nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label > Class Template Reference

Union-find data structure Implementation of union-find data structure, described in reference article. Store rooted trees, where each node of a tree is a provisional label and each edge represents an equivalence between two labels. More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp>

Inheritance diagram for nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label >:

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Public Member Functions
void	reset (const size_t rows, const size_t columns, ConnectivityType connectivity)
	Reset labels tree to initial state. More...
Label	makeLabel ()
	Creates new next unused label and returns it back. More...
Label	unionTrees (Label i, Label j)
	Unite the two trees containing nodes i and j and return the new root See union function in reference article. More...
const std::vector< Label > &	getLabels ()
	Convert union-find trees to labels lookup table. More...

Detailed Description

template<class Label>
class nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label >

Union-find data structure Implementation of union-find data structure, described in reference article. Store rooted trees, where each node of a tree is a provisional label and each edge represents an equivalence between two labels.

Template Parameters

Label

integer type of label

Definition at line 393 of file image_processing.hpp.

Member Function Documentation

getLabels()

template<class Label >

const std::vector<Label>& nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label >::getLabels ( )

inline

Convert union-find trees to labels lookup table.

Returns

pair(labels lookup table, unique labels count)

Warning

This method invalidate EquivalenceLabelTrees inner state

Returns an internal buffer that will be invalidated on subsequent calls to the methods of EquivalenceLabelTrees

Definition at line 465 of file image_processing.hpp.

makeLabel()

template<class Label >

Label nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label >::makeLabel ( )

inline

Creates new next unused label and returns it back.

Exceptions

LabelOverflow

if all possible labels already used

Returns

label

Definition at line 428 of file image_processing.hpp.

Referenced by nav2_costmap_2d::imgproc_impl::ProcessPixel< ConnectivityType::Way8 >::pass(), and nav2_costmap_2d::imgproc_impl::ProcessPixel< ConnectivityType::Way4 >::pass().

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reset()

template<class Label >

void nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label >::reset ( const size_t  rows, const size_t  columns, ConnectivityType  connectivity  )

inline

Reset labels tree to initial state.

Parameters

rows	number of image rows
columns	number of image columns
connectivity	pixels connectivity type

Definition at line 402 of file image_processing.hpp.

unionTrees()

template<class Label >

Label nav2_costmap_2d::imgproc_impl::EquivalenceLabelTrees< Label >::unionTrees ( Label  i, Label  j  )

inline

Unite the two trees containing nodes i and j and return the new root See union function in reference article.

Parameters

i	tree node
j	tree node

Returns

root of joined tree

Definition at line 445 of file image_processing.hpp.

Referenced by nav2_costmap_2d::imgproc_impl::ProcessPixel< ConnectivityType::Way8 >::pass(), and nav2_costmap_2d::imgproc_impl::ProcessPixel< ConnectivityType::Way4 >::pass().

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The documentation for this class was generated from the following file:

• nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp