organized_connected_component_segmentation.h

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#ifndef PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
#define PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_

#include <pcl/pcl_base.h>
#include <pcl/PointIndices.h>
#include <pcl/segmentation/comparator.h>

namespace pcl
{
  template <typename PointT, typename PointLT>
  class OrganizedConnectedComponentSegmentation : public PCLBase<PointT>
  {
    using PCLBase<PointT>::input_;
    using PCLBase<PointT>::indices_;
    using PCLBase<PointT>::initCompute;
    using PCLBase<PointT>::deinitCompute;

    public:
      typedef typename pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;
      
      typedef typename pcl::PointCloud<PointLT> PointCloudL;
      typedef typename PointCloudL::Ptr PointCloudLPtr;
      typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

      typedef typename pcl::Comparator<PointT> Comparator;
      typedef typename Comparator::Ptr ComparatorPtr;
      typedef typename Comparator::ConstPtr ComparatorConstPtr;
      
      OrganizedConnectedComponentSegmentation (const ComparatorConstPtr& compare)
        : compare_ (compare)
      {
      }

      virtual
      ~OrganizedConnectedComponentSegmentation ()
      {
      }

      void
      setComparator (const ComparatorConstPtr& compare)
      {
        compare_ = compare;
      }
      
      ComparatorConstPtr
      getComparator () const { return (compare_); }

      void
      segment (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
      
      static void
      findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices& boundary_indices);      
      

    protected:
      ComparatorConstPtr compare_;
      
      inline unsigned
      findRoot (const std::vector<unsigned>& runs, unsigned index) const
      {
        register unsigned idx = index;
        while (runs[idx] != idx)
          idx = runs[idx];

        return (idx);
      }

    private:
      struct Neighbor
      {
        Neighbor (int dx, int dy, int didx)
        : d_x (dx)
        , d_y (dy)
        , d_index (didx)
        {}
        
        int d_x;
        int d_y;
        int d_index; // = dy * width + dx: pre-calculated
      };
  };
}

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

#endif //#ifndef PCL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_