extract_labeled_clusters.h

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#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_
#define PCL_EXTRACT_LABELED_CLUSTERS_H_

#include <pcl/pcl_base.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{

  template <typename PointT> void 
  extractLabeledEuclideanClusters (
      const PointCloud<PointT> &cloud, const boost::shared_ptr<search::Search<PointT> > &tree, 
      float tolerance, std::vector<std::vector<PointIndices> > &labeled_clusters, 
      unsigned int min_pts_per_cluster = 1, unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) (), 
      unsigned int max_label = (std::numeric_limits<int>::max));


  template <typename PointT>
  class LabeledEuclideanClusterExtraction: public PCLBase<PointT>
  {
    typedef PCLBase<PointT> BasePCLBase;

    public:
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef typename pcl::search::Search<PointT> KdTree;
      typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;


      LabeledEuclideanClusterExtraction () : 
        tree_ (), 
        cluster_tolerance_ (0),
        min_pts_per_cluster_ (1), 
        max_pts_per_cluster_ (std::numeric_limits<int>::max ()),
        max_label_ (std::numeric_limits<int>::max ())
      {};

      inline void 
      setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

      inline KdTreePtr 
      getSearchMethod () const { return (tree_); }

      inline void 
      setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }

      inline double 
      getClusterTolerance () const { return (cluster_tolerance_); }

      inline void 
      setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }

      inline int 
      getMinClusterSize () const { return (min_pts_per_cluster_); }

      inline void 
      setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }

      inline int 
      getMaxClusterSize () const { return (max_pts_per_cluster_); }

      inline void 
      setMaxLabels (unsigned int max_label) { max_label_ = max_label; }

      inline unsigned int 
      getMaxLabels () const { return (max_label_); }

      void 
      extract (std::vector<std::vector<PointIndices> > &labeled_clusters);

    protected:
      // Members derived from the base class
      using BasePCLBase::input_;
      using BasePCLBase::indices_;
      using BasePCLBase::initCompute;
      using BasePCLBase::deinitCompute;

      KdTreePtr tree_;

      double cluster_tolerance_;

      int min_pts_per_cluster_;

      int max_pts_per_cluster_;

      unsigned int max_label_;

      virtual std::string getClassName () const { return ("LabeledEuclideanClusterExtraction"); }

  };

  inline bool 
    compareLabeledPointClusters (const pcl::PointIndices &a, const pcl::PointIndices &b)
  {
    return (a.indices.size () < b.indices.size ());
  }
}

#endif  //#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_