conditional_euclidean_clustering.h

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#ifndef PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_
#define PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_

#include <pcl/pcl_base.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{
  typedef std::vector<pcl::PointIndices> IndicesClusters;
  typedef boost::shared_ptr<std::vector<pcl::PointIndices> > IndicesClustersPtr;

  template<typename PointT>
  class ConditionalEuclideanClustering : public PCLBase<PointT>
  {
    protected:
      typedef typename pcl::search::Search<PointT>::Ptr SearcherPtr;

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

    public:
      ConditionalEuclideanClustering (bool extract_removed_clusters = false) :
          searcher_ (),
          condition_function_ (),
          cluster_tolerance_ (0.0f),
          min_cluster_size_ (1),
          max_cluster_size_ (std::numeric_limits<int>::max ()),
          extract_removed_clusters_ (extract_removed_clusters),
          small_clusters_ (new pcl::IndicesClusters),
          large_clusters_ (new pcl::IndicesClusters)
      {
      }

      inline void
      setConditionFunction (bool (*condition_function) (const PointT&, const PointT&, float)) 
      {
        condition_function_ = condition_function;
      }

      inline void
      setClusterTolerance (float cluster_tolerance)
      {
        cluster_tolerance_ = cluster_tolerance;
      }

      inline float
      getClusterTolerance ()
      {
        return (cluster_tolerance_);
      }

      inline void
      setMinClusterSize (int min_cluster_size)
      {
        min_cluster_size_ = min_cluster_size;
      }

      inline int
      getMinClusterSize ()
      {
        return (min_cluster_size_);
      }

      inline void
      setMaxClusterSize (int max_cluster_size)
      {
        max_cluster_size_ = max_cluster_size;
      }

      inline int
      getMaxClusterSize ()
      {
        return (max_cluster_size_);
      }

      void
      segment (IndicesClusters &clusters);

      inline void
      getRemovedClusters (IndicesClustersPtr &small_clusters, IndicesClustersPtr &large_clusters)
      {
        if (!extract_removed_clusters_)
        {
          PCL_WARN("[pcl::ConditionalEuclideanClustering::getRemovedClusters] You need to set extract_removed_clusters to true (in this class' constructor) if you want to use this functionality.\n");
          return;
        }
        small_clusters = small_clusters_;
        large_clusters = large_clusters_;
      }

    private:
      SearcherPtr searcher_;

      bool (*condition_function_) (const PointT&, const PointT&, float);

      float cluster_tolerance_;

      int min_cluster_size_;

      int max_cluster_size_;

      bool extract_removed_clusters_;

      pcl::IndicesClustersPtr small_clusters_;

      pcl::IndicesClustersPtr large_clusters_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

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

#endif  // PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_