Point Cloud Library (PCL)  1.7.1
organized_connected_component_segmentation.h
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39 
40 #ifndef PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
41 #define PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_
42 
43 #include <pcl/pcl_base.h>
44 #include <pcl/PointIndices.h>
45 #include <pcl/segmentation/comparator.h>
46 
47 namespace pcl
48 {
49  /** \brief OrganizedConnectedComponentSegmentation allows connected
50  * components to be found within organized point cloud data, given a
51  * comparison function. Given an input cloud and a comparator, it will
52  * output a PointCloud of labels, giving each connected component a unique
53  * id, along with a vector of PointIndices corresponding to each component.
54  * See OrganizedMultiPlaneSegmentation for an example application.
55  *
56  * \author Alex Trevor, Suat Gedikli
57  */
58  template <typename PointT, typename PointLT>
60  {
65 
66  public:
68  typedef typename PointCloud::Ptr PointCloudPtr;
70 
72  typedef typename PointCloudL::Ptr PointCloudLPtr;
74 
76  typedef typename Comparator::Ptr ComparatorPtr;
78 
79  /** \brief Constructor for OrganizedConnectedComponentSegmentation
80  * \param[in] compare A pointer to the comparator to be used for segmentation. Must be an instance of pcl::Comparator.
81  */
83  : compare_ (compare)
84  {
85  }
86 
87  /** \brief Destructor for OrganizedConnectedComponentSegmentation. */
88  virtual
90  {
91  }
92 
93  /** \brief Provide a pointer to the comparator to be used for segmentation.
94  * \param[in] compare the comparator
95  */
96  void
98  {
99  compare_ = compare;
100  }
101 
102  /** \brief Get the comparator.*/
104  getComparator () const { return (compare_); }
105 
106  /** \brief Perform the connected component segmentation.
107  * \param[out] labels a PointCloud of labels: each connected component will have a unique id.
108  * \param[out] label_indices a vector of PointIndices corresponding to each label / component id.
109  */
110  void
111  segment (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
112 
113  /** \brief Find the boundary points / contour of a connected component
114  * \param[in] start_idx the first (lowest) index of the connected component for which a boundary shoudl be returned
115  * \param[in] labels the Label cloud produced by segmentation
116  * \param[out] boundary_indices the indices of the boundary points for the label corresponding to start_idx
117  */
118  static void
119  findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices& boundary_indices);
120 
121 
122  protected:
124 
125  inline unsigned
126  findRoot (const std::vector<unsigned>& runs, unsigned index) const
127  {
128  register unsigned idx = index;
129  while (runs[idx] != idx)
130  idx = runs[idx];
131 
132  return (idx);
133  }
134 
135  private:
136  struct Neighbor
137  {
138  Neighbor (int dx, int dy, int didx)
139  : d_x (dx)
140  , d_y (dy)
141  , d_index (didx)
142  {}
143 
144  int d_x;
145  int d_y;
146  int d_index; // = dy * width + dx: pre-calculated
147  };
148  };
149 }
150 
151 #ifdef PCL_NO_PRECOMPILE
152 #include <pcl/segmentation/impl/organized_connected_component_segmentation.hpp>
153 #endif
154 
155 #endif //#ifndef PCL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_