template <typename PointT> std::vector<int>
pcl::RegionGrowingRGB<PointT>::getSegmentFromPoint (const PointT& point)
{
std::vector<int> result;
if (cloud_for_segmentation_ == 0)
return (result);
// first of all we need to find out if this point belongs to cloud
bool point_was_found = false;
int index = 0;
for (size_t i = 0; i < cloud_for_segmentation_->points.size (); i++)
{
if (cloud_for_segmentation_->points[i].x != point.x) continue;
if (cloud_for_segmentation_->points[i].y != point.y) continue;
if (cloud_for_segmentation_->points[i].z != point.z) continue;
point_was_found = true;
index = static_cast<int> (i);
break;
}
if (point_was_found)
{
if (segments_.empty ())
{
// if we haven't done the segmentation yet, then we need to launch the segmentation algorithm
unsigned int number_of_segments = 0;
number_of_segments = segmentPoints ();
if (number_of_segments == 0)
return (result);
}// end if segments are empty
// if we have already made the segmentation, then find the segment
// to which this point belongs
std::vector< std::vector<int> >::iterator i_segment;
for (i_segment = segments_.begin (); i_segment != segments_.end (); i_segment++)
{
bool segment_was_found = false;
result.clear ();
result = *i_segment;
std::vector<int>::iterator i_point;
for (i_point = result.begin (); i_point != result.end (); i_point++)
{
if (*i_point == index)
{
segment_was_found = true;
break;
}
}
if (segment_was_found)
break;
}// next segment
}// end if point was found
return (result);
}
template <typename PointT> std::vector<int>
pcl::RegionGrowing<PointT>::getSegmentFromPoint (int index)
{
std::vector<int> result;
if (cloud_for_segmentation_ == 0)
return (result);
// first of all we need to find out if this point belongs to cloud
bool point_was_found = false;
if (index < static_cast<int> (cloud_for_segmentation_->points.size ()) && index >= 0)
point_was_found = true;
if (point_was_found)
{
if (segments_.empty ())
{
segmentPoints ();
}
// if we have already made the segmentation, then find the segment
// to which this point belongs
std::vector<std::vector<int> >::iterator i_segment;
for (i_segment = segments_.begin (); i_segment != segments_.end (); i_segment++)
{
bool segment_was_found = false;
result.clear ();
result = *i_segment;
std::vector<int>::iterator i_point;
for (i_point = result.begin (); i_point != result.end (); i_point++)
{
if (*i_point == index)
{
segment_was_found = true;
break;
}
}
if (segment_was_found)
{
break;
}
}// next segment
}// end if point was found
return (result);
}
