51 lines
1.3 KiB
Text
51 lines
1.3 KiB
Text
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/**
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* Point Cloud Segmentation using Felzenszwalb-Huttenlocher Algorithm
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*
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* Copyright (C) Jacobs University Bremen
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*
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* Released under the GPL version 3.
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*
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* @author Mihai-Cotizo Sima
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*/
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#include <segmentation/segment-graph.h>
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bool operator<(const edge &a, const edge &b) {
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return a.w < b.w;
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}
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universe *segment_graph(int num_vertices, int num_edges, edge *edges,
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float c) {
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// sort edges by weight
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std::sort(edges, edges + num_edges);
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// make a disjoint-set forest
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universe *u = new universe(num_vertices);
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// init thresholds
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float *threshold = new float[num_vertices];
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for (int i = 0; i < num_vertices; i++)
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threshold[i] = THRESHOLD(1,c);
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// for each edge, in non-decreasing weight order...
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for (int i = 0; i < num_edges; i++) {
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edge *pedge = &edges[i];
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// components conected by this edge
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int a = u->find(pedge->a);
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int b = u->find(pedge->b);
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if (a != b) {
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if ((pedge->w <= threshold[a]) &&
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(pedge->w <= threshold[b])) {
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u->join(a, b);
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a = u->find(a);
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threshold[a] = pedge->w + THRESHOLD(u->size(a), c);
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}
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}
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}
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// free up
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delete threshold;
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return u;
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}
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