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