mst.h

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#pragma once
 
#include <pcl/io/io.h>
 
#include <vector>
 
namespace mst {
struct edge {
   size_t voxelIndexA, voxelIndexB;
   float distance;
   friend bool operator<(const edge &e1, const edge &e2) { return (e1.distance < e2.distance); };
};
 
struct state {
   std::vector<edge> edges;
   std::vector<size_t> groups;
};
 
typedef float (*MstMetric)(pcl::PointXYZI const &, pcl::PointXYZI const &, size_t, size_t,
                           pcl::PointCloud<pcl::PointXYZI>::ConstPtr);
typedef bool (*MstFilter)(pcl::PointCloud<pcl::PointXYZI>::ConstPtr, edge const &, std::vector<edge> const &,
                          std::vector<size_t> const &);
 
inline float defaultMstMetric(pcl::PointXYZI const &pointA, pcl::PointXYZI const &pointB, size_t indexA, size_t indexB,
                              pcl::PointCloud<pcl::PointXYZI>::ConstPtr cloud)
{
   Eigen::Vector3f diff(pointA.x - pointB.x, pointA.y - pointB.y, pointA.z - pointB.z);
 
   return diff.dot(diff);
}
 
inline bool defaultMstFilter(pcl::PointCloud<pcl::PointXYZI>::ConstPtr cloud, edge const &edgeV,
                             std::vector<edge> const &selecetedEdges, std::vector<size_t> const &groups)
{
   return true;
}
 
std::vector<edge>
calculateSquareDistances(pcl::PointCloud<pcl::PointXYZI>::ConstPtr cloud, MstMetric metric = defaultMstMetric);
std::vector<state> calculateMinimumSpanningTree(pcl::PointCloud<pcl::PointXYZI>::ConstPtr cloud,
                                                MstMetric metric = defaultMstMetric,
                                                MstFilter filter = defaultMstFilter);
} // namespace mst