44 #include <pcl/segmentation/region_growing.h>
54 template <
typename Po
intT,
typename NormalT = pcl::Normal>
94 getPointColorThreshold ()
const;
103 setPointColorThreshold (
float thresh);
107 getRegionColorThreshold ()
const;
115 setRegionColorThreshold (
float thresh);
121 getDistanceThreshold ()
const;
127 setDistanceThreshold (
float thresh);
133 getNumberOfRegionNeighbours ()
const;
140 setNumberOfRegionNeighbours (
unsigned int nghbr_number);
144 getNormalTestFlag ()
const;
151 setNormalTestFlag (
bool value);
157 setCurvatureTestFlag (
bool value)
override;
164 setResidualTestFlag (
bool value)
override;
171 extract (std::vector <pcl::PointIndices>& clusters)
override;
186 prepareForSegmentation ()
override;
192 findPointNeighbours ()
override;
198 findSegmentNeighbours ();
207 findRegionsKNN (
int index,
int nghbr_number, std::vector<int>& nghbrs, std::vector<float>& dist);
214 applyRegionMergingAlgorithm ();
222 calculateColorimetricalDifference (std::vector<unsigned int>& first_color, std::vector<unsigned int>& second_color)
const;
232 findRegionNeighbours (std::vector< std::vector< std::pair<float, int> > >& neighbours_out, std::vector< std::vector<int> >& regions_in);
239 assembleRegions (std::vector<unsigned int>& num_pts_in_region,
int num_regions);
249 validatePoint (
int initial_seed,
int point,
int nghbr,
bool& is_a_seed)
const override;
282 #ifdef PCL_NO_PRECOMPILE
283 #include <pcl/segmentation/impl/region_growing_rgb.hpp>