40 #ifndef PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_ 41 #define PCL_SEGMENTATION_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_ 43 #include <pcl/pcl_base.h> 44 #include <pcl/PointIndices.h> 45 #include <pcl/segmentation/comparator.h> 58 template <
typename Po
intT,
typename Po
intLT>
126 findRoot (
const std::vector<unsigned>& runs,
unsigned index)
const 128 unsigned idx = index;
129 while (runs[idx] != idx)
138 Neighbor (
int dx,
int dy,
int didx)
151 #ifdef PCL_NO_PRECOMPILE 152 #include <pcl/segmentation/impl/organized_connected_component_segmentation.hpp> 155 #endif //#ifndef PCL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_ void segment(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the connected component segmentation.
virtual ~OrganizedConnectedComponentSegmentation()
Destructor for OrganizedConnectedComponentSegmentation.
PointCloudL::Ptr PointCloudLPtr
OrganizedConnectedComponentSegmentation allows connected components to be found within organized poin...
Comparator::ConstPtr ComparatorConstPtr
ComparatorConstPtr compare_
OrganizedConnectedComponentSegmentation(const ComparatorConstPtr &compare)
Constructor for OrganizedConnectedComponentSegmentation.
void setComparator(const ComparatorConstPtr &compare)
Provide a pointer to the comparator to be used for segmentation.
Comparator is the base class for comparators that compare two points given some function.
pcl::Comparator< PointT > Comparator
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloud::Ptr PointCloudPtr
boost::shared_ptr< Comparator< PointT > > Ptr
ComparatorConstPtr getComparator() const
Get the comparator.
boost::shared_ptr< const Comparator< PointT > > ConstPtr
static void findLabeledRegionBoundary(int start_idx, PointCloudLPtr labels, pcl::PointIndices &boundary_indices)
Find the boundary points / contour of a connected component.
PointCloudL::ConstPtr PointCloudLConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
unsigned findRoot(const std::vector< unsigned > &runs, unsigned index) const
PointCloud::ConstPtr PointCloudConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
pcl::PointCloud< PointT > PointCloud
Comparator::Ptr ComparatorPtr
pcl::PointCloud< PointLT > PointCloudL