template <typename PointT, typename NormalT> int
pcl::RegionGrowing<PointT, NormalT>::growRegion (int initial_seed, int segment_number)
{
std::queue<int> seeds;
seeds.push (initial_seed);
point_labels_[initial_seed] = segment_number;
int num_pts_in_segment = 1;
while (!seeds.empty ())
{
int curr_seed;
curr_seed = seeds.front ();
seeds.pop ();
size_t i_nghbr = 0;
while ( i_nghbr < neighbour_number_ && i_nghbr < point_neighbours_[curr_seed].size () )
{
int index = point_neighbours_[curr_seed][i_nghbr];
if (point_labels_[index] != -1)
{
i_nghbr++;
continue;
}
bool is_a_seed = false;
bool belongs_to_segment = validatePoint (initial_seed, curr_seed, index, is_a_seed);
if (belongs_to_segment == false)
{
i_nghbr++;
continue;
}
point_labels_[index] = segment_number;
num_pts_in_segment++;
if (is_a_seed)
{
seeds.push (index);
}
i_nghbr++;
}// next neighbour
}// next seed
return (num_pts_in_segment);
}
void RegionGrowingHSV::growRegion(int initial_seed, int segment_number,std::vector<std::vector<int> >& Area_cluster)
{
std::queue<int> seeds;
seeds.push (initial_seed);
Area_cluster[segment_number].push_back(initial_seed);
point_labels_[initial_seed] = segment_number;
while (!seeds.empty ())
{
int curr_seed;
curr_seed = seeds.front ();
seeds.pop ();
size_t i_nghbr = 0;
while ( i_nghbr < point_neighbours_[curr_seed].size () )
{
int index = point_neighbours_[curr_seed][i_nghbr];
if (point_labels_[index] != -1)
{
i_nghbr++;
continue;
}
bool is_a_seed = false;
bool belongs_to_segment = validatePoint (initial_seed, curr_seed, index, is_a_seed,segment_number,Area_cluster);
if (belongs_to_segment == false)
{
i_nghbr++;
continue;
}
Area_cluster[segment_number].push_back(index);
point_labels_[index] = segment_number;
if (is_a_seed)
{
seeds.push (index);
}
i_nghbr++;
}// next neighbour
}// next seed
}
int getMovesCommands(board Game, Piece piece, Move *movesTable, Point point) {
int n = 1;
Move result = moveBuilder(point, piece, Game);
int board_Size = boardSize(Game);
int x = point->x;
int y = point->y;
result->command = MOVE;
for (int j=-1; j<=1; j++) {
for (int i=-1; i<=1; i++) {
if ( (j != 0 ||
i != 0) &&
validatePoint(makePoint(x + i, y + j), board_Size)) {
Piece piece1 = pieceOnPosition(Game, x + i, y + j);
if (piece1 != NULL &&
piece1->owner == piece->owner) {
continue;
}
constructMoveCommand(x+i, y+j, result, Game);
movesTable[n] = newMove();
copyMoveData(movesTable[n], result);
n++;
}
}
}
free(result);
return n;
}
int getPossibleMoves(board Game, Piece piece, Move *movesTable, Point point) {
int n = 0;
movesTable[n] = newMove();
n++;
if (piece->lastMove == currentTurn(Game)) {
return n;
}
n = getMovesCommands(Game, piece, movesTable, point);
Move result = moveBuilder(point, piece, Game);
int board_Size = boardSize(Game);
int x = point->x;
int y = point->y;
if (toupper(piece->letter) == 'C' &&
currentTurn(Game) - piece->lastMove >=3 ) {
for (int j=-1; j<=1; j++) {
for (int i=-1; i<=1; i++) {
if ( (j != 0 ||
i != 0) &&
validatePoint(makePoint(x + i, y + j), board_Size) &&
isPositionFree(Game, x + i, y + j)) {
result->xTo = x + i;
result->yTo = y + j;
result->isPieceRemoved= NULL;
char letter = piece->letter;
Piece pieceCreated = createNewPiece(piece->owner, letter,
currentTurn(Game));
result->isPieceCreated = pieceCreated;
result->command = PRODUCE_PEASANT;
movesTable[n] = newMove();
copyMoveData(movesTable[n], result);
n++;
free(result->isPieceCreated);
letter = matchingKnightLetter(letter);
pieceCreated = createNewPiece(piece->owner, letter,
currentTurn(Game) - 1);
result->isPieceCreated = pieceCreated;
result->command = PRODUCE_KNIGHT;
movesTable[n] = newMove();
copyMoveData(movesTable[n], result);
n++;
free(result->isPieceCreated);
}
}
}
}
free(result);
return n;
}
