min_cut.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2025  Kenji Koide (k.koide@aist.go.jp)
 
#pragma once
 
#include <deque>
#include <vector>
#include <cstdint>
#include <Eigen/Core>
#include <gtsam_points/types/point_cloud.hpp>
#include <gtsam_points/ann/nearest_neighbor_search.hpp>
 
namespace gtsam_points {
 
struct MinCutParams {
  double distance_sigma = 0.25;              
  double angle_sigma = 10.0 * M_PI / 180.0;  
 
  double foreground_mask_radius = 0.2;  
  double background_mask_radius = 3.0;  
  double foreground_weight = 0.2;       
  double background_weight = 0.2;       
 
  int k_neighbors = 20;  
  int num_threads = 1;   
};
 
struct MinCutResult {
  MinCutResult() : source_index(-1), sink_index(-1), max_flow(0.0) {}
 
  size_t source_index;                  
  size_t sink_index;                    
  double max_flow;                      
  std::vector<size_t> cluster_indices;  
};
 
template <typename PointCloud>
MinCutResult min_cut_(const PointCloud& points, const NearestNeighborSearch& search, size_t source_pt_index, const MinCutParams& params);
 
template <typename PointCloud>
MinCutResult min_cut_(const PointCloud& points, const NearestNeighborSearch& search, const Eigen::Vector4d& source_pt, const MinCutParams& params);
 
MinCutResult min_cut(const PointCloud& points, const NearestNeighborSearch& search, size_t source_pt_index, const MinCutParams& params);
 
MinCutResult min_cut(const PointCloud& points, const NearestNeighborSearch& search, const Eigen::Vector4d& source_pt, const MinCutParams& params);
 
}  // namespace gtsam_points