min_cut_segmentation.h

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#ifndef PCL_MIN_CUT_SEGMENTATION_H_
#define PCL_MIN_CUT_SEGMENTATION_H_

#include <pcl/segmentation/boost.h>
#if (BOOST_VERSION >= 104400)
#include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/search/search.h>
#include <string>
#include <set>

namespace pcl
{
  template <typename PointT>
  class PCL_EXPORTS MinCutSegmentation : public pcl::PCLBase<PointT>
  {
    public:

      typedef pcl::search::Search <PointT> KdTree;
      typedef typename KdTree::Ptr KdTreePtr;
      typedef pcl::PointCloud< PointT > PointCloud;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      using PCLBase <PointT>::input_;
      using PCLBase <PointT>::indices_;
      using PCLBase <PointT>::initCompute;
      using PCLBase <PointT>::deinitCompute;

    public:

      typedef boost::adjacency_list_traits< boost::vecS, boost::vecS, boost::directedS > Traits;

      typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::directedS,
                                     boost::property< boost::vertex_name_t, std::string,
                                       boost::property< boost::vertex_index_t, long,
                                         boost::property< boost::vertex_color_t, boost::default_color_type,
                                           boost::property< boost::vertex_distance_t, long,
                                             boost::property< boost::vertex_predecessor_t, Traits::edge_descriptor > > > > >,
                                     boost::property< boost::edge_capacity_t, double,
                                       boost::property< boost::edge_residual_capacity_t, double,
                                         boost::property< boost::edge_reverse_t, Traits::edge_descriptor > > > > mGraph;

      typedef boost::property_map< mGraph, boost::edge_capacity_t >::type CapacityMap;

      typedef boost::property_map< mGraph, boost::edge_reverse_t>::type ReverseEdgeMap;

      typedef Traits::vertex_descriptor VertexDescriptor;

      typedef boost::graph_traits< mGraph >::edge_descriptor EdgeDescriptor;

      typedef boost::graph_traits< mGraph >::out_edge_iterator OutEdgeIterator;

      typedef boost::graph_traits< mGraph >::vertex_iterator VertexIterator;

      typedef boost::property_map< mGraph, boost::edge_residual_capacity_t >::type ResidualCapacityMap;

      typedef boost::property_map< mGraph, boost::vertex_index_t >::type IndexMap;

      typedef boost::graph_traits< mGraph >::in_edge_iterator InEdgeIterator;

    public:

      MinCutSegmentation ();

      virtual
      ~MinCutSegmentation ();

      virtual void
      setInputCloud (const PointCloudConstPtr &cloud);

      double
      getSigma () const;

      void
      setSigma (double sigma);

      double
      getRadius () const;

      void
      setRadius (double radius);

      double
      getSourceWeight () const;

      void
      setSourceWeight (double weight);

      KdTreePtr
      getSearchMethod () const;

      void
      setSearchMethod (const KdTreePtr& tree);

      unsigned int
      getNumberOfNeighbours () const;

      void
      setNumberOfNeighbours (unsigned int neighbour_number);

      std::vector<PointT, Eigen::aligned_allocator<PointT> >
      getForegroundPoints () const;

      void
      setForegroundPoints (typename pcl::PointCloud<PointT>::Ptr foreground_points);

      std::vector<PointT, Eigen::aligned_allocator<PointT> >
      getBackgroundPoints () const;

      void
      setBackgroundPoints (typename pcl::PointCloud<PointT>::Ptr background_points);

      void
      extract (std::vector <pcl::PointIndices>& clusters);

      double
      getMaxFlow () const;

      typename boost::shared_ptr<typename pcl::MinCutSegmentation<PointT>::mGraph>
      getGraph () const;

      pcl::PointCloud<pcl::PointXYZRGB>::Ptr
      getColoredCloud ();

    protected:

      bool
      buildGraph ();

      void
      calculateUnaryPotential (int point, double& source_weight, double& sink_weight) const;

      bool
      addEdge (int source, int target, double weight);

      double
      calculateBinaryPotential (int source, int target) const;

      bool
      recalculateUnaryPotentials ();

      bool
      recalculateBinaryPotentials ();

      void
      assembleLabels (ResidualCapacityMap& residual_capacity);

    protected:

      double inverse_sigma_;

      bool binary_potentials_are_valid_;

      double epsilon_;

      double radius_;

      bool unary_potentials_are_valid_;

      double source_weight_;

      KdTreePtr search_;

      unsigned int number_of_neighbours_;

      bool graph_is_valid_;

      std::vector<PointT, Eigen::aligned_allocator<PointT> > foreground_points_;

      std::vector<PointT, Eigen::aligned_allocator<PointT> > background_points_;

      std::vector <pcl::PointIndices> clusters_;

      boost::shared_ptr<mGraph> graph_;

      boost::shared_ptr<CapacityMap> capacity_;

      boost::shared_ptr<ReverseEdgeMap> reverse_edges_;

      std::vector< VertexDescriptor > vertices_;

      std::vector< std::set<int> > edge_marker_;

      VertexDescriptor source_;

      VertexDescriptor sink_;

      double max_flow_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/segmentation/impl/min_cut_segmentation.hpp>
#endif

#endif
#endif