Point Cloud Library (PCL)  1.12.1-dev
organized_connected_component_segmentation.h
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39 
40 #pragma once
41 
42 #include <pcl/pcl_base.h>
43 #include <pcl/PointIndices.h>
44 #include <pcl/segmentation/comparator.h>
45 
46 namespace pcl
47 {
48  /** \brief OrganizedConnectedComponentSegmentation allows connected
49  * components to be found within organized point cloud data, given a
50  * comparison function. Given an input cloud and a comparator, it will
51  * output a PointCloud of labels, giving each connected component a unique
52  * id, along with a vector of PointIndices corresponding to each component.
53  * See OrganizedMultiPlaneSegmentation for an example application.
54  *
55  * \author Alex Trevor, Suat Gedikli
56  */
57  template <typename PointT, typename PointLT>
59  {
64 
65  public:
67  using PointCloudPtr = typename PointCloud::Ptr;
69 
71  using PointCloudLPtr = typename PointCloudL::Ptr;
73 
75  using ComparatorPtr = typename Comparator::Ptr;
77 
78  /** \brief Constructor for OrganizedConnectedComponentSegmentation
79  * \param[in] compare A pointer to the comparator to be used for segmentation. Must be an instance of pcl::Comparator.
80  */
82  : compare_ (compare)
83  {
84  }
85 
86  /** \brief Destructor for OrganizedConnectedComponentSegmentation. */
87 
89 
90  /** \brief Provide a pointer to the comparator to be used for segmentation.
91  * \param[in] compare the comparator
92  */
93  void
95  {
96  compare_ = compare;
97  }
98 
99  /** \brief Get the comparator.*/
101  getComparator () const { return (compare_); }
102 
103  /** \brief Perform the connected component segmentation.
104  * \param[out] labels a PointCloud of labels: each connected component will have a unique id.
105  * \param[out] label_indices a vector of PointIndices corresponding to each label / component id.
106  */
107  void
108  segment (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
109 
110  /** \brief Find the boundary points / contour of a connected component
111  * \param[in] start_idx the first (lowest) index of the connected component for which a boundary should be returned
112  * \param[in] labels the Label cloud produced by segmentation
113  * \param[out] boundary_indices the indices of the boundary points for the label corresponding to start_idx
114  */
115  static void
116  findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices& boundary_indices);
117 
118 
119  protected:
121 
122  inline unsigned
123  findRoot (const std::vector<unsigned>& runs, unsigned index) const
124  {
125  unsigned idx = index;
126  while (runs[idx] != idx)
127  idx = runs[idx];
128 
129  return (idx);
130  }
131 
132  private:
133  struct Neighbor
134  {
135  Neighbor (int dx, int dy, int didx)
136  : d_x (dx)
137  , d_y (dy)
138  , d_index (didx)
139  {}
140 
141  int d_x;
142  int d_y;
143  int d_index; // = dy * width + dx: pre-calculated
144  };
145  };
146 }
147 
148 #ifdef PCL_NO_PRECOMPILE
149 #include <pcl/segmentation/impl/organized_connected_component_segmentation.hpp>
150 #endif
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:55
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
OrganizedConnectedComponentSegmentation allows connected components to be found within organized poin...
static void findLabeledRegionBoundary(int start_idx, PointCloudLPtr labels, pcl::PointIndices &boundary_indices)
Find the boundary points / contour of a connected component.
unsigned findRoot(const std::vector< unsigned > &runs, unsigned index) const
void setComparator(const ComparatorConstPtr &compare)
Provide a pointer to the comparator to be used for segmentation.
void segment(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the connected component segmentation.
~OrganizedConnectedComponentSegmentation() override=default
Destructor for OrganizedConnectedComponentSegmentation.
OrganizedConnectedComponentSegmentation(const ComparatorConstPtr &compare)
Constructor for OrganizedConnectedComponentSegmentation.
PCL base class.
Definition: pcl_base.h:70
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414