region_growing.h

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#ifndef _PCL_REGION_GROWING_H_
#define _PCL_REGION_GROWING_H_

#include <iostream>
#include <vector>
#include <algorithm>

#include <pcl/common/common.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/octree/octree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/octree/octree.h>

using namespace pcl;
using namespace std;

typedef struct
{
    bool cloud_in_set;
    bool seeds_in_set;
    bool ok_to_run;
    bool run_finished;
}TYPE_flags;


template<class T, class T1>
class region_growing
{
public:
    region_growing()
    {
        // reset the variables
        min_neighbors=5;
        
        // reset flags
        flags.cloud_in_set=false;
        flags.seeds_in_set=false;
        flags.run_finished=false;
        flags.ok_to_run=false;
    };
    
    ~region_growing()
    {

    }
    

    float radius;
        
    int min_neighbors;
    

    void set_input_cloud(typename PointCloud<T>::Ptr cloud_in);
    
    void set_input_seeds(typename PointCloud<T1>::Ptr seeds_in);
        
    void filter ();
        
    vector<int> get_region_indices(void);
    
    PointIndices get_region_point_indices(void);
    
private:

    TYPE_flags flags;
    
    std::vector<int> region_indices;
    
    PointIndices region_point_indices;
    
    std::vector<int> search_list;
    
    typename PointCloud<T>::Ptr cloud;
    
    typename PointCloud<T1>::Ptr seeds;
    
    PointCloud<T> region;
      
//     KdTreeFLANN<T> tree;
    
    
    void process_flags();
    
    void extract_region_indices();   
};

#include "region_growing.hpp"
#endif