flood_fill.h

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <algorithm>
#include <cstdlib>
#include <vector>
 
#include "modules/perception/common/base/point_cloud.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class FloodFill {
public:
    FloodFill() = default;
    FloodFill(float grid_radius, float cell_size) : _grid_radius(grid_radius), _cell_size(cell_size) {}
    void GetSegments(
            base::PointFCloudConstPtr cloud,
            std::vector<std::vector<int>>* segments_indices,
            std::vector<int>* num_cells_per_segment);
    int Pos(float x, float y) const;
    bool Pos2d(float x, float y, int* irow, int* jcol) const;
    void BuildGrid(base::PointFCloudConstPtr cloud);
    void SetGridRadius(float grid_radius) {
        _grid_radius = grid_radius;
    }
    void SetCellSize(float cell_size) {
        _cell_size = cell_size;
    }
    int GetNumRows() const {
        return _grid_num_rows;
    }
    int GetNumCols() const {
        return _grid_num_cols;
    }
    int GetNumCells() const {
        return _grid_size;
    }
    const std::vector<int>& GetPointIdxInGrid() const {
        return _point_cloud_grid_idx;
    }
 
private:
    bool IsValidRowIndex(int i) const {
        return (i >= 0 && i < _grid_num_rows);
    }
    bool IsValidColIndex(int j) const {
        return (j >= 0 && j < _grid_num_cols);
    }
    int GetConnectedComponents();
    void DfsColoring(int i, int j, int curr_component);
    float _grid_radius = 0.0;
    float _cell_size = 0.0;
    float _offset_x = 0.0;
    float _offset_y = 0.0;
    int _grid_num_rows = 0;
    int _grid_num_cols = 0;
    int _grid_size = 0;
    int _num_points = 0;
    std::vector<int> _point_cloud_grid_idx;
    std::vector<int> _label;
};
}  // namespace lidar
}  // namespace perception
}  // namespace apollo