bool RegionGrowing::seedRegionGrowing(
pcl::PointCloud<PointNormalT>::Ptr src_points,
const PointT seed_point, const PointCloud::Ptr cloud,
PointNormal::Ptr normals) {
if (cloud->empty() || normals->size() != cloud->size()) {
ROS_ERROR("- Region growing failed. Incorrect inputs sizes ");
return false;
}
if (isnan(seed_point.x) || isnan(seed_point.y) || isnan(seed_point.z)) {
ROS_ERROR("- Seed Point is Nan. Skipping");
return false;
}
this->kdtree_->setInputCloud(cloud);
std::vector<int> neigbor_indices;
this->getPointNeigbour<int>(neigbor_indices, seed_point, 1);
int seed_index = neigbor_indices[0];
const int in_dim = static_cast<int>(cloud->size());
int *labels = reinterpret_cast<int*>(malloc(sizeof(int) * in_dim));
#ifdef _OPENMP
#pragma omp parallel for num_threads(this->num_threads_)
#endif
for (int i = 0; i < in_dim; i++) {
if (i == seed_index) {
labels[i] = 1;
}
labels[i] = -1;
}
this->seedCorrespondingRegion(labels, cloud, normals,
seed_index, seed_index);
src_points->clear();
for (int i = 0; i < in_dim; i++) {
if (labels[i] != -1) {
PointNormalT pt;
pt.x = cloud->points[i].x;
pt.y = cloud->points[i].y;
pt.z = cloud->points[i].z;
pt.r = cloud->points[i].r;
pt.g = cloud->points[i].g;
pt.b = cloud->points[i].b;
pt.normal_x = normals->points[i].normal_x;
pt.normal_y = normals->points[i].normal_y;
pt.normal_z = normals->points[i].normal_z;
src_points->push_back(pt);
}
}
free(labels);
return true;
}
void RegionGrowing::fastSeedRegionGrowing(
pcl::PointCloud<PointNormalT>::Ptr src_points,
cv::Point2i &seed_index2D, const PointCloud::Ptr cloud,
const PointNormal::Ptr normals, const PointT seed_pt) {
if (cloud->empty() || normals->size() != cloud->size()) {
return;
}
cv::Point2f image_index;
int seed_index = -1;
if (this->projectPoint3DTo2DIndex(image_index, seed_pt)) {
seed_index = (static_cast<int>(image_index.x) +
(static_cast<int>(image_index.y) * camera_info_->width));
seed_index2D = cv::Point2i(static_cast<int>(image_index.x),
static_cast<int>(image_index.y));
} else {
ROS_ERROR("INDEX IS NAN");
return;
}
#ifdef _DEBUG
cv::Mat test = cv::Mat::zeros(480, 640, CV_8UC3);
cv::circle(test, image_index, 3, cv::Scalar(0, 255, 0), -1);
cv::imshow("test", test);
cv::waitKey(3);
#endif
Eigen::Vector4f seed_point = cloud->points[seed_index].getVector4fMap();
Eigen::Vector4f seed_normal = normals->points[
seed_index].getNormalVector4fMap();
std::vector<int> processing_list;
std::vector<int> labels(static_cast<int>(cloud->size()), -1);
const int window_size = 3;
const int wsize = window_size * window_size;
const int lenght = std::floor(window_size/2);
processing_list.clear();
for (int j = -lenght; j <= lenght; j++) {
for (int i = -lenght; i <= lenght; i++) {
int index = (seed_index + (j * camera_info_->width)) + i;
if (index >= 0 && index < cloud->size()) {
processing_list.push_back(index);
}
}
}
std::vector<int> temp_list;
while (true) {
if (processing_list.empty()) {
break;
}
temp_list.clear();
for (int i = 0; i < processing_list.size(); i++) {
int idx = processing_list[i];
if (labels[idx] == -1) {
Eigen::Vector4f c = cloud->points[idx].getVector4fMap();
Eigen::Vector4f n = normals->points[idx].getNormalVector4fMap();
if (this->seedVoxelConvexityCriteria(
seed_point, seed_normal, seed_point, c, n, -0.01) == 1) {
labels[idx] = 1;
for (int j = -lenght; j <= lenght; j++) {
for (int k = -lenght; k <= lenght; k++) {
int index = (idx + (j * camera_info_->width)) + k;
if (index >= 0 && index < cloud->size()) {
temp_list.push_back(index);
}
}
}
}
}
}
processing_list.clear();
processing_list.insert(processing_list.end(), temp_list.begin(),
temp_list.end());
}
src_points->clear();
for (int i = 0; i < labels.size(); i++) {
if (labels[i] != -1) {
PointNormalT pt;
pt.x = cloud->points[i].x;
pt.y = cloud->points[i].y;
pt.z = cloud->points[i].z;
pt.r = cloud->points[i].r;
pt.g = cloud->points[i].g;
pt.b = cloud->points[i].b;
pt.normal_x = normals->points[i].normal_x;
pt.normal_y = normals->points[i].normal_y;
pt.normal_z = normals->points[i].normal_z;
src_points->push_back(pt);
}
}
}