Point Cloud Library (PCL)  1.12.0-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  }
91 
92  /** \brief Provide a pointer to the comparator to be used for segmentation.
93  * \param[in] compare the comparator
94  */
95  void
97  {
98  compare_ = compare;
99  }
100 
101  /** \brief Get the comparator.*/
103  getComparator () const { return (compare_); }
104 
105  /** \brief Perform the connected component segmentation.
106  * \param[out] labels a PointCloud of labels: each connected component will have a unique id.
107  * \param[out] label_indices a vector of PointIndices corresponding to each label / component id.
108  */
109  void
110  segment (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
111 
112  /** \brief Find the boundary points / contour of a connected component
113  * \param[in] start_idx the first (lowest) index of the connected component for which a boundary should be returned
114  * \param[in] labels the Label cloud produced by segmentation
115  * \param[out] boundary_indices the indices of the boundary points for the label corresponding to start_idx
116  */
117  static void
118  findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices& boundary_indices);
119 
120 
121  protected:
123 
124  inline unsigned
125  findRoot (const std::vector<unsigned>& runs, unsigned index) const
126  {
127  unsigned idx = index;
128  while (runs[idx] != idx)
129  idx = runs[idx];
130 
131  return (idx);
132  }
133 
134  private:
135  struct Neighbor
136  {
137  Neighbor (int dx, int dy, int didx)
138  : d_x (dx)
139  , d_y (dy)
140  , d_index (didx)
141  {}
142 
143  int d_x;
144  int d_y;
145  int d_index; // = dy * width + dx: pre-calculated
146  };
147  };
148 }
149 
150 #ifdef PCL_NO_PRECOMPILE
151 #include <pcl/segmentation/impl/organized_connected_component_segmentation.hpp>
152 #endif
pcl
Definition: convolution.h:46
pcl::OrganizedConnectedComponentSegmentation::getComparator
ComparatorConstPtr getComparator() const
Get the comparator.
Definition: organized_connected_component_segmentation.h:103
pcl::PCLBase::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
pcl::OrganizedConnectedComponentSegmentation::PointCloudLConstPtr
typename PointCloudL::ConstPtr PointCloudLConstPtr
Definition: organized_connected_component_segmentation.h:72
pcl::PCLBase::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
pcl::OrganizedConnectedComponentSegmentation::findLabeledRegionBoundary
static void findLabeledRegionBoundary(int start_idx, PointCloudLPtr labels, pcl::PointIndices &boundary_indices)
Find the boundary points / contour of a connected component.
Definition: organized_connected_component_segmentation.hpp:53
pcl::OrganizedConnectedComponentSegmentation
OrganizedConnectedComponentSegmentation allows connected components to be found within organized poin...
Definition: organized_connected_component_segmentation.h:58
pcl::OrganizedConnectedComponentSegmentation::setComparator
void setComparator(const ComparatorConstPtr &compare)
Provide a pointer to the comparator to be used for segmentation.
Definition: organized_connected_component_segmentation.h:96
pcl::OrganizedConnectedComponentSegmentation::ComparatorConstPtr
typename Comparator::ConstPtr ComparatorConstPtr
Definition: organized_connected_component_segmentation.h:76
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::Comparator::ConstPtr
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
pcl::OrganizedConnectedComponentSegmentation::ComparatorPtr
typename Comparator::Ptr ComparatorPtr
Definition: organized_connected_component_segmentation.h:75
pcl::OrganizedConnectedComponentSegmentation::compare_
ComparatorConstPtr compare_
Definition: organized_connected_component_segmentation.h:122
pcl::Comparator
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:54
pcl::OrganizedConnectedComponentSegmentation::segment
void segment(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the connected component segmentation.
Definition: organized_connected_component_segmentation.hpp:118
pcl::PointIndices
Definition: PointIndices.h:11
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
pcl::OrganizedConnectedComponentSegmentation::findRoot
unsigned findRoot(const std::vector< unsigned > &runs, unsigned index) const
Definition: organized_connected_component_segmentation.h:125
pcl::OrganizedConnectedComponentSegmentation::PointCloudLPtr
typename PointCloudL::Ptr PointCloudLPtr
Definition: organized_connected_component_segmentation.h:71
pcl::OrganizedConnectedComponentSegmentation::OrganizedConnectedComponentSegmentation
OrganizedConnectedComponentSegmentation(const ComparatorConstPtr &compare)
Constructor for OrganizedConnectedComponentSegmentation.
Definition: organized_connected_component_segmentation.h:81
pcl::Comparator::Ptr
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
pcl::OrganizedConnectedComponentSegmentation::~OrganizedConnectedComponentSegmentation
~OrganizedConnectedComponentSegmentation()
Destructor for OrganizedConnectedComponentSegmentation.
Definition: organized_connected_component_segmentation.h:88