template <typename PointT, typename NormalT> void
pcl::RegionGrowingHSV<PointT, NormalT>::findSegmentNeighbours()
{
std::vector<int> neighbours;
std::vector<float> distances;
segment_neighbours_.clear();
segment_distances_.clear();
num_pts_in_segment_.clear();
number_of_segments_ = clusters_.size();
for (int i=0;i<number_of_segments_;i++)
{
num_pts_in_segment_.push_back(clusters_[i].indices.size());
}
segment_neighbours_.resize(number_of_segments_, neighbours);
segment_distances_.resize(number_of_segments_, distances);
std::vector<pcl::PointIndices>::iterator seg_itr;
int count = 0;
for (int i=0; i< point_labels_.size();i++)
{
point_labels_[i] = 0;
}
for (seg_itr = clusters_.begin();seg_itr < clusters_.end(); ++seg_itr)
{
for (int j = 0; j < seg_itr->indices.size(); j++ )
{
int idx = seg_itr->indices.at(j);
point_labels_[idx] = count;
}
count++;
}
for (int i_seg = 0; i_seg < number_of_segments_; i_seg++)
{
if (i_seg == 33)
{
std::cout <<"arriving 33"<<std::endl;
}
std::vector<int> nghbrs;
std::vector<float> dist;
findRegionsKNN(i_seg, region_neighbour_number_, nghbrs, dist);
segment_neighbours_[i_seg].swap(nghbrs);
segment_distances_[i_seg].swap(dist);
}
}
template <typename PointT, typename NormalT> void
pcl::RegionGrowingRGB2<PointT, NormalT>::findSegmentNeighbours ()
{
std::vector<int> neighbours;
std::vector<float> distances;
segment_neighbours_.resize (number_of_segments_, neighbours);
segment_distances_.resize (number_of_segments_, distances);
for (int i_seg = 0; i_seg < number_of_segments_; i_seg++)
{
std::vector<int> nghbrs;
std::vector<float> dist;
findRegionsKNN (i_seg, region_neighbour_number_, nghbrs, dist);
segment_neighbours_[i_seg].swap (nghbrs);
segment_distances_[i_seg].swap (dist);
}
}