seeded_hue_segmentation.h

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#ifndef PCL_SEEDED_HUE_SEGMENTATION_H_
#define PCL_SEEDED_HUE_SEGMENTATION_H_

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

namespace pcl
{

  void 
  seededHueSegmentation (const PointCloud<PointXYZRGB>                           &cloud, 
                         const boost::shared_ptr<search::Search<PointXYZRGB> >   &tree, 
                         float                                                   tolerance, 
                         PointIndices                                            &indices_in, 
                         PointIndices                                            &indices_out, 
                         float                                                   delta_hue = 0.0);

  void 
  seededHueSegmentation (const PointCloud<PointXYZRGB>                           &cloud, 
                         const boost::shared_ptr<search::Search<PointXYZRGBL> >  &tree, 
                         float                                                   tolerance, 
                         PointIndices                                            &indices_in, 
                         PointIndices                                            &indices_out, 
                         float                                                   delta_hue = 0.0);


  class SeededHueSegmentation: public PCLBase<PointXYZRGB>
  {
    typedef PCLBase<PointXYZRGB> BasePCLBase;

    public:
      typedef pcl::PointCloud<PointXYZRGB> PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      typedef pcl::search::Search<PointXYZRGB> KdTree;
      typedef pcl::search::Search<PointXYZRGB>::Ptr KdTreePtr;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;


      SeededHueSegmentation () : tree_ (), cluster_tolerance_ (0), delta_hue_ (0.0)
      {};

      inline void 
      setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

      inline KdTreePtr 
      getSearchMethod () const { return (tree_); }

      inline void 
      setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }

      inline double 
      getClusterTolerance () const { return (cluster_tolerance_); }

      inline void 
      setDeltaHue (float delta_hue) { delta_hue_ = delta_hue; }

      inline float 
      getDeltaHue () const { return (delta_hue_); }

      void 
      segment (PointIndices &indices_in, PointIndices &indices_out);

    protected:
      // Members derived from the base class
      using BasePCLBase::input_;
      using BasePCLBase::indices_;
      using BasePCLBase::initCompute;
      using BasePCLBase::deinitCompute;

      KdTreePtr tree_;

      double cluster_tolerance_;

      float delta_hue_;

      virtual std::string getClassName () const { return ("seededHueSegmentation"); }
  };
}

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

#endif  //#ifndef PCL_SEEDED_HUE_SEGMENTATION_H_