organized_connected_component_segmentation.h
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00039 
00040 #ifndef PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
00041 #define PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
00042 
00043 #include <pcl/pcl_base.h>
00044 #include <pcl/PointIndices.h>
00045 #include <pcl/segmentation/comparator.h>
00046 
00047 namespace pcl
00048 {
00058   template <typename PointT, typename PointLT>
00059   class OrganizedConnectedComponentSegmentation : public PCLBase<PointT>
00060   {
00061     using PCLBase<PointT>::input_;
00062     using PCLBase<PointT>::indices_;
00063     using PCLBase<PointT>::initCompute;
00064     using PCLBase<PointT>::deinitCompute;
00065 
00066     public:
00067       typedef typename pcl::PointCloud<PointT> PointCloud;
00068       typedef typename PointCloud::Ptr PointCloudPtr;
00069       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00070       
00071       typedef typename pcl::PointCloud<PointLT> PointCloudL;
00072       typedef typename PointCloudL::Ptr PointCloudLPtr;
00073       typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;
00074 
00075       typedef typename pcl::Comparator<PointT> Comparator;
00076       typedef typename Comparator::Ptr ComparatorPtr;
00077       typedef typename Comparator::ConstPtr ComparatorConstPtr;
00078       
00082       OrganizedConnectedComponentSegmentation (const ComparatorConstPtr& compare)
00083         : compare_ (compare)
00084       {
00085       }
00086 
00088       virtual
00089       ~OrganizedConnectedComponentSegmentation ()
00090       {
00091       }
00092 
00096       void
00097       setComparator (const ComparatorConstPtr& compare)
00098       {
00099         compare_ = compare;
00100       }
00101       
00103       ComparatorConstPtr
00104       getComparator () const { return (compare_); }
00105 
00110       void
00111       segment (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
00112       
00118       static void
00119       findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices& boundary_indices);      
00120       
00121 
00122     protected:
00123       ComparatorConstPtr compare_;
00124       
00125       inline unsigned
00126       findRoot (const std::vector<unsigned>& runs, unsigned index) const
00127       {
00128         register unsigned idx = index;
00129         while (runs[idx] != idx)
00130           idx = runs[idx];
00131 
00132         return (idx);
00133       }
00134 
00135     private:
00136       struct Neighbor
00137       {
00138         Neighbor (int dx, int dy, int didx)
00139         : d_x (dx)
00140         , d_y (dy)
00141         , d_index (didx)
00142         {}
00143         
00144         int d_x;
00145         int d_y;
00146         int d_index; // = dy * width + dx: pre-calculated
00147       };
00148   };
00149 }
00150 
00151 #ifdef PCL_NO_PRECOMPILE
00152 #include <pcl/segmentation/impl/organized_connected_component_segmentation.hpp>
00153 #endif
00154 
00155 #endif //#ifndef PCL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:27:11