template <typename PointT> unsigned int
pcl::RegionGrowingRGB<PointT>::segmentPoints ()
{
number_of_segments_ = 0;
segments_.clear ();
point_labels_.clear ();
num_pts_in_segment_.clear ();
point_neighbours_.clear ();
point_distances_.clear ();
segment_labels_.clear ();
segment_neighbours_.clear ();
segment_distances_.clear ();
bool segmentation_is_possible = prepareForSegmentation ();
if ( !segmentation_is_possible )
return (number_of_segments_);
findPointNeighbours ();
number_of_segments_ = applySmoothRegionGrowingAlgorithm ();
RegionGrowing<PointT>::assembleRegions ();
findSegmentNeighbours ();
number_of_segments_ = applyRegionMergingAlgorithm ();
return (number_of_segments_);
}
template <typename PointT, typename NormalT> void
pcl::RegionGrowingHSV<PointT, NormalT>::extract(std::vector <pcl::PointIndices>& clusters)
{
clusters_.clear();
clusters.clear();
point_neighbours_.clear();
point_labels_.clear();
num_pts_in_segment_.clear();
point_distances_.clear();
segment_neighbours_.clear();
segment_distances_.clear();
segment_labels_.clear();
number_of_segments_ = 0;
bool segmentation_is_possible = initCompute();
if (!segmentation_is_possible)
{
deinitCompute();
return;
}
segmentation_is_possible = prepareForSegmentation();
if (!segmentation_is_possible)
{
deinitCompute();
return;
}
std::cout<< "Start find point neighbours"<<std::endl;
findPointNeighbours();
std::cout<< "Start region growing"<<std::endl;
applySmoothRegionGrowingAlgorithm();
std::cout<< "assemble regions"<<std::endl;
RegionGrowing<PointT, NormalT>::assembleRegions();
std::cout<< "Start find region neighbours"<<std::endl;
findSegmentNeighbours();
std::cout<< "Start merging region"<<std::endl;
applyRegionMergingAlgorithm();
std::vector<pcl::PointIndices>::iterator cluster_iter = clusters_.begin();
std::cout << "Num of clusters is: " << clusters_.size() <<std::endl;
while (cluster_iter != clusters_.end())
{
if (cluster_iter->indices.size() < min_pts_per_cluster_ || cluster_iter->indices.size() > max_pts_per_cluster_)
{
cluster_iter = clusters_.erase(cluster_iter);
}
else
cluster_iter++;
}
clusters.reserve(clusters_.size());
std::copy(clusters_.begin(), clusters_.end(), std::back_inserter(clusters));
findSegmentNeighbours();
deinitCompute();
}
template <typename PointT, typename NormalT> void
pcl::RegionGrowingHSV<PointT, NormalT>::getSegmentFromPoint(int index, pcl::PointIndices& cluster)
{
cluster.indices.clear();
bool segmentation_is_possible = initCompute();
if (!segmentation_is_possible)
{
deinitCompute();
return;
}
// first of all we need to find out if this point belongs to cloud
bool point_was_found = false;
int number_of_points = static_cast <int> (indices_->size());
for (size_t point = 0; point < number_of_points; point++)
if ((*indices_)[point] == index)
{
point_was_found = true;
break;
}
if (point_was_found)
{
if (clusters_.empty())
{
clusters_.clear();
point_neighbours_.clear();
point_labels_.clear();
num_pts_in_segment_.clear();
point_distances_.clear();
segment_neighbours_.clear();
segment_distances_.clear();
segment_labels_.clear();
number_of_segments_ = 0;
segmentation_is_possible = prepareForSegmentation();
if (!segmentation_is_possible)
{
deinitCompute();
return;
}
findPointNeighbours();
applySmoothRegionGrowingAlgorithm();
RegionGrowing<PointT, NormalT>::assembleRegions();
findSegmentNeighbours();
applyRegionMergingAlgorithm();
}
// if we have already made the segmentation, then find the segment
// to which this point belongs
std::vector <pcl::PointIndices>::iterator i_segment;
for (i_segment = clusters_.begin(); i_segment != clusters_.end(); i_segment++)
{
bool segment_was_found = false;
for (size_t i_point = 0; i_point < i_segment->indices.size(); i_point++)
{
if (i_segment->indices[i_point] == index)
{
segment_was_found = true;
cluster.indices.clear();
cluster.indices.reserve(i_segment->indices.size());
std::copy(i_segment->indices.begin(), i_segment->indices.end(), std::back_inserter(cluster.indices));
break;
}
}
if (segment_was_found)
{
break;
}
}// next segment
}// end if point was found
deinitCompute();
}
