connected_components.h

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#ifndef CONNECTED_COMPONENTS_H
#define CONNECTED_COMPONENTS_H

#include <vector>
#include <valarray>
#include <ros/ros.h>

using namespace std;

class connected_components
{
public:
    connected_components (valarray<int> m, int rows, int cols, bool zeroAsBg);

    valarray<int> compactLabeling ();

    int getMaxLabel ();


    vector<int> labeling ();

    void uf_union (int x, int y, vector<int>& parent);

    int uf_find (int x, vector<int> parent, vector<int>& label);

    void constructBinaryImages (int robotsLabel);

    valarray<float> NormalizedEuclideanDistanceBinary (bool RobotR);

private:
    void DT1D (vector<float> f, vector<float>& d, vector<int>& v , vector<float>& z);

    vector<float> getVector (valarray<float> A, int row);

    valarray<int> label2d;

    valarray<int> BinaryRobot;

    valarray<int> BinaryNonRobot;

    int rows;

    int cols;

    int next_label = 1;

    vector<int> image;

    bool zeroAsBg;
};

#endif // CONNECTED_COMPONENTS_H