286 lines
12 KiB
C++
286 lines
12 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author : Sergey Ushakov
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* Email : mine_all_mine@bk.ru
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/segmentation/region_growing.h>
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namespace pcl
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{
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/** \brief
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* Implements the well known Region Growing algorithm used for segmentation based on color of points.
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* Description can be found in the article
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* "Color-based segmentation of point clouds"
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* by Qingming Zhan, Yubin Liang, Yinghui Xiao
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* \ingroup segmentation
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*/
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template <typename PointT, typename NormalT = pcl::Normal>
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class PCL_EXPORTS RegionGrowingRGB : public RegionGrowing<PointT, NormalT>
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{
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public:
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using RegionGrowing<PointT, NormalT>::input_;
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using RegionGrowing<PointT, NormalT>::indices_;
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using RegionGrowing<PointT, NormalT>::initCompute;
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using RegionGrowing<PointT, NormalT>::deinitCompute;
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using RegionGrowing<PointT, NormalT>::normals_;
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using RegionGrowing<PointT, NormalT>::normal_flag_;
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using RegionGrowing<PointT, NormalT>::curvature_flag_;
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using RegionGrowing<PointT, NormalT>::residual_flag_;
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using RegionGrowing<PointT, NormalT>::residual_threshold_;
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using RegionGrowing<PointT, NormalT>::neighbour_number_;
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using RegionGrowing<PointT, NormalT>::search_;
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using RegionGrowing<PointT, NormalT>::min_pts_per_cluster_;
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using RegionGrowing<PointT, NormalT>::max_pts_per_cluster_;
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using RegionGrowing<PointT, NormalT>::smooth_mode_flag_;
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using RegionGrowing<PointT, NormalT>::theta_threshold_;
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using RegionGrowing<PointT, NormalT>::curvature_threshold_;
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using RegionGrowing<PointT, NormalT>::point_neighbours_;
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using RegionGrowing<PointT, NormalT>::point_labels_;
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using RegionGrowing<PointT, NormalT>::num_pts_in_segment_;
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using RegionGrowing<PointT, NormalT>::clusters_;
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using RegionGrowing<PointT, NormalT>::number_of_segments_;
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using RegionGrowing<PointT, NormalT>::applySmoothRegionGrowingAlgorithm;
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using RegionGrowing<PointT, NormalT>::assembleRegions;
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public:
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/** \brief Constructor that sets default values for member variables. */
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RegionGrowingRGB ();
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/** \brief Destructor that frees memory. */
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~RegionGrowingRGB ();
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/** \brief Returns the color threshold value used for testing if points belong to the same region. */
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float
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getPointColorThreshold () const;
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/** \brief This method specifies the threshold value for color test between the points.
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* This kind of testing is made at the first stage of the algorithm(region growing).
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* If the difference between points color is less than threshold value, then they are considered
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* to be in the same region.
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* \param[in] thresh new threshold value for color test
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*/
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void
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setPointColorThreshold (float thresh);
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/** \brief Returns the color threshold value used for testing if regions can be merged. */
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float
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getRegionColorThreshold () const;
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/** \brief This method specifies the threshold value for color test between the regions.
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* This kind of testing is made at the second stage of the algorithm(region merging).
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* If the difference between segments color is less than threshold value, then they are merged together.
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* \param[in] thresh new threshold value for color test
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*/
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void
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setRegionColorThreshold (float thresh);
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/** \brief Returns the distance threshold. If the distance between two points is less or equal to
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* distance threshold value, then those points assumed to be neighbouring points.
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*/
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float
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getDistanceThreshold () const;
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/** \brief Allows to set distance threshold.
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* \param[in] thresh new threshold value for neighbour test
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*/
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void
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setDistanceThreshold (float thresh);
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/** \brief Returns the number of nearest neighbours used for searching K nearest segments.
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* Note that here it refers to the segments(not the points).
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*/
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unsigned int
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getNumberOfRegionNeighbours () const;
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/** \brief This method allows to set the number of neighbours that is used for finding
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* neighbouring segments. Neighbouring segments are needed for the merging process.
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* \param[in] nghbr_number the number of neighbouring segments to find
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*/
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void
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setNumberOfRegionNeighbours (unsigned int nghbr_number);
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/** \brief Returns the flag that signalize if the smoothness test is turned on/off. */
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bool
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getNormalTestFlag () const;
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/** \brief
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* Allows to turn on/off the smoothness test.
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* \param[in] value new value for normal/smoothness test. If set to true then the test will be turned on
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*/
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void
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setNormalTestFlag (bool value);
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/** \brief Allows to turn on/off the curvature test.
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* \param[in] value new value for curvature test. If set to true then the test will be turned on
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*/
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void
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setCurvatureTestFlag (bool value) override;
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/** \brief
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* Allows to turn on/off the residual test.
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* \param[in] value new value for residual test. If set to true then the test will be turned on
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*/
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void
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setResidualTestFlag (bool value) override;
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/** \brief This method launches the segmentation algorithm and returns the clusters that were
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* obtained during the segmentation.
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* \param[out] clusters clusters that were obtained. Each cluster is an array of point indices.
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*/
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void
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extract (std::vector <pcl::PointIndices>& clusters) override;
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/** \brief For a given point this function builds a segment to which it belongs and returns this segment.
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* \param[in] index index of the initial point which will be the seed for growing a segment.
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* \param cluster
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*/
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void
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getSegmentFromPoint (index_t index, pcl::PointIndices& cluster) override;
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protected:
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/** \brief This method simply checks if it is possible to execute the segmentation algorithm with
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* the current settings. If it is possible then it returns true.
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*/
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bool
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prepareForSegmentation () override;
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/** \brief This method finds KNN for each point and saves them to the array
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* because the algorithm needs to find KNN a few times.
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*/
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void
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findPointNeighbours () override;
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/** \brief This method simply calls the findRegionsKNN for each segment and
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* saves the results for later use.
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*/
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void
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findSegmentNeighbours ();
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/** \brief This method finds K nearest neighbours of the given segment.
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* \param[in] index index of the segment for which neighbours will be found
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* \param[in] nghbr_number the number of neighbours to find
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* \param[out] nghbrs the array of indices of the neighbours that were found
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* \param[out] dist the array of distances to the corresponding neighbours
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*/
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void
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findRegionsKNN (pcl::index_t index, pcl::uindex_t nghbr_number, Indices& nghbrs, std::vector<float>& dist);
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/** \brief This function implements the merging algorithm described in the article
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* "Color-based segmentation of point clouds"
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* by Qingming Zhan, Yubin Liang, Yinghui Xiao
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*/
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void
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applyRegionMergingAlgorithm ();
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/** \brief This method calculates the colorimetrical difference between two points.
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* In this case it simply returns the euclidean distance between two colors.
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* \param[in] first_color the color of the first point
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* \param[in] second_color the color of the second point
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*/
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float
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calculateColorimetricalDifference (std::vector<unsigned int>& first_color, std::vector<unsigned int>& second_color) const;
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/** \brief This method assembles the array containing neighbours of each homogeneous region.
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* Homogeneous region is the union of some segments. This array is used when the regions
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* with a few points need to be merged with the neighbouring region.
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* \param[out] neighbours_out vector of lists of neighbours for every homogeneous region
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* \param[in] regions_in vector of lists, each list contains indices of segments that belong
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* to the corresponding homogeneous region.
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*/
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void
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findRegionNeighbours (std::vector< std::vector< std::pair<float, pcl::index_t> > >& neighbours_out, std::vector< std::vector<int> >& regions_in);
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/** \brief This function simply assembles the regions from list of point labels.
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* \param[in] num_pts_in_region for each final region it stores the corresponding number of points in it
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* \param[in] num_regions number of regions to assemble
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*/
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void
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assembleRegions (std::vector<unsigned int>& num_pts_in_region, int num_regions);
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/** \brief This function is checking if the point with index 'nghbr' belongs to the segment.
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* If so, then it returns true. It also checks if this point can serve as the seed.
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* \param[in] initial_seed index of the initial point that was passed to the growRegion() function
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* \param[in] point index of the current seed point
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* \param[in] nghbr index of the point that is neighbour of the current seed
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* \param[out] is_a_seed this value is set to true if the point with index 'nghbr' can serve as the seed
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*/
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bool
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validatePoint (index_t initial_seed, index_t point, index_t nghbr, bool& is_a_seed) const override;
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protected:
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/** \brief Thershold used in color test for points. */
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float color_p2p_threshold_;
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/** \brief Thershold used in color test for regions. */
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float color_r2r_threshold_;
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/** \brief Threshold that tells which points we need to assume neighbouring. */
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float distance_threshold_;
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/** \brief Number of neighbouring segments to find. */
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unsigned int region_neighbour_number_;
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/** \brief Stores distances for the point neighbours from point_neighbours_ */
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std::vector< std::vector<float> > point_distances_;
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/** \brief Stores the neighboures for the corresponding segments. */
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std::vector< pcl::Indices > segment_neighbours_;
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/** \brief Stores distances for the segment neighbours from segment_neighbours_ */
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std::vector< std::vector<float> > segment_distances_;
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/** \brief Stores new indices for segments that were obtained at the region growing stage. */
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std::vector<int> segment_labels_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/segmentation/impl/region_growing_rgb.hpp>
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#endif
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