region_growing.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 RegionGrowingParams {
  double distance_threshold = 0.5;               
  double angle_threshold = 10.0 * M_PI / 180.0;  
  double dilation_radius = 0.5;                  
  int max_cluster_size = 1000000;                
  int max_steps = 1000000;                       
  int num_threads = 1;                           
};
 
struct RegionGrowingContext {
  std::vector<size_t> cluster_indices;  
  std::deque<size_t> seed_points;       
  std::vector<bool> visited_seeds;      
};
 
template <typename PointCloud>
RegionGrowingContext region_growing_init_(
  const PointCloud& points,
  const NearestNeighborSearch& search,
  const Eigen::Vector4d& seed_point,
  const RegionGrowingParams& params);
 
template <typename PointCloud>
bool region_growing_step_(
  RegionGrowingContext& context,
  const PointCloud& points,
  const NearestNeighborSearch& search,
  const RegionGrowingParams& params);
 
template <typename PointCloud>
void region_growing_dilation_(
  RegionGrowingContext& context,
  const PointCloud& points,
  const NearestNeighborSearch& search,
  const RegionGrowingParams& params);
 
template <typename PointCloud>
bool region_growing_update_(
  RegionGrowingContext& context,
  const PointCloud& points,
  const NearestNeighborSearch& search,
  const RegionGrowingParams& params);
 
RegionGrowingContext region_growing_init(
  const PointCloud& points,
  const NearestNeighborSearch& search,
  const Eigen::Vector4d& seed_point,
  const RegionGrowingParams& params);
 
bool region_growing_update(
  RegionGrowingContext& context,
  const PointCloud& points,
  const NearestNeighborSearch& search,
  const RegionGrowingParams& params);
 
}  // namespace gtsam_points