edge_types.h

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#ifndef __COB_3D_SEGMENTATION_EDGE_TYPES_H__
#define __COB_3D_SEGMENTATION_EDGE_TYPES_H__

#include <list>
#include <map>
#include <utility>

namespace cob_3d_segmentation
{
  class BoundaryPoint
  {
  public:
    BoundaryPoint(int idx=0) : brother(idx), normal() { }
    
    int brother;
    Eigen::Vector3f normal;
  };

  class BoundaryPointsEdge
  {
  public:
    BoundaryPointsEdge() : width(1)
      , boundary_pairs()
      , smoothness(0.0) { }

    inline std::pair<std::list<int>::iterator, std::list<int>::iterator> getBoundaryPairs()
    { return std::make_pair(boundary_pairs.begin()->second.begin(), boundary_pairs.begin()->second.end()); }

    inline std::pair<std::list<int>::iterator, std::list<int>::iterator> getBoundaryPairsOf(int cid)
    { return std::make_pair(boundary_pairs[cid].begin(), boundary_pairs[cid].end()); }

    inline std::list<int>::size_type size() const { return boundary_pairs.begin()->second.size(); }

    inline void addBoundaryIndices(const int cid1, const int cid2, const int idx1, const int idx2)
    {
      boundary_pairs[cid1].push_back(idx2);
      boundary_pairs[cid2].push_back(idx1);
    }

    inline bool isAttachedTo(int cid) { return (boundary_pairs.find(cid) != boundary_pairs.end()); }
    
    int width;
    std::map<int,std::list<int> > boundary_pairs;
    float smoothness;
  };
}

#endif