region_growing_rgb.h

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 * Author : Sergey Ushakov
 * Email  : mine_all_mine@bk.ru
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#ifndef PCL_REGION_GROWING_RGB_H_
#define PCL_REGION_GROWING_RGB_H_

#include <pcl/segmentation/region_growing.h>

namespace pcl
{
  template <typename PointT, typename NormalT = pcl::Normal>
  class PCL_EXPORTS RegionGrowingRGB : public RegionGrowing<PointT, NormalT>
  {
    public:

      using RegionGrowing<PointT, NormalT>::input_;
      using RegionGrowing<PointT, NormalT>::indices_;
      using RegionGrowing<PointT, NormalT>::initCompute;
      using RegionGrowing<PointT, NormalT>::deinitCompute;
      using RegionGrowing<PointT, NormalT>::normals_;
      using RegionGrowing<PointT, NormalT>::normal_flag_;
      using RegionGrowing<PointT, NormalT>::curvature_flag_;
      using RegionGrowing<PointT, NormalT>::residual_flag_;
      using RegionGrowing<PointT, NormalT>::residual_threshold_;
      using RegionGrowing<PointT, NormalT>::neighbour_number_;
      using RegionGrowing<PointT, NormalT>::search_;
      using RegionGrowing<PointT, NormalT>::min_pts_per_cluster_;
      using RegionGrowing<PointT, NormalT>::max_pts_per_cluster_;
      using RegionGrowing<PointT, NormalT>::smooth_mode_flag_;
      using RegionGrowing<PointT, NormalT>::theta_threshold_;
      using RegionGrowing<PointT, NormalT>::curvature_threshold_;
      using RegionGrowing<PointT, NormalT>::point_neighbours_;
      using RegionGrowing<PointT, NormalT>::point_labels_;
      using RegionGrowing<PointT, NormalT>::num_pts_in_segment_;
      using RegionGrowing<PointT, NormalT>::clusters_;
      using RegionGrowing<PointT, NormalT>::number_of_segments_;
      using RegionGrowing<PointT, NormalT>::applySmoothRegionGrowingAlgorithm;
      using RegionGrowing<PointT, NormalT>::assembleRegions;

    public:

      RegionGrowingRGB ();

      virtual
      ~RegionGrowingRGB ();

      float
      getPointColorThreshold () const;

      void
      setPointColorThreshold (float thresh);

      float
      getRegionColorThreshold () const;

      void
      setRegionColorThreshold (float thresh);

      float
      getDistanceThreshold () const;

      void
      setDistanceThreshold (float thresh);

      unsigned int
      getNumberOfRegionNeighbours () const;

      void
      setNumberOfRegionNeighbours (unsigned int nghbr_number);

      bool
      getNormalTestFlag () const;

      void
      setNormalTestFlag (bool value);

      virtual void
      setCurvatureTestFlag (bool value);

      virtual void
      setResidualTestFlag (bool value);

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

      virtual void
      getSegmentFromPoint (int index, pcl::PointIndices& cluster);

    protected:

      virtual bool
      prepareForSegmentation ();

      virtual void
      findPointNeighbours ();

      void
      findSegmentNeighbours ();

      void
      findRegionsKNN (int index, int nghbr_number, std::vector<int>& nghbrs, std::vector<float>& dist);

      void
      applyRegionMergingAlgorithm ();

      float
      calculateColorimetricalDifference (std::vector<unsigned int>& first_color, std::vector<unsigned int>& second_color) const;

      void
      findRegionNeighbours (std::vector< std::vector< std::pair<float, int> > >& neighbours_out, std::vector< std::vector<int> >& regions_in);

      void
      assembleRegions (std::vector<unsigned int>& num_pts_in_region, int num_regions);

      virtual bool
      validatePoint (int initial_seed, int point, int nghbr, bool& is_a_seed) const;

    protected:

      float color_p2p_threshold_;

      float color_r2r_threshold_;

      float distance_threshold_;

      unsigned int region_neighbour_number_;

      std::vector< std::vector<float> > point_distances_;

      std::vector< std::vector<int> > segment_neighbours_;

      std::vector< std::vector<float> > segment_distances_;

      std::vector<int> segment_labels_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

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

#endif