region_growing.hpp

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#ifndef _PCL_REGION_GROWING_HPP_
#define _PCL_REGION_GROWING_HPP_

#define PFLN  printf("LINE=%d in FUNCTION=%s\n",__LINE__,__FUNCTION__);

#include <pointcloud_segmentation/region_growing.h>

template<class T, class T1>
void region_growing<T,T1>::set_input_cloud(typename PointCloud<T>::Ptr cloud_in)
{
    cloud=cloud_in;  // sets the private pointer
    flags.cloud_in_set=true;
}

template<class T, class T1>
void region_growing<T,T1>::set_input_seeds(typename PointCloud<T1>::Ptr seeds_in)
{
    seeds=seeds_in; // sets the private pointer
    flags.seeds_in_set=true;
}

template<class T, class T1>
void region_growing<T,T1>::process_flags()
{
   
    if (flags.cloud_in_set && flags.seeds_in_set)
        flags.ok_to_run=true;
    
    // cout to the screen errors on flags
        if (radius<=0)
            cout << "ERROR: MUST SET PROPERLY A POSITIVE RADIUS THRESHOLD" << endl;
        if (!flags.cloud_in_set)
            cout << "ERROR: MUST SET PROPERLY A INPUT CLOUD DATA" << endl;
        if (!flags.seeds_in_set)
            cout << "ERROR: MUST SET PROPERLY A INPUT SEED CLOUD DATA" << endl;
}

template<class T, class T1>
vector<int> region_growing<T,T1>::get_region_indices(void)
{
    if (flags.run_finished)
        return region_indices;
    else
    {
        vector<int> empty;
        return empty;   
    }
}

template<class T, class T1>
PointIndices region_growing<T,T1>::get_region_point_indices(void)
{
    if (flags.run_finished)
    {
        region_point_indices.indices=region_indices;
        return region_point_indices;
    }
    else
    {
        PointIndices empty;
        empty.indices.push_back(0);
        return empty;
    }
    
}

template<class T, class T1>
void region_growing<T,T1>::filter ()
{
    process_flags();
    
    if (flags.ok_to_run)
    {
//      static bool initialize=true;
        
        vector<int> queue_list;
        
//      octree::OctreePointCloud<T> tree (100);
//      if (initialize)
//      {
            static KdTreeFLANN<T> tree;
            tree.setInputCloud (cloud);
//          tree.addPointsFromInputCloud ();
//          initialize=false;
//      }
        
        vector<bool> processed ((int)cloud->points.size(), false);
        vector<bool> processed_init ((int)cloud->points.size(), false);
        
        T searchPoint;
        
        for (size_t i=0; i<seeds->points.size(); ++i)
        {
            std::vector<float> pointRadiusSquaredDistance;
            std::vector<int> pointIdxRadiusSearch;
            searchPoint.x=seeds->points[i].x;
            searchPoint.y=seeds->points[i].y;
            searchPoint.z=seeds->points[i].z;
            int neighbor_number=tree.radiusSearch (searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance);
            if (neighbor_number>0)
            {
                for (size_t k=0; k<pointIdxRadiusSearch.size(); ++k)
                {
                    if (!processed_init[pointIdxRadiusSearch[k]])
                    {
                        region_indices.push_back(pointIdxRadiusSearch[k]);
                        processed_init[pointIdxRadiusSearch[k]]=true;
                    }
                }
            }
            pointIdxRadiusSearch.clear();
            pointRadiusSquaredDistance.clear();
        }
        
        queue_list=region_indices;
        for (size_t i=0; i<queue_list.size(); ++i)
        {
            std::vector<float> pointRadiusSquaredDistance;
            std::vector<int> pointIdxRadiusSearch;
            searchPoint=cloud->points[queue_list[i]];
            int neighbor_number=tree.radiusSearch (searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance);
            if (neighbor_number>min_neighbors)
            {
                for (size_t k=0; k<pointIdxRadiusSearch.size(); ++k)
                {
                    if (!processed[pointIdxRadiusSearch[k]])
                        {
                            queue_list.push_back(pointIdxRadiusSearch[k]);       // Add on queue list 
                            region_indices.push_back(pointIdxRadiusSearch[k]);   // Add on region indices
                            processed[pointIdxRadiusSearch[k]]=true;             // Mark the point as processed
                        }
                }
            }
            pointIdxRadiusSearch.clear();
            pointRadiusSquaredDistance.clear();
        }
        
        if(region_indices.size()>0)
            flags.run_finished=true;
        cloud.reset();
        seeds.reset();
    }
    else
        cout << "COULD NOT PROCCED REGION GROWING. ERRORS OCCURRED!" <<endl;
}

#endif