 | # filter section matches. 1113 | # 1114 | # Qt Help Project / Filter Attributes. 1115 | 1116 | QHP_SECT_FILTER_ATTRS = 1117 | 1118 | # If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can 1119 | # be used to specify the location of Qt's qhelpgenerator. 1120 | # If non-empty doxygen will try to run qhelpgenerator on the generated 1121 | # .qhp file. 1122 | 1123 | QHG_LOCATION = 1124 | 1125 | # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files 1126 | # will be generated, which together with the HTML files, form an Eclipse help 1127 | # plugin. To install this plugin and make it available under the help contents 1128 | # menu in Eclipse, the contents of the directory containing the HTML and XML 1129 | # files needs to be copied into the plugins directory of eclipse. The name of 1130 | # the directory within the plugins directory should be the same as 1131 | # the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before 1132 | # the help appears. 1133 | 1134 | GENERATE_ECLIPSEHELP = NO 1135 | 1136 | # A unique identifier for the eclipse help plugin. When installing the plugin 1137 | # the directory name containing the HTML and XML files should also have 1138 | # this name. 1139 | 1140 | ECLIPSE_DOC_ID = org.doxygen.Project 1141 | 1142 | # The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) 1143 | # at top of each HTML page. The value NO (the default) enables the index and 1144 | # the value YES disables it. Since the tabs have the same information as the 1145 | # navigation tree you can set this option to NO if you already set 1146 | # GENERATE_TREEVIEW to YES. 1147 | 1148 | DISABLE_INDEX = NO 1149 | 1150 | # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index 1151 | # structure should be generated to display hierarchical information. 1152 | # If the tag value is set to YES, a side panel will be generated 1153 | # containing a tree-like index structure (just like the one that 1154 | # is generated for HTML Help). For this to work a browser that supports 1155 | # JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). 1156 | # Windows users are probably better off using the HTML help feature. 1157 | # Since the tree basically has the same information as the tab index you 1158 | # could consider to set DISABLE_INDEX to NO when enabling this option. 1159 | 1160 | GENERATE_TREEVIEW = NO 1161 | 1162 | # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values 1163 | # (range [0,1..20]) that doxygen will group on one line in the generated HTML 1164 | # documentation. Note that a value of 0 will completely suppress the enum 1165 | # values from appearing in the overview section. 1166 | 1167 | ENUM_VALUES_PER_LINE = 4 1168 | 1169 | # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be 1170 | # used to set the initial width (in pixels) of the frame in which the tree 1171 | # is shown. 1172 | 1173 | TREEVIEW_WIDTH = 250 1174 | 1175 | # When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open 1176 | # links to external symbols imported via tag files in a separate window. 1177 | 1178 | EXT_LINKS_IN_WINDOW = NO 1179 | 1180 | # Use this tag to change the font size of Latex formulas included 1181 | # as images in the HTML documentation. The default is 10. Note that 1182 | # when you change the font size after a successful doxygen run you need 1183 | # to manually remove any form_*.png images from the HTML output directory 1184 | # to force them to be regenerated. 1185 | 1186 | FORMULA_FONTSIZE = 10 1187 | 1188 | # Use the FORMULA_TRANPARENT tag to determine whether or not the images 1189 | # generated for formulas are transparent PNGs. Transparent PNGs are 1190 | # not supported properly for IE 6.0, but are supported on all modern browsers. 1191 | # Note that when changing this option you need to delete any form_*.png files 1192 | # in the HTML output before the changes have effect. 1193 | 1194 | FORMULA_TRANSPARENT = YES 1195 | 1196 | # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax 1197 | # (see http://www.mathjax.org) which uses client side Javascript for the 1198 | # rendering instead of using prerendered bitmaps. Use this if you do not 1199 | # have LaTeX installed or if you want to formulas look prettier in the HTML 1200 | # output. When enabled you may also need to install MathJax separately and 1201 | # configure the path to it using the MATHJAX_RELPATH option. 1202 | 1203 | USE_MATHJAX = NO 1204 | 1205 | # When MathJax is enabled you can set the default output format to be used for 1206 | # thA MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and 1207 | # SVG. The default value is HTML-CSS, which is slower, but has the best 1208 | # compatibility. 1209 | 1210 | MATHJAX_FORMAT = HTML-CSS 1211 | 1212 | # When MathJax is enabled you need to specify the location relative to the 1213 | # HTML output directory using the MATHJAX_RELPATH option. The destination 1214 | # directory should contain the MathJax.js script. For instance, if the mathjax 1215 | # directory is located at the same level as the HTML output directory, then 1216 | # MATHJAX_RELPATH should be ../mathjax. The default value points to 1217 | # the MathJax Content Delivery Network so you can quickly see the result without 1218 | # installing MathJax. 1219 | # However, it is strongly recommended to install a local 1220 | # copy of MathJax from http://www.mathjax.org before deployment. 1221 | 1222 | MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest 1223 | 1224 | # The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension 1225 | # names that should be enabled during MathJax rendering. 1226 | 1227 | MATHJAX_EXTENSIONS = 1228 | 1229 | # When the SEARCHENGINE tag is enabled doxygen will generate a search box 1230 | # for the HTML output. The underlying search engine uses javascript 1231 | # and DHTML and should work on any modern browser. Note that when using 1232 | # HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets 1233 | # (GENERATE_DOCSET) there is already a search function so this one should 1234 | # typically be disabled. For large projects the javascript based search engine 1235 | # can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. 1236 | 1237 | SEARCHENGINE = YES 1238 | 1239 | # When the SERVER_BASED_SEARCH tag is enabled the search engine will be 1240 | # implemented using a web server instead of a web client using Javascript. 1241 | # There are two flavours of web server based search depending on the 1242 | # EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for 1243 | # searching and an index file used by the script. When EXTERNAL_SEARCH is 1244 | # enabled the indexing and searching needs to be provided by external tools. 1245 | # See the manual for details. 1246 | 1247 | SERVER_BASED_SEARCH = NO 1248 | 1249 | # When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP 1250 | # script for searching. Instead the search results are written to an XML file 1251 | # which needs to be processed by an external indexer. Doxygen will invoke an 1252 | # external search engine pointed to by the SEARCHENGINE_URL option to obtain 1253 | # the search results. Doxygen ships with an example indexer (doxyindexer) and 1254 | # search engine (doxysearch.cgi) which are based on the open source search engine 1255 | # library Xapian. See the manual for configuration details. 1256 | 1257 | EXTERNAL_SEARCH = NO 1258 | 1259 | # The SEARCHENGINE_URL should point to a search engine hosted by a web server 1260 | # which will returned the search results when EXTERNAL_SEARCH is enabled. 1261 | # Doxygen ships with an example search engine (doxysearch) which is based on 1262 | # the open source search engine library Xapian. See the manual for configuration 1263 | # details. 1264 | 1265 | SEARCHENGINE_URL = 1266 | 1267 | # When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed 1268 | # search data is written to a file for indexing by an external tool. With the 1269 | # SEARCHDATA_FILE tag the name of this file can be specified. 1270 | 1271 | SEARCHDATA_FILE = searchdata.xml 1272 | 1273 | # When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the 1274 | # EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is 1275 | # useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple 1276 | # projects and redirect the results back to the right project. 1277 | 1278 | EXTERNAL_SEARCH_ID = 1279 | 1280 | # The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen 1281 | # projects other than the one defined by this configuration file, but that are 1282 | # all added to the same external search index. Each project needs to have a 1283 | # unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id 1284 | # of to a relative location where the documentation can be found. 1285 | # The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ... 1286 | 1287 | EXTRA_SEARCH_MAPPINGS = 1288 | 1289 | #--------------------------------------------------------------------------- 1290 | # configuration options related to the LaTeX output 1291 | #--------------------------------------------------------------------------- 1292 | 1293 | # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will 1294 | # generate Latex output. 1295 | 1296 | GENERATE_LATEX = YES 1297 | 1298 | # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. 1299 | # If a relative path is entered the value of OUTPUT_DIRECTORY will be 1300 | # put in front of it. If left blank `latex' will be used as the default path. 1301 | 1302 | LATEX_OUTPUT = latex 1303 | 1304 | # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be 1305 | # invoked. If left blank `latex' will be used as the default command name. 1306 | # Note that when enabling USE_PDFLATEX this option is only used for 1307 | # generating bitmaps for formulas in the HTML output, but not in the 1308 | # Makefile that is written to the output directory. 1309 | 1310 | LATEX_CMD_NAME = latex 1311 | 1312 | # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to 1313 | # generate index for LaTeX. If left blank `makeindex' will be used as the 1314 | # default command name. 1315 | 1316 | MAKEINDEX_CMD_NAME = makeindex 1317 | 1318 | # If the COMPACT_LATEX tag is set to YES Doxygen generates more compact 1319 | # LaTeX documents. This may be useful for small projects and may help to 1320 | # save some trees in general. 1321 | 1322 | COMPACT_LATEX = NO 1323 | 1324 | # The PAPER_TYPE tag can be used to set the paper type that is used 1325 | # by the printer. Possible values are: a4, letter, legal and 1326 | # executive. If left blank a4wide will be used. 1327 | 1328 | PAPER_TYPE = a4 1329 | 1330 | # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX 1331 | # packages that should be included in the LaTeX output. 1332 | 1333 | EXTRA_PACKAGES = 1334 | 1335 | # The LATEX_HEADER tag can be used to specify a personal LaTeX header for 1336 | # the generated latex document. The header should contain everything until 1337 | # the first chapter. If it is left blank doxygen will generate a 1338 | # standard header. Notice: only use this tag if you know what you are doing! 1339 | 1340 | LATEX_HEADER = 1341 | 1342 | # The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for 1343 | # the generated latex document. The footer should contain everything after 1344 | # the last chapter. If it is left blank doxygen will generate a 1345 | # standard footer. Notice: only use this tag if you know what you are doing! 1346 | 1347 | LATEX_FOOTER = 1348 | 1349 | # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated 1350 | # is prepared for conversion to pdf (using ps2pdf). The pdf file will 1351 | # contain links (just like the HTML output) instead of page references 1352 | # This makes the output suitable for online browsing using a pdf viewer. 1353 | 1354 | PDF_HYPERLINKS = YES 1355 | 1356 | # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of 1357 | # plain latex in the generated Makefile. Set this option to YES to get a 1358 | # higher quality PDF documentation. 1359 | 1360 | USE_PDFLATEX = YES 1361 | 1362 | # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. 1363 | # command to the generated LaTeX files. This will instruct LaTeX to keep 1364 | # running if errors occur, instead of asking the user for help. 1365 | # This option is also used when generating formulas in HTML. 1366 | 1367 | LATEX_BATCHMODE = NO 1368 | 1369 | # If LATEX_HIDE_INDICES is set to YES then doxygen will not 1370 | # include the index chapters (such as File Index, Compound Index, etc.) 1371 | # in the output. 1372 | 1373 | LATEX_HIDE_INDICES = NO 1374 | 1375 | # If LATEX_SOURCE_CODE is set to YES then doxygen will include 1376 | # source code with syntax highlighting in the LaTeX output. 1377 | # Note that which sources are shown also depends on other settings 1378 | # such as SOURCE_BROWSER. 1379 | 1380 | LATEX_SOURCE_CODE = NO 1381 | 1382 | # The LATEX_BIB_STYLE tag can be used to specify the style to use for the 1383 | # bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See 1384 | # http://en.wikipedia.org/wiki/BibTeX for more info. 1385 | 1386 | LATEX_BIB_STYLE = plain 1387 | 1388 | #--------------------------------------------------------------------------- 1389 | # configuration options related to the RTF output 1390 | #--------------------------------------------------------------------------- 1391 | 1392 | # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output 1393 | # The RTF output is optimized for Word 97 and may not look very pretty with 1394 | # other RTF readers or editors. 1395 | 1396 | GENERATE_RTF = NO 1397 | 1398 | # The RTF_OUTPUT tag is used to specify where the RTF docs will be put. 1399 | # If a relative path is entered the value of OUTPUT_DIRECTORY will be 1400 | # put in front of it. If left blank `rtf' will be used as the default path. 1401 | 1402 | RTF_OUTPUT = rtf 1403 | 1404 | # If the COMPACT_RTF tag is set to YES Doxygen generates more compact 1405 | # RTF documents. This may be useful for small projects and may help to 1406 | # save some trees in general. 1407 | 1408 | COMPACT_RTF = NO 1409 | 1410 | # If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated 1411 | # will contain hyperlink fields. The RTF file will 1412 | # contain links (just like the HTML output) instead of page references. 1413 | # This makes the output suitable for online browsing using WORD or other 1414 | # programs which support those fields. 1415 | # Note: wordpad (write) and others do not support links. 1416 | 1417 | RTF_HYPERLINKS = NO 1418 | 1419 | # Load style sheet definitions from file. Syntax is similar to doxygen's 1420 | # config file, i.e. a series of assignments. You only have to provide 1421 | # replacements, missing definitions are set to their default value. 1422 | 1423 | RTF_STYLESHEET_FILE = 1424 | 1425 | # Set optional variables used in the generation of an rtf document. 1426 | # Syntax is similar to doxygen's config file. 1427 | 1428 | RTF_EXTENSIONS_FILE = 1429 | 1430 | #--------------------------------------------------------------------------- 1431 | # configuration options related to the man page output 1432 | #--------------------------------------------------------------------------- 1433 | 1434 | # If the GENERATE_MAN tag is set to YES (the default) Doxygen will 1435 | # generate man pages 1436 | 1437 | GENERATE_MAN = NO 1438 | 1439 | # The MAN_OUTPUT tag is used to specify where the man pages will be put. 1440 | # If a relative path is entered the value of OUTPUT_DIRECTORY will be 1441 | # put in front of it. If left blank `man' will be used as the default path. 1442 | 1443 | MAN_OUTPUT = man 1444 | 1445 | # The MAN_EXTENSION tag determines the extension that is added to 1446 | # the generated man pages (default is the subroutine's section .3) 1447 | 1448 | MAN_EXTENSION = .3 1449 | 1450 | # If the MAN_LINKS tag is set to YES and Doxygen generates man output, 1451 | # then it will generate one additional man file for each entity 1452 | # documented in the real man page(s). These additional files 1453 | # only source the real man page, but without them the man command 1454 | # would be unable to find the correct page. The default is NO. 1455 | 1456 | MAN_LINKS = NO 1457 | 1458 | #--------------------------------------------------------------------------- 1459 | # configuration options related to the XML output 1460 | #--------------------------------------------------------------------------- 1461 | 1462 | # If the GENERATE_XML tag is set to YES Doxygen will 1463 | # generate an XML file that captures the structure of 1464 | # the code including all documentation. 1465 | 1466 | GENERATE_XML = NO 1467 | 1468 | # The XML_OUTPUT tag is used to specify where the XML pages will be put. 1469 | # If a relative path is entered the value of OUTPUT_DIRECTORY will be 1470 | # put in front of it. If left blank `xml' will be used as the default path. 1471 | 1472 | XML_OUTPUT = xml 1473 | 1474 | # The XML_SCHEMA tag can be used to specify an XML schema, 1475 | # which can be used by a validating XML parser to check the 1476 | # syntax of the XML files. 1477 | 1478 | XML_SCHEMA = 1479 | 1480 | # The XML_DTD tag can be used to specify an XML DTD, 1481 | # which can be used by a validating XML parser to check the 1482 | # syntax of the XML files. 1483 | 1484 | XML_DTD = 1485 | 1486 | # If the XML_PROGRAMLISTING tag is set to YES Doxygen will 1487 | # dump the program listings (including syntax highlighting 1488 | # and cross-referencing information) to the XML output. Note that 1489 | # enabling this will significantly increase the size of the XML output. 1490 | 1491 | XML_PROGRAMLISTING = YES 1492 | 1493 | #--------------------------------------------------------------------------- 1494 | # configuration options for the AutoGen Definitions output 1495 | #--------------------------------------------------------------------------- 1496 | 1497 | # If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will 1498 | # generate an AutoGen Definitions (see autogen.sf.net) file 1499 | # that captures the structure of the code including all 1500 | # documentation. Note that this feature is still experimental 1501 | # and incomplete at the moment. 1502 | 1503 | GENERATE_AUTOGEN_DEF = NO 1504 | 1505 | #--------------------------------------------------------------------------- 1506 | # configuration options related to the Perl module output 1507 | #--------------------------------------------------------------------------- 1508 | 1509 | # If the GENERATE_PERLMOD tag is set to YES Doxygen will 1510 | # generate a Perl module file that captures the structure of 1511 | # the code including all documentation. Note that this 1512 | # feature is still experimental and incomplete at the 1513 | # moment. 1514 | 1515 | GENERATE_PERLMOD = NO 1516 | 1517 | # If the PERLMOD_LATEX tag is set to YES Doxygen will generate 1518 | # the necessary Makefile rules, Perl scripts and LaTeX code to be able 1519 | # to generate PDF and DVI output from the Perl module output. 1520 | 1521 | PERLMOD_LATEX = NO 1522 | 1523 | # If the PERLMOD_PRETTY tag is set to YES the Perl module output will be 1524 | # nicely formatted so it can be parsed by a human reader. 1525 | # This is useful 1526 | # if you want to understand what is going on. 1527 | # On the other hand, if this 1528 | # tag is set to NO the size of the Perl module output will be much smaller 1529 | # and Perl will parse it just the same. 1530 | 1531 | PERLMOD_PRETTY = YES 1532 | 1533 | # The names of the make variables in the generated doxyrules.make file 1534 | # are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. 1535 | # This is useful so different doxyrules.make files included by the same 1536 | # Makefile don't overwrite each other's variables. 1537 | 1538 | PERLMOD_MAKEVAR_PREFIX = 1539 | 1540 | #--------------------------------------------------------------------------- 1541 | # Configuration options related to the preprocessor 1542 | #--------------------------------------------------------------------------- 1543 | 1544 | # If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will 1545 | # evaluate all C-preprocessor directives found in the sources and include 1546 | # files. 1547 | 1548 | ENABLE_PREPROCESSING = YES 1549 | 1550 | # If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro 1551 | # names in the source code. If set to NO (the default) only conditional 1552 | # compilation will be performed. Macro expansion can be done in a controlled 1553 | # way by setting EXPAND_ONLY_PREDEF to YES. 1554 | 1555 | MACRO_EXPANSION = NO 1556 | 1557 | # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES 1558 | # then the macro expansion is limited to the macros specified with the 1559 | # PREDEFINED and EXPAND_AS_DEFINED tags. 1560 | 1561 | EXPAND_ONLY_PREDEF = NO 1562 | 1563 | # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files 1564 | # pointed to by INCLUDE_PATH will be searched when a #include is found. 1565 | 1566 | SEARCH_INCLUDES = YES 1567 | 1568 | # The INCLUDE_PATH tag can be used to specify one or more directories that 1569 | # contain include files that are not input files but should be processed by 1570 | # the preprocessor. 1571 | 1572 | INCLUDE_PATH = 1573 | 1574 | # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard 1575 | # patterns (like *.h and *.hpp) to filter out the header-files in the 1576 | # directories. If left blank, the patterns specified with FILE_PATTERNS will 1577 | # be used. 1578 | 1579 | INCLUDE_FILE_PATTERNS = 1580 | 1581 | # The PREDEFINED tag can be used to specify one or more macro names that 1582 | # are defined before the preprocessor is started (similar to the -D option of 1583 | # gcc). The argument of the tag is a list of macros of the form: name 1584 | # or name=definition (no spaces). If the definition and the = are 1585 | # omitted =1 is assumed. To prevent a macro definition from being 1586 | # undefined via #undef or recursively expanded use the := operator 1587 | # instead of the = operator. 1588 | 1589 | PREDEFINED = 1590 | 1591 | # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then 1592 | # this tag can be used to specify a list of macro names that should be expanded. 1593 | # The macro definition that is found in the sources will be used. 1594 | # Use the PREDEFINED tag if you want to use a different macro definition that 1595 | # overrules the definition found in the source code. 1596 | 1597 | EXPAND_AS_DEFINED = 1598 | 1599 | # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then 1600 | # doxygen's preprocessor will remove all references to function-like macros 1601 | # that are alone on a line, have an all uppercase name, and do not end with a 1602 | # semicolon, because these will confuse the parser if not removed. 1603 | 1604 | SKIP_FUNCTION_MACROS = YES 1605 | 1606 | #--------------------------------------------------------------------------- 1607 | # Configuration::additions related to external references 1608 | #--------------------------------------------------------------------------- 1609 | 1610 | # The TAGFILES option can be used to specify one or more tagfiles. For each 1611 | # tag file the location of the external documentation should be added. The 1612 | # format of a tag file without this location is as follows: 1613 | # 1614 | # TAGFILES = file1 file2 ... 1615 | # Adding location for the tag files is done as follows: 1616 | # 1617 | # TAGFILES = file1=loc1 "file2 = loc2" ... 1618 | # where "loc1" and "loc2" can be relative or absolute paths 1619 | # or URLs. Note that each tag file must have a unique name (where the name does 1620 | # NOT include the path). If a tag file is not located in the directory in which 1621 | # doxygen is run, you must also specify the path to the tagfile here. 1622 | 1623 | TAGFILES = 1624 | 1625 | # When a file name is specified after GENERATE_TAGFILE, doxygen will create 1626 | # a tag file that is based on the input files it reads. 1627 | 1628 | GENERATE_TAGFILE = 1629 | 1630 | # If the ALLEXTERNALS tag is set to YES all external classes will be listed 1631 | # in the class index. If set to NO only the inherited external classes 1632 | # will be listed. 1633 | 1634 | ALLEXTERNALS = NO 1635 | 1636 | # If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed 1637 | # in the modules index. If set to NO, only the current project's groups will 1638 | # be listed. 1639 | 1640 | EXTERNAL_GROUPS = YES 1641 | 1642 | # The PERL_PATH should be the absolute path and name of the perl script 1643 | # interpreter (i.e. the result of `which perl'). 1644 | 1645 | PERL_PATH = /usr/bin/perl 1646 | 1647 | #--------------------------------------------------------------------------- 1648 | # Configuration options related to the dot tool 1649 | #--------------------------------------------------------------------------- 1650 | 1651 | # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will 1652 | # generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base 1653 | # or super classes. Setting the tag to NO turns the diagrams off. Note that 1654 | # this option also works with HAVE_DOT disabled, but it is recommended to 1655 | # install and use dot, since it yields more powerful graphs. 1656 | 1657 | CLASS_DIAGRAMS = YES 1658 | 1659 | # You can define message sequence charts within doxygen comments using the \msc 1660 | # command. Doxygen will then run the mscgen tool (see 1661 | # http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the 1662 | # documentation. The MSCGEN_PATH tag allows you to specify the directory where 1663 | # the mscgen tool resides. 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This 1854 | # makes dot run faster, but since only newer versions of dot (>1.8.10) 1855 | # support this, this feature is disabled by default. 1856 | 1857 | DOT_MULTI_TARGETS = YES 1858 | 1859 | # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will 1860 | # generate a legend page explaining the meaning of the various boxes and 1861 | # arrows in the dot generated graphs. 1862 | 1863 | GENERATE_LEGEND = YES 1864 | 1865 | # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will 1866 | # remove the intermediate dot files that are used to generate 1867 | # the various graphs. 1868 | 1869 | DOT_CLEANUP = YES 1870 | -------------------------------------------------------------------------------- /include/organized_segmentation_tools/organized_segmentation_tbb.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Software License Agreement (BSD License) 3 | * 4 | * OmniMapper 5 | * Copyright (c) 2012-, Georgia Tech Research Corporation, 6 | * Atlanta, Georgia 30332-0415 7 | * 8 | * All rights reserved. 9 | * 10 | * Redistribution and use in source and binary forms, with or without 11 | * modification, are permitted provided that the following conditions 12 | * are met: 13 | * 14 | * * Redistributions of source code must retain the above copyright 15 | * notice, this list of conditions and the following disclaimer. 16 | * * Redistributions in binary form must reproduce the above 17 | * copyright notice, this list of conditions and the following 18 | * disclaimer in the documentation and/or other materials provided 19 | * with the distribution. 20 | * * Neither the name of the copyright holder(s) nor the names of its 21 | * contributors may be used to endorse or promote products derived 22 | * from this software without specific prior written permission. 23 | * 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 27 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 28 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 29 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 30 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 31 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 34 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 | * POSSIBILITY OF SUCH DAMAGE. 36 | * 37 | */ 38 | 39 | #pragma once 40 | 41 | #include 42 | #include 43 | #include 44 | #include 45 | #include 46 | #include 47 | #include 48 | #include 49 | #include 50 | #include 51 | #include 52 | 53 | //#define HAVE_ORGANIZED_EDGES 54 | #ifdef HAVE_ORGANIZED_EDGES 55 | #include 56 | #endif 57 | 58 | // Useful macros 59 | #define FPS_CALC(_WHAT_) \ 60 | do \ 61 | { \ 62 | static unsigned count = 0;\ 63 | static double last = pcl::getTime ();\ 64 | double now = pcl::getTime (); \ 65 | ++count; \ 66 | if (now - last >= 1.0) \ 67 | { \ 68 | std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ 69 | count = 0; \ 70 | last = now; \ 71 | } \ 72 | }while(false) 73 | 74 | namespace cogrob 75 | { 76 | 77 | /** 78 | * \brief OrganizedSegmentationTBB concurrently performs various types of segmentation and feature extraction. 79 | * This includes a pipeline that performs normal estimation -> plane segmentation -> euclidean clustering. 80 | * Applications include tabletop object detection, and semantic mapping. Various callbacks are provided for 81 | * different output formats. 82 | * 83 | * \note If you use plane segmentation or euclidean clustering, please cite: 84 | * 85 | * - A. J. B. Trevor, S. Gedikli, R. Rusu, H. Christensen. 86 | * Efficient Organized Point Cloud Segmentation with Connected Components. 87 | * 3rd Workshop on Semantic Perception, Mapping and Exploration (SPME) 88 | * Karlsruhe, Germany, May 5th, 2013. 89 | * 90 | * \note If you use the organized edge detection, please cite: 91 | * 92 | * - C. Choi, A. J. B. Trevor, H. I. Christensen. 93 | * RGB-D Edge Detection and Edge Registration. 94 | * IROS, 2013. 95 | * 96 | * \author Alex Trevor 97 | */ 98 | template 99 | class OrganizedSegmentationTBB 100 | { 101 | typedef pcl::PointCloud Cloud; 102 | typedef typename Cloud::Ptr CloudPtr; 103 | typedef typename Cloud::ConstPtr CloudConstPtr; 104 | typedef pcl::PointCloud NormalCloud; 105 | typedef typename NormalCloud::Ptr NormalCloudPtr; 106 | typedef typename NormalCloud::ConstPtr NormalCloudConstPtr; 107 | typedef pcl::PointCloud LabelCloud; 108 | typedef typename LabelCloud::Ptr LabelCloudPtr; 109 | typedef typename LabelCloud::ConstPtr LabelCloudConstPtr; 110 | typedef boost::posix_time::ptime Time; 111 | 112 | protected: 113 | // Most recent cloud from the sensor 114 | CloudConstPtr prev_sensor_cloud_; 115 | boost::mutex sensor_cloud_mutex; 116 | 117 | // Latest cloud from the sensor 118 | boost::optional input_cloud_; 119 | 120 | // Output from Normal Estimation 121 | boost::optional ne_output_normals_; 122 | boost::optional ne_output_cloud_; 123 | 124 | // Input to Multi Plane Segmentation 125 | boost::optional mps_input_cloud_; 126 | boost::optional mps_input_normals_; 127 | 128 | // Output from Multi Plane Segmentation 129 | boost::optional mps_output_cloud_; 130 | boost::optional, Eigen::aligned_allocator > > > mps_output_regions_; 131 | boost::optional mps_output_labels_; 132 | boost::optional > mps_output_model_coefficients_; 133 | boost::optional > mps_output_inlier_indices_; 134 | boost::optional > mps_output_label_indices_; 135 | boost::optional > mps_output_boundary_indices_; 136 | 137 | // Input to Euclidean Clustering 138 | boost::optional clust_input_cloud_; 139 | boost::optional, Eigen::aligned_allocator > > > clust_input_regions_; 140 | boost::optional clust_input_labels_; 141 | boost::optional > clust_input_model_coefficients_; 142 | boost::optional > clust_input_inlier_indices_; 143 | boost::optional > clust_input_label_indices_; 144 | boost::optional > clust_input_boundary_indices_; 145 | 146 | // Output from Euclidean Clustering 147 | boost::optional clust_output_labels_; 148 | boost::optional > clust_output_clusters_; 149 | boost::optional > clust_output_cluster_indices_; 150 | 151 | // Output from Occluding Edges 152 | boost::optional oed_output_occluding_edge_cloud_; 153 | 154 | // Publishing 155 | boost::optional pub_cluster_labels_; 156 | boost::optional pub_cluster_cloud_; 157 | boost::optional pub_occluding_edge_cloud_; 158 | boost::optional > pub_clusters_; 159 | boost::optional > pub_cluster_indices_; 160 | boost::optional, Eigen::aligned_allocator > > > pub_mps_regions_; 161 | 162 | boost::mutex cloud_mutex; 163 | 164 | bool updated_cloud_; 165 | 166 | // Normal Estimation 167 | boost::shared_ptr > ne_; 168 | 169 | // Plane Segmentation 170 | boost::shared_ptr > mps_; 171 | 172 | // Objects 173 | typename pcl::EuclideanClusterComparator::Ptr euclidean_cluster_comparator_; 174 | 175 | // Edge Detection 176 | #ifdef HAVE_ORGANIZED_EDGE 177 | pcl::OrganizedEdgeFromRGBNormals oed; 178 | #endif 179 | 180 | // Planar Region Callback 181 | boost::function, Eigen::aligned_allocator > >&)> planar_region_callback_; 182 | 183 | // Planar Region Stamped Callback 184 | boost::function, Eigen::aligned_allocator > >, Time)> planar_region_stamped_callback_; 185 | 186 | std::vector, Eigen::aligned_allocator > >&, Time&)> > planar_region_stamped_callbacks_; 187 | 188 | // Planar Regions with inliers (for visualization, usually). Cloud, models, inliers, label indices, boundary indices 189 | std::vector, std::vector, std::vector, std::vector)> > full_planar_callbacks_; 190 | 191 | // Edge Callbacks 192 | boost::function occluding_edge_callback_; 193 | 194 | // Plane Label Callback 195 | boost::function plane_label_cloud_callback_; 196 | 197 | // Cluster Label Callback 198 | std::vector > cluster_label_cloud_callbacks_; 199 | 200 | // RegionCloud Callback 201 | boost::function, Eigen::aligned_allocator > >&)> region_cloud_callback_; 202 | 203 | // Cluster Cloud Callback 204 | std::vector, Time t, boost::optional > )> > cluster_cloud_callbacks_; 205 | 206 | // Cluster Cloud Indices Callback 207 | //std::vector, std::vector, Time t)> > cluster_cloud_indices_callbacks_; 208 | std::vector)> > full_cluster_callbacks_; 209 | 210 | // Set min plane inliers 211 | void setMinPlaneInliers (int min_inliers) { min_plane_inliers_ = min_inliers; mps_->setMinInliers (min_inliers); } 212 | 213 | // Set min cluster inliers 214 | void setMinClusterInliers (int min_inliers) { min_cluster_inliers_ = min_inliers; } 215 | 216 | // Threads 217 | boost::thread spin_thread; 218 | 219 | // Parameters 220 | int min_plane_inliers_; 221 | int min_cluster_inliers_; 222 | 223 | // Flags 224 | bool debug_; 225 | bool timing_; 226 | bool ready_; 227 | 228 | // Output 229 | std::ofstream ne_times_file_; 230 | std::ofstream mps_times_file_; 231 | 232 | private: 233 | void spinThread (); 234 | 235 | /** \brief Pipeline stage: computes the surface normals. */ 236 | void computeNormals (); 237 | 238 | /** \brief Pipeline stage: performs plane segmentation. */ 239 | void computePlanes (); 240 | 241 | /** \brief Pipeline stage: performs euclidean clustering on remaining non-planar areas. */ 242 | void computeClusters (); 243 | 244 | /** \brief Feature extraction: Computes edges. */ 245 | #ifdef HAVE_ORGANIZED_EDGE 246 | void computeEdges (); 247 | #endif 248 | 249 | /** \brief Pipeline stage: publishes output to callbacks. */ 250 | void publish (); 251 | 252 | /** \brief converts a PCL stamp to a boost posix time. */ 253 | static Time stamp2ptime (uint64_t stamp); 254 | 255 | public: 256 | /** \brief Default Constructor. */ 257 | OrganizedSegmentationTBB (); 258 | 259 | /** \brief Input is provided to the segmentation class through this callback. */ 260 | void cloudCallback (const CloudConstPtr& cloud); 261 | 262 | /** \brief Returns false if any pipeline stage is currently processing, true otherwise. */ 263 | bool ready (); 264 | 265 | /** \brief Call once to start a processing thread for the pipeline. Non-blocking. */ 266 | void spin (); 267 | 268 | /** \brief Call to process one step of the pipeline. */ 269 | void spinOnce(); 270 | 271 | /** \brief Installs a planar region callback. */ 272 | void setPlanarRegionCallback (boost::function, Eigen::aligned_allocator > >&)>& fn); 273 | 274 | /** \brief Installs a planar region callback with timestamp. */ 275 | void setPlanarRegionStampedCallback (boost::function, Eigen::aligned_allocator > >, Time)>& fn); 276 | 277 | /** \brief Installs a plane callback with all output information. */ 278 | void setFullPlanarRegionCallback (boost::function, std::vector, std::vector, std::vector)>& fn); 279 | 280 | /** \brief Installs an occluding edge callback. */ 281 | void setOccludingEdgeCallback (boost::function& fn); 282 | 283 | /** \brief Installs a callback for the raw planar labels, used by plane segmentation. */ 284 | void setPlaneLabelsCallback (boost::function& fn); 285 | 286 | /** \brief Installs a callback for the raw cluster labels, used by euclidean clustering. */ 287 | void setClusterLabelsCallback (boost::function& fn); 288 | 289 | /** \brief Installs a callback for planar regions withthe cloud they were extracted from. */ 290 | void setRegionCloudCallback (boost::function, Eigen::aligned_allocator > >&)>& fn); 291 | 292 | /** \brief Installs a callback for clusters with point indices. */ 293 | void setClusterCloudCallback (boost::function, Time, boost::optional > )> fn); 294 | 295 | /** \brief Installs a cluster callback with all output information. */ 296 | void setFullClusterCallback (boost::function)>& fn); 297 | 298 | /** \brief Returns a shared pointer to the normal estimation. */ 299 | boost::shared_ptr > getNormalEstimation () 300 | { 301 | return (ne_); 302 | } 303 | 304 | /** \brief Returns a shared point to the plane segmentation. */ 305 | boost::shared_ptr > getPlaneSegmentation () 306 | { 307 | return (mps_); 308 | } 309 | 310 | /** \brief Returns a shared pointer to the euclidean clustering comparator. */ 311 | boost::shared_ptr > getClusterComparator () 312 | { 313 | return (euclidean_cluster_comparator_); 314 | } 315 | 316 | }; 317 | 318 | } 319 | -------------------------------------------------------------------------------- /src/organized_segmentation_tbb.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Software License Agreement (BSD License) 3 | * 4 | * OmniMapper 5 | * Copyright (c) 2012-, Georgia Tech Research Corporation, 6 | * Atlanta, Georgia 30332-0415 7 | * 8 | * All rights reserved. 9 | * 10 | * Redistribution and use in source and binary forms, with or without 11 | * modification, are permitted provided that the following conditions 12 | * are met: 13 | * 14 | * * Redistributions of source code must retain the above copyright 15 | * notice, this list of conditions and the following disclaimer. 16 | * * Redistributions in binary form must reproduce the above 17 | * copyright notice, this list of conditions and the following 18 | * disclaimer in the documentation and/or other materials provided 19 | * with the distribution. 20 | * * Neither the name of the copyright holder(s) nor the names of its 21 | * contributors may be used to endorse or promote products derived 22 | * from this software without specific prior written permission. 23 | * 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 27 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 28 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 29 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 30 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 31 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 34 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 | * POSSIBILITY OF SUCH DAMAGE. 36 | * 37 | */ 38 | 39 | #include 40 | #include 41 | #include 42 | #include 43 | #include 44 | #include 45 | #include 46 | #include 47 | #include 48 | 49 | namespace cogrob 50 | { 51 | template 52 | OrganizedSegmentationTBB::OrganizedSegmentationTBB () 53 | : input_cloud_ (boost::none), 54 | ne_output_normals_ (boost::none), 55 | ne_output_cloud_ (boost::none), 56 | mps_input_cloud_ (boost::none), 57 | mps_input_normals_ (boost::none), 58 | mps_output_regions_ (boost::none), 59 | mps_output_cloud_ (boost::none), 60 | mps_output_labels_ (new LabelCloud ()), 61 | clust_input_cloud_ (boost::none), 62 | clust_input_labels_ (boost::none), 63 | pub_cluster_labels_ (boost::none), 64 | pub_cluster_cloud_ (boost::none), 65 | pub_occluding_edge_cloud_ (boost::none), 66 | pub_mps_regions_ (boost::none), 67 | clust_output_labels_ (boost::none), 68 | oed_output_occluding_edge_cloud_ (boost::none), 69 | updated_cloud_ (false), 70 | ne_(new pcl::IntegralImageNormalEstimation()), 71 | mps_(new pcl::OrganizedMultiPlaneSegmentation()), 72 | euclidean_cluster_comparator_ (new pcl::EuclideanClusterComparator()), 73 | min_plane_inliers_ (10000), 74 | min_cluster_inliers_ (1000), 75 | debug_ (false), 76 | timing_ (false), 77 | ready_ (true) 78 | { 79 | if (debug_) 80 | printf ("Start!\n"); 81 | 82 | // Set up Normal Estimation 83 | //ne_->setNormalEstimationMethod (ne_->SIMPLE_3D_GRADIENT); 84 | ne_->setNormalEstimationMethod (ne_->COVARIANCE_MATRIX); 85 | ne_->setMaxDepthChangeFactor (0.02f); 86 | ne_->setNormalSmoothingSize (20.0f); 87 | 88 | // Set up plane segmentation 89 | mps_->setMinInliers (min_plane_inliers_); 90 | mps_->setAngularThreshold (pcl::deg2rad (2.0));//2.0 91 | mps_->setDistanceThreshold (0.02);//0.03 92 | mps_->setProjectPoints (true); 93 | //mps_->setRemoveDuplicatePoints (false); // need atrevor pcl branch 94 | pcl::PlaneCoefficientComparator::Ptr plane_compare (new pcl::PlaneCoefficientComparator()); 95 | plane_compare->setAngularThreshold (pcl::deg2rad (2.0));//3.0 96 | plane_compare->setDistanceThreshold (0.01, true);//0.02, true 97 | mps_->setComparator (plane_compare); 98 | 99 | pcl::PlaneRefinementComparator::Ptr refine_compare (new pcl::PlaneRefinementComparator ()); 100 | refine_compare->setDistanceThreshold (0.005, false);//0.01, true//0.0025 101 | mps_->setRefinementComparator (refine_compare); 102 | 103 | // Set up edge detection 104 | #ifdef HAVE_ORGANIZED_EDGES 105 | oed.setDepthDisconThreshold (0.04f); 106 | oed.setMaxSearchNeighbors (100); 107 | oed.setEdgeType (oed.EDGELABEL_NAN_BOUNDARY | oed.EDGELABEL_OCCLUDING | oed.EDGELABEL_OCCLUDED); 108 | //oed.setEdgeType (oed.EDGELABEL_RGB_CANNY); 109 | #endif 110 | 111 | // Set up output 112 | if (timing_) 113 | { 114 | ne_times_file_.open ("/home/atrevor/Desktop/ne_times.txt"); 115 | mps_times_file_.open ("/home/atrevor/Desktop/mps_times.txt"); 116 | } 117 | 118 | //PCL_INFO ("Starting process thread\n"); 119 | //process_thread = boost::thread (&OrganizedSegmentationTBB::spin, this); 120 | } 121 | 122 | // Get latest cloud from the sensor 123 | template void 124 | OrganizedSegmentationTBB::cloudCallback (const CloudConstPtr& cloud) 125 | { 126 | // Store cloud 127 | boost::lock_guard lock (cloud_mutex); 128 | { 129 | prev_sensor_cloud_ = cloud; 130 | updated_cloud_ = true; 131 | ready_ = false; 132 | } 133 | //updated_cond_.notify_one (); 134 | } 135 | 136 | template bool 137 | OrganizedSegmentationTBB::ready () 138 | { 139 | boost::mutex::scoped_lock lock(cloud_mutex); 140 | return (ready_); 141 | } 142 | 143 | 144 | template void 145 | OrganizedSegmentationTBB::spin () 146 | { 147 | spin_thread = boost::thread (&OrganizedSegmentationTBB::spinThread, this); 148 | } 149 | 150 | 151 | template void 152 | OrganizedSegmentationTBB::spinThread () 153 | { 154 | while (true) 155 | { 156 | boost::this_thread::sleep (boost::posix_time::milliseconds (5)); 157 | spinOnce (); 158 | } 159 | } 160 | 161 | template void 162 | OrganizedSegmentationTBB::spinOnce() 163 | { 164 | double frame_start = pcl::getTime (); 165 | // Get latest cloud 166 | input_cloud_ = boost::none; 167 | if (cloud_mutex.try_lock()) 168 | { 169 | if (updated_cloud_) 170 | { 171 | input_cloud_ = prev_sensor_cloud_; 172 | updated_cloud_ = false; 173 | ready_ = false; 174 | } 175 | cloud_mutex.unlock(); 176 | } 177 | 178 | // Normal Estimation && MPS && Clustering 179 | tbb::task_group group; 180 | group.run ([&] { computeNormals (); }); 181 | group.run ([&] { computePlanes (); }); 182 | if ((cluster_cloud_callbacks_.size () > 0) || (cluster_label_cloud_callbacks_.size () > 0) || (full_cluster_callbacks_.size () > 0)) 183 | group.run ([&] { computeClusters (); }); 184 | #ifdef HAVE_ORGANIZED_EDGE 185 | if (occluding_edge_callback_) 186 | group.run ([&] { computeEdges (); }); 187 | #endif 188 | group.run ([&] { publish (); }); 189 | group.wait (); 190 | 191 | // Move clouds along pipeline 192 | pub_cluster_cloud_ = clust_input_cloud_; 193 | pub_cluster_labels_ = clust_output_labels_; 194 | pub_clusters_ = clust_output_clusters_; 195 | pub_cluster_indices_ = clust_output_cluster_indices_; 196 | pub_occluding_edge_cloud_ = oed_output_occluding_edge_cloud_; 197 | pub_mps_regions_ = mps_output_regions_; 198 | 199 | clust_input_cloud_ = mps_input_cloud_; 200 | clust_input_regions_ = mps_output_regions_; 201 | clust_input_labels_ = mps_output_labels_; 202 | clust_input_model_coefficients_ = mps_output_model_coefficients_; 203 | clust_input_inlier_indices_ = mps_output_inlier_indices_; 204 | clust_input_label_indices_ = mps_output_label_indices_; 205 | clust_input_boundary_indices_ = mps_output_boundary_indices_; 206 | 207 | mps_input_normals_ = ne_output_normals_; 208 | mps_input_cloud_ = input_cloud_; 209 | 210 | if(!ne_output_normals_ && !mps_output_labels_ && !clust_output_labels_ && !pub_cluster_labels_ && !oed_output_occluding_edge_cloud_ && !pub_occluding_edge_cloud_) 211 | { 212 | boost::mutex::scoped_lock (cloud_mutex); 213 | { 214 | ready_ = true; 215 | } 216 | } 217 | 218 | double frame_end = pcl::getTime (); 219 | if (debug_) 220 | std::cout << "Frame took: " << double(frame_end - frame_start) << std::endl; 221 | } 222 | 223 | template void 224 | OrganizedSegmentationTBB::publish () 225 | { 226 | // Publish plane Labels 227 | if (plane_label_cloud_callback_) 228 | { 229 | if (clust_input_cloud_ && clust_input_labels_) 230 | { 231 | plane_label_cloud_callback_ (*clust_input_cloud_, *clust_input_labels_); 232 | } 233 | } 234 | 235 | // Publish plane regions 236 | if (planar_region_stamped_callbacks_.size () > 0) 237 | { 238 | if (pub_mps_regions_) 239 | { 240 | Time timestamp = stamp2ptime ((*clust_input_cloud_)->header.stamp); 241 | for (int i = 0; i < planar_region_stamped_callbacks_.size (); i++) 242 | planar_region_stamped_callbacks_[i](*pub_mps_regions_, timestamp); 243 | } 244 | } 245 | 246 | // Publish full planar regions 247 | if (full_planar_callbacks_.size () > 0) 248 | { 249 | if (pub_mps_regions_) 250 | { 251 | Time timestamp = stamp2ptime ((*clust_input_cloud_)->header.stamp); 252 | for (int i = 0; i < full_planar_callbacks_.size (); i++) 253 | full_planar_callbacks_[i](*clust_input_cloud_, timestamp, 254 | *clust_input_model_coefficients_, 255 | *clust_input_inlier_indices_, 256 | *clust_input_label_indices_, 257 | *clust_input_boundary_indices_); 258 | } 259 | } 260 | 261 | // Publish Cluster Labels 262 | if (cluster_label_cloud_callbacks_.size () > 0) 263 | { 264 | if (pub_cluster_cloud_ && pub_cluster_labels_) 265 | { 266 | for (int i = 0; i < cluster_label_cloud_callbacks_.size (); i++) 267 | cluster_label_cloud_callbacks_[i](*pub_cluster_cloud_, *pub_cluster_labels_); 268 | } 269 | } 270 | 271 | // Publish Cluster Clouds 272 | if (cluster_cloud_callbacks_.size () > 0) 273 | { 274 | if (pub_cluster_cloud_) 275 | { 276 | Time timestamp = stamp2ptime ((*pub_cluster_cloud_)->header.stamp); 277 | for (int i = 0; i < cluster_cloud_callbacks_.size (); i++) 278 | { 279 | cluster_cloud_callbacks_[i] (*pub_clusters_, timestamp, *pub_cluster_indices_); 280 | } 281 | } 282 | } 283 | 284 | // Publish full cluster info 285 | if (full_cluster_callbacks_.size () > 0) 286 | { 287 | if (pub_cluster_cloud_ && pub_cluster_indices_) 288 | { 289 | Time timestamp = stamp2ptime ((*pub_cluster_cloud_)->header.stamp); 290 | for (int i = 0; i < full_cluster_callbacks_.size (); i++) 291 | { 292 | full_cluster_callbacks_[i] (*pub_cluster_cloud_, timestamp, *pub_cluster_indices_); 293 | } 294 | } 295 | } 296 | 297 | // Publish Occluding Edges 298 | if (occluding_edge_callback_) 299 | { 300 | if (pub_occluding_edge_cloud_) 301 | { 302 | occluding_edge_callback_ (*pub_occluding_edge_cloud_); 303 | } 304 | } 305 | 306 | 307 | } 308 | 309 | // Compute the normals 310 | template void 311 | OrganizedSegmentationTBB::computeNormals () 312 | { 313 | if (!input_cloud_) 314 | { 315 | ne_output_cloud_ = boost::none; 316 | ne_output_normals_ = boost::none; 317 | return; 318 | } 319 | ne_->setInputCloud(*input_cloud_); 320 | double start = pcl::getTime (); 321 | NormalCloudPtr normals (new NormalCloud ()); 322 | 323 | ne_->compute (*normals); 324 | ne_output_normals_ = normals; 325 | double end = pcl::getTime (); 326 | if (timing_) 327 | { 328 | ne_times_file_ << double(end - start) << std::endl; 329 | std::cout << double(end - start) << std::endl; 330 | } 331 | if (debug_) 332 | std::cout << "NE took : " << double(end - start) << std::endl; 333 | return; 334 | } 335 | 336 | // Compute clusters 337 | template void 338 | OrganizedSegmentationTBB::computeClusters () 339 | { 340 | if (!(clust_input_labels_ && clust_input_cloud_)) 341 | return; 342 | //Segment Objects 343 | std::vector output_clusters; 344 | std::vector output_cluster_indices; 345 | clust_output_clusters_ = output_clusters; 346 | clust_output_cluster_indices_ = output_cluster_indices; 347 | 348 | clust_output_labels_ = LabelCloudPtr(new LabelCloud ()); 349 | 350 | std::vector plane_labels; 351 | plane_labels.resize (clust_input_label_indices_->size (), false); 352 | 353 | if (clust_input_regions_->size () > 0) 354 | { 355 | for (size_t i = 0; i < clust_input_label_indices_->size (); i++) 356 | { 357 | if ((*clust_input_label_indices_)[i].indices.size () > min_plane_inliers_) 358 | { 359 | plane_labels[i] = true; 360 | } 361 | } 362 | } 363 | 364 | euclidean_cluster_comparator_->setInputCloud (*clust_input_cloud_); 365 | euclidean_cluster_comparator_->setLabels (*clust_input_labels_); 366 | euclidean_cluster_comparator_->setExcludeLabels (plane_labels); 367 | euclidean_cluster_comparator_->setDistanceThreshold (0.01f, false); 368 | 369 | pcl::PointCloud euclidean_labels; 370 | std::vector euclidean_label_indices; 371 | pcl::OrganizedConnectedComponentSegmentation euclidean_segmentation (euclidean_cluster_comparator_); 372 | euclidean_segmentation.setInputCloud (*clust_input_cloud_); 373 | euclidean_segmentation.segment (*(*clust_output_labels_), euclidean_label_indices); 374 | 375 | for (size_t i = 0; i < euclidean_label_indices.size (); i++) 376 | { 377 | if (euclidean_label_indices[i].indices.size () > 1000) 378 | { 379 | CloudPtr cluster (new Cloud ()); 380 | pcl::copyPointCloud (*(*clust_input_cloud_), euclidean_label_indices[i].indices, *cluster); 381 | 382 | clust_output_clusters_->push_back (cluster); 383 | clust_output_cluster_indices_->push_back(euclidean_label_indices[i]); 384 | } 385 | } 386 | } 387 | 388 | 389 | // Compute planes 390 | template void 391 | OrganizedSegmentationTBB::computePlanes () 392 | { 393 | //std::cout << "in compute planes" << std::endl; 394 | 395 | if ((!mps_input_cloud_) || (!mps_input_normals_)) 396 | { 397 | mps_output_labels_ = boost::none; 398 | mps_output_regions_ = boost::none; 399 | return; 400 | } 401 | if ((*mps_input_cloud_)->points.size () == 0) 402 | { 403 | mps_output_labels_ = boost::none; 404 | mps_output_regions_ = boost::none; 405 | return; 406 | } 407 | 408 | mps_->setInputNormals (*mps_input_normals_); 409 | mps_->setInputCloud (*mps_input_cloud_); 410 | 411 | double init_start = pcl::getTime (); 412 | std::vector model_coefficients; 413 | std::vector inlier_indices; 414 | std::vector label_indices; 415 | std::vector boundary_indices; 416 | mps_output_model_coefficients_ = model_coefficients; 417 | mps_output_inlier_indices_ = inlier_indices; 418 | mps_output_label_indices_ = label_indices; 419 | mps_output_boundary_indices_ = boundary_indices; 420 | mps_output_labels_ = LabelCloudPtr(new LabelCloud ()); 421 | mps_output_regions_ = std::vector, Eigen::aligned_allocator > > (); 422 | 423 | double start = pcl::getTime (); 424 | mps_->segmentAndRefine ((*mps_output_regions_), (*mps_output_model_coefficients_), (*mps_output_inlier_indices_), (*mps_output_labels_), (*mps_output_label_indices_), (*mps_output_boundary_indices_)); 425 | 426 | double end = pcl::getTime (); 427 | if (debug_) 428 | std::cout << "mps segment and refine took: " << double(end - start) << std::endl; 429 | 430 | if (timing_) 431 | { 432 | mps_times_file_ << double(end - start) << std::endl; 433 | std::cout << double(end - start) << std::endl; 434 | } 435 | } 436 | 437 | // Extract edges 438 | #ifdef HAVE_ORGANIZED_EDGE 439 | template void 440 | OrganizedSegmentationTBB::computeEdges () 441 | { 442 | if (!input_cloud_) 443 | { 444 | oed_output_occluding_edge_cloud_ = boost::none; 445 | return; 446 | } 447 | 448 | double edge_start = pcl::getTime (); 449 | pcl::PointCloud labels; 450 | std::vector label_indices; 451 | oed.setInputCloud (*input_cloud_); 452 | 453 | oed.compute (labels, label_indices); 454 | double edge_end = pcl::getTime (); 455 | if (debug_) 456 | std::cout << "edges took: " << double (edge_end - edge_start) << std::endl; 457 | //oed_output_occluding_edge_cloud_ = CloudPtr(new Cloud ()); 458 | CloudPtr edge_cloud (new Cloud ()); 459 | pcl::copyPointCloud (*(*input_cloud_), label_indices[1], *edge_cloud); 460 | oed_output_occluding_edge_cloud_ = edge_cloud; 461 | } 462 | #endif 463 | 464 | template void 465 | OrganizedSegmentationTBB::setPlanarRegionCallback (boost::function, Eigen::aligned_allocator > >&)>& fn) 466 | { 467 | planar_region_callback_ = fn; 468 | } 469 | 470 | template void 471 | OrganizedSegmentationTBB::setPlanarRegionStampedCallback (boost::function, Eigen::aligned_allocator > >, Time)>& fn) 472 | { 473 | planar_region_stamped_callbacks_.push_back (fn); 474 | } 475 | 476 | template void 477 | OrganizedSegmentationTBB::setFullPlanarRegionCallback (boost::function, std::vector, std::vector, std::vector)>& fn) 478 | { 479 | full_planar_callbacks_.push_back (fn); 480 | } 481 | 482 | template void 483 | OrganizedSegmentationTBB::setOccludingEdgeCallback (boost::function& fn) 484 | { 485 | occluding_edge_callback_ = fn; 486 | } 487 | 488 | template void 489 | OrganizedSegmentationTBB::setPlaneLabelsCallback (boost::function& fn) 490 | { 491 | plane_label_cloud_callback_ = fn; 492 | } 493 | 494 | template void 495 | OrganizedSegmentationTBB::setClusterLabelsCallback (boost::function& fn) 496 | { 497 | cluster_label_cloud_callbacks_.push_back(fn); 498 | } 499 | 500 | template void 501 | OrganizedSegmentationTBB::setRegionCloudCallback (boost::function, Eigen::aligned_allocator > >&)>& fn) 502 | { 503 | region_cloud_callback_ = fn; 504 | } 505 | 506 | template void 507 | OrganizedSegmentationTBB::setClusterCloudCallback (boost::function, Time, boost::optional > )> fn) 508 | { 509 | cluster_cloud_callbacks_.push_back (fn); 510 | } 511 | 512 | template void 513 | OrganizedSegmentationTBB::setFullClusterCallback (boost::function)>& fn) 514 | { 515 | full_cluster_callbacks_.push_back (fn); 516 | } 517 | 518 | template boost::posix_time::ptime 519 | OrganizedSegmentationTBB::stamp2ptime (uint64_t stamp) 520 | { 521 | boost::posix_time::ptime time_t_epoch(boost::gregorian::date(1970,1,1)); 522 | return (time_t_epoch + boost::posix_time::microseconds (stamp)); 523 | } 524 | 525 | } 526 | 527 | //Instantiate 528 | template class cogrob::OrganizedSegmentationTBB; 529 | -------------------------------------------------------------------------------- /src/organized_segmentation_tbb_demo.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Software License Agreement (BSD License) 3 | * 4 | * OmniMapper 5 | * Copyright (c) 2012-, Georgia Tech Research Corporation, 6 | * Atlanta, Georgia 30332-0415 7 | * 8 | * All rights reserved. 9 | * 10 | * Redistribution and use in source and binary forms, with or without 11 | * modification, are permitted provided that the following conditions 12 | * are met: 13 | * 14 | * * Redistributions of source code must retain the above copyright 15 | * notice, this list of conditions and the following disclaimer. 16 | * * Redistributions in binary form must reproduce the above 17 | * copyright notice, this list of conditions and the following 18 | * disclaimer in the documentation and/or other materials provided 19 | * with the distribution. 20 | * * Neither the name of the copyright holder(s) nor the names of its 21 | * contributors may be used to endorse or promote products derived 22 | * from this software without specific prior written permission. 23 | * 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 27 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 28 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 29 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 30 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 31 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 34 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 | * POSSIBILITY OF SUCH DAMAGE. 36 | * 37 | */ 38 | 39 | #include 40 | #include 41 | #include 42 | #include 43 | #include 44 | #include 45 | #include 46 | #include 47 | #include 48 | #include 49 | #include 50 | #include 51 | #include 52 | 53 | /** 54 | * \brief Demonstration of OrganizedFeatureExtractionTBB, based on 55 | * OrganizedConnectedComponentSegmentation, which allows connected 56 | * components to be found within organized point cloud data, given a 57 | * comparison function. Used in this instance for plane segmentation 58 | * and euclidean clustering. 59 | * 60 | * \note If you use this code in any academic work, please cite 61 | * the appropriate references, which can be found in the 62 | * header file. 63 | * 64 | * \author Alex Trevor 65 | */ 66 | 67 | typedef pcl::PointXYZRGBA PointT; 68 | typedef pcl::PointCloud Cloud; 69 | typedef typename Cloud::Ptr CloudPtr; 70 | typedef typename Cloud::ConstPtr CloudConstPtr; 71 | typedef pcl::PointCloud LabelCloud; 72 | typedef typename LabelCloud::Ptr LabelCloudPtr; 73 | typedef typename LabelCloud::ConstPtr LabelCloudConstPtr; 74 | 75 | template 76 | class OrganizedFeatureExtractionDemoTBB 77 | { 78 | public: 79 | typedef pcl::PointCloud Cloud; 80 | typedef typename Cloud::Ptr CloudPtr; 81 | typedef typename Cloud::ConstPtr CloudConstPtr; 82 | typedef pcl::PointCloud LabelCloud; 83 | typedef typename LabelCloud::Ptr LabelCloudPtr; 84 | typedef typename LabelCloud::ConstPtr LabelCloudConstPtr; 85 | 86 | protected: 87 | boost::shared_ptr image_viewer_; 88 | boost::shared_ptr plane_image_viewer_; 89 | 90 | bool updated_; 91 | bool plane_updated_; 92 | CloudConstPtr prev_cloud_; 93 | LabelCloudConstPtr prev_labels_; 94 | CloudConstPtr prev_plane_cloud_; 95 | LabelCloudConstPtr prev_plane_labels_; 96 | std::vector, Eigen::aligned_allocator > > prev_regions_; 97 | boost::mutex cloud_mutex_; 98 | boost::mutex plane_cloud_mutex_; 99 | boost::condition_variable clust_cloud_cond_; 100 | boost::condition_variable plane_cloud_cond_; 101 | 102 | // Full Planes 103 | boost::mutex full_planes_mutex_; 104 | boost::condition_variable full_planes_cv_; 105 | bool full_planes_updated_; 106 | CloudConstPtr full_planes_cloud_; 107 | std::vector full_planes_inliers_; 108 | 109 | // Full Clusters 110 | boost::mutex full_cluster_mutex_; 111 | boost::condition_variable full_cluster_cv_; 112 | bool full_cluster_updated_; 113 | CloudConstPtr full_cluster_cloud_; 114 | std::vector full_clusters_indices_; 115 | 116 | public: 117 | OrganizedFeatureExtractionDemoTBB () 118 | : image_viewer_ (new pcl::visualization::ImageViewer ("Segmented Clusters")), 119 | plane_image_viewer_ (new pcl::visualization::ImageViewer ("Segmented Planes")), 120 | updated_ (false), 121 | plane_updated_ (false), 122 | prev_cloud_ (new Cloud ()), 123 | prev_labels_ (new LabelCloud ()), 124 | full_planes_cloud_ (new Cloud ()), 125 | full_cluster_cloud_ (new Cloud ()) 126 | { 127 | image_viewer_->setPosition (0, 0); 128 | plane_image_viewer_->setPosition (640, 0); 129 | } 130 | 131 | void 132 | planarRegionsCallback (const CloudConstPtr cloud, boost::posix_time::ptime t, std::vector models, 133 | std::vector inlier_indices, std::vector label_indices, 134 | std::vector boudnary_indices) 135 | { 136 | boost::mutex::scoped_lock lock (full_planes_mutex_); 137 | full_planes_cloud_ = cloud; 138 | full_planes_inliers_ = inlier_indices; 139 | full_planes_updated_ = true; 140 | full_planes_cv_.notify_one (); 141 | } 142 | 143 | void 144 | fullClusterCallback (const CloudConstPtr& cloud, boost::posix_time::ptime t, 145 | std::vector indices) 146 | { 147 | boost::mutex::scoped_lock lock (full_cluster_mutex_); 148 | full_cluster_cloud_ = cloud; 149 | full_clusters_indices_ = indices; 150 | full_cluster_updated_ = true; 151 | full_cluster_cv_.notify_one (); 152 | } 153 | 154 | void 155 | clusterLabelsCallback (const CloudConstPtr& cloud, const LabelCloudConstPtr& labels) 156 | { 157 | boost::mutex::scoped_lock lock (cloud_mutex_); 158 | prev_cloud_ = cloud; 159 | prev_labels_ = labels; 160 | updated_ = true; 161 | clust_cloud_cond_.notify_one (); 162 | } 163 | 164 | void 165 | planeLabelsCallback (const CloudConstPtr& cloud, const LabelCloudConstPtr& labels) 166 | { 167 | boost::mutex::scoped_lock lock (plane_cloud_mutex_); 168 | prev_plane_cloud_ = cloud; 169 | prev_plane_labels_ = labels; 170 | plane_updated_ = true; 171 | plane_cloud_cond_.notify_one (); 172 | } 173 | 174 | // Displays segmented planes 175 | void 176 | spinVisFullPlanes () 177 | { 178 | CloudConstPtr cloud (new Cloud ()); 179 | LabelCloudConstPtr labels (new LabelCloud ()); 180 | std::vector inlier_inds; 181 | 182 | { 183 | boost::mutex::scoped_lock lock (full_planes_mutex_); 184 | while (!full_planes_updated_) 185 | { 186 | full_planes_cv_.wait (lock); 187 | } 188 | full_planes_cloud_.swap (cloud); 189 | inlier_inds = full_planes_inliers_; 190 | full_planes_updated_ = false; 191 | } 192 | 193 | CloudPtr color_cloud (new Cloud (*cloud)); 194 | unsigned char red [6] = {255, 0, 0, 255, 255, 0}; 195 | unsigned char grn [6] = { 0, 255, 0, 255, 0, 255}; 196 | unsigned char blu [6] = { 0, 0, 255, 0, 255, 255}; 197 | 198 | for (size_t i = 0; i < inlier_inds.size (); i++) 199 | { 200 | for (size_t j = 0; j < inlier_inds[i].indices.size (); j++) 201 | { 202 | color_cloud->points[inlier_inds[i].indices[j]].r = (cloud->points[inlier_inds[i].indices[j]].r + red[i%6]) / 2; 203 | color_cloud->points[inlier_inds[i].indices[j]].g = (cloud->points[inlier_inds[i].indices[j]].g + grn[i%6]) / 2; 204 | color_cloud->points[inlier_inds[i].indices[j]].b = (cloud->points[inlier_inds[i].indices[j]].b + blu[i%6]) / 2; 205 | } 206 | } 207 | 208 | if (color_cloud->points.size () > 200) 209 | plane_image_viewer_->addRGBImage(color_cloud, "label_image", 0.2); 210 | 211 | plane_image_viewer_->spinOnce (); 212 | } 213 | 214 | // Displays Raw Plane Labels 215 | void 216 | spinVisPlanes () 217 | { 218 | CloudConstPtr cloud (new Cloud ()); 219 | LabelCloudConstPtr labels (new LabelCloud ()); 220 | 221 | { 222 | boost::mutex::scoped_lock lock (plane_cloud_mutex_); 223 | while (!plane_updated_) 224 | { 225 | plane_cloud_cond_.wait (lock); 226 | } 227 | prev_plane_cloud_.swap (cloud); 228 | prev_plane_labels_.swap (labels); 229 | plane_updated_ = false; 230 | } 231 | 232 | CloudPtr color_cloud (new Cloud (*cloud)); 233 | unsigned char red [6] = {255, 0, 0, 255, 255, 0}; 234 | unsigned char grn [6] = { 0, 255, 0, 255, 0, 255}; 235 | unsigned char blu [6] = { 0, 0, 255, 0, 255, 255}; 236 | 237 | for (size_t i = 0; i < cloud->points.size (); i++) 238 | { 239 | if (labels->points[i].label == std::numeric_limits::max ()) 240 | { 241 | // Do nothing 242 | } 243 | else 244 | { 245 | color_cloud->points[i].r = (cloud->points[i].r + red[labels->points[i].label%6]) / 2; 246 | color_cloud->points[i].g = (cloud->points[i].g + grn[labels->points[i].label%6]) / 2; 247 | color_cloud->points[i].b = (cloud->points[i].b + blu[labels->points[i].label%6]) / 2; 248 | } 249 | 250 | } 251 | if (color_cloud->points.size () > 200) 252 | plane_image_viewer_->addRGBImage(color_cloud, "label_image", 0.2); 253 | 254 | plane_image_viewer_->spinOnce (); 255 | } 256 | 257 | // Displays Raw Cluster Labels 258 | void 259 | spinVisClusters () 260 | { 261 | CloudConstPtr cloud (new Cloud ()); 262 | LabelCloudConstPtr labels (new LabelCloud ()); 263 | 264 | { 265 | boost::mutex::scoped_lock lock (cloud_mutex_); 266 | while (!updated_) 267 | { 268 | clust_cloud_cond_.wait (lock); 269 | } 270 | prev_cloud_.swap (cloud); 271 | prev_labels_.swap (labels); 272 | updated_ = false; 273 | } 274 | 275 | CloudPtr color_cloud (new Cloud (*cloud)); 276 | unsigned char red [6] = {255, 0, 0, 255, 255, 0}; 277 | unsigned char grn [6] = { 0, 255, 0, 255, 0, 255}; 278 | unsigned char blu [6] = { 0, 0, 255, 0, 255, 255}; 279 | 280 | for (size_t i = 0; i < cloud->points.size (); i++) 281 | { 282 | if (labels->points[i].label == std::numeric_limits::max ()) 283 | { 284 | // Do nothing 285 | } 286 | else 287 | { 288 | color_cloud->points[i].r = (cloud->points[i].r + red[labels->points[i].label%6]) / 2; 289 | color_cloud->points[i].g = (cloud->points[i].g + grn[labels->points[i].label%6]) / 2; 290 | color_cloud->points[i].b = (cloud->points[i].b + blu[labels->points[i].label%6]) / 2; 291 | } 292 | 293 | } 294 | if (color_cloud->points.size () > 200) 295 | image_viewer_->addRGBImage(color_cloud, "label_image", 0.2); 296 | 297 | image_viewer_->spinOnce (); 298 | } 299 | 300 | // Display Full Clusters 301 | void 302 | spinVisFullClusters () 303 | { 304 | CloudConstPtr cloud (new Cloud ()); 305 | LabelCloudConstPtr labels (new LabelCloud ()); 306 | std::vector cluster_inds; 307 | 308 | { 309 | boost::mutex::scoped_lock lock (full_cluster_mutex_); 310 | while (!full_cluster_updated_) 311 | { 312 | full_cluster_cv_.wait (lock); 313 | } 314 | cloud.swap (full_cluster_cloud_); 315 | cluster_inds = full_clusters_indices_; 316 | full_cluster_updated_ = false; 317 | } 318 | 319 | CloudPtr color_cloud (new Cloud (*cloud)); 320 | unsigned char red [6] = {255, 0, 0, 255, 255, 0}; 321 | unsigned char grn [6] = { 0, 255, 0, 255, 0, 255}; 322 | unsigned char blu [6] = { 0, 0, 255, 0, 255, 255}; 323 | 324 | for (size_t i = 0; i < cluster_inds.size (); i++) 325 | { 326 | for (size_t j = 0; j < cluster_inds[i].indices.size (); j++) 327 | { 328 | color_cloud->points[cluster_inds[i].indices[j]].r = (cloud->points[cluster_inds[i].indices[j]].r + red[i%6]) / 2; 329 | color_cloud->points[cluster_inds[i].indices[j]].g = (cloud->points[cluster_inds[i].indices[j]].g + grn[i%6]) / 2; 330 | color_cloud->points[cluster_inds[i].indices[j]].b = (cloud->points[cluster_inds[i].indices[j]].b + blu[i%6]) / 2; 331 | } 332 | } 333 | 334 | if (color_cloud->points.size () > 200) 335 | image_viewer_->addRGBImage(color_cloud, "label_image", 0.2); 336 | 337 | image_viewer_->spinOnce (); 338 | } 339 | }; 340 | 341 | int 342 | main (int argc, char** argv) 343 | { 344 | bool raw_labels = true; 345 | if (pcl::console::parse_argument (argc, argv, "-raw", raw_labels) == -1) 346 | raw_labels = false; 347 | 348 | // Create our segmentation class 349 | cogrob::OrganizedSegmentationTBB seg; 350 | 351 | // Create a grabber, and hook it up to the feature extraction 352 | pcl::OpenNIGrabber ni_grabber ("#1"); 353 | boost::function f = boost::bind (&cogrob::OrganizedSegmentationTBB::cloudCallback, &seg, _1); 354 | boost::signals2::connection c = ni_grabber.registerCallback (f); 355 | 356 | // Hook up our demo app callbacks, which will visualize the segmentation results 357 | OrganizedFeatureExtractionDemoTBB demo; 358 | boost::function cluster_label_callback = boost::bind (&OrganizedFeatureExtractionDemoTBB::clusterLabelsCallback, &demo, _1, _2); 359 | if (raw_labels) 360 | seg.setClusterLabelsCallback (cluster_label_callback); 361 | boost::function plane_label_callback = boost::bind (&OrganizedFeatureExtractionDemoTBB::planeLabelsCallback, &demo, _1, _2); 362 | if (raw_labels) 363 | seg.setPlaneLabelsCallback (plane_label_callback); 364 | 365 | boost::function, std::vector, std::vector, std::vector)> full_plane_callback = boost::bind (&OrganizedFeatureExtractionDemoTBB::planarRegionsCallback, &demo, _1, _2, _3, _4, _5, _6); 366 | if (!raw_labels) 367 | seg.setFullPlanarRegionCallback (full_plane_callback); 368 | 369 | boost::function)> full_cluster_callback = boost::bind (&OrganizedFeatureExtractionDemoTBB::fullClusterCallback, &demo, _1, _2, _3); 370 | if (!raw_labels) 371 | seg.setFullClusterCallback (full_cluster_callback); 372 | 373 | // Start spinning 374 | ni_grabber.start (); 375 | seg.spin (); 376 | 377 | while (true) 378 | { 379 | boost::this_thread::sleep (boost::posix_time::milliseconds (10)); 380 | if (raw_labels) 381 | { 382 | demo.spinVisClusters (); 383 | demo.spinVisPlanes (); 384 | } 385 | else 386 | { 387 | demo.spinVisFullPlanes (); 388 | demo.spinVisFullClusters (); 389 | } 390 | } 391 | 392 | 393 | return (0); 394 | } 395 | --------------------------------------------------------------------------------