Now using new label color handler

Author: Markus Schoeler

examples/segmentation/example_lccp_segmentation.cpp

@@ -46,6 +46,7 @@
 #include <pcl/console/parse.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/visualization/point_cloud_color_handlers.h>
 
 //PCL other
 #include <pcl/filters/passthrough.h>
@@ -114,13 +115,6 @@ keyboardEventOccurred (const pcl::visualization::KeyboardEvent& event_arg,
 
 /// *****  Prototypes ***** ///
 
-/** \brief Fill vector with random colors
- *  \param[in] label_colors_arg Vector to be filled.
- *  \param[in] nr_labels_arg The number of random colors which will be drawn */
-void
-drawColors (std::vector<uint32_t>& label_colors_arg,
-            const uint nr_labels_arg);
-
 /** \brief Displays info text in the specified PCLVisualizer
  *  \param[in] viewer_arg The PCLVisualizer to modify  */
 void
@@ -324,7 +318,6 @@ LCCPSegmentation Parameters: \n\
 
   /// Get the cloud of supervoxel centroid with normals and the colored cloud with supervoxel coloring (this is used for visulization)
   pcl::PointCloud<pcl::PointNormal>::Ptr sv_centroid_normal_cloud = pcl::SupervoxelClustering<PointT>::makeSupervoxelNormalCloud (supervoxel_clusters);
-  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr sv_colored_cloud = super.getColoredCloud ();  // This is also used for supervoxel output
 
   /// The Main Step: Perform LCCPSegmentation
 
@@ -343,29 +336,15 @@ LCCPSegmentation Parameters: \n\
   }
 
   PCL_INFO ("Interpolation voxel cloud -> input cloud and relabeling\n");
-  pcl::PointCloud<pcl::PointXYZL>::Ptr segment_labeled_cloud = super.getLabeledCloud ();
-  lccp.relabelCloud (segment_labeled_cloud);
+  pcl::PointCloud<pcl::PointXYZL>::Ptr sv_labeled_cloud = super.getLabeledCloud ();
+  pcl::PointCloud<pcl::PointXYZL>::Ptr lccp_labeled_cloud = sv_labeled_cloud->makeShared ();
+  lccp.relabelCloud (lccp_labeled_cloud);
   SuperVoxelAdjacencyList sv_adjacency_list;
   lccp.getSVAdjacencyList (sv_adjacency_list);  // Needed for visualization
 
   /// Creating Colored Clouds and Output
-  pcl::PointCloud<PointT>::Ptr recolored_cloud_ptr (input_cloud_ptr->makeShared ());
-  if (segment_labeled_cloud->size () == input_cloud_ptr->size ())
+  if (lccp_labeled_cloud->size () == input_cloud_ptr->size ())
   {
-    PCL_INFO ("Coloring cloud\n");
-    std::vector<uint32_t> label_colors;
-    drawColors (label_colors, supervoxel_clusters.size ());
-
-    /* NOTE: segment_labeled_cloud was produced by getLabeledCloud (), which performs an interpolation to the input cloud.
-     Thus, segment_labeled_cloud and the input cloud should have the same size and points with the same ID should correspond to one another. */
-    
-    for (int pointID = 0; pointID < segment_labeled_cloud->size (); ++pointID)
-    {
-      PointT& search_point = recolored_cloud_ptr->points[pointID];
-      pcl::PointXYZL& label_point = segment_labeled_cloud->points[pointID];
-      search_point.rgba = label_colors[label_point.label];
-    }
-
     if (output_specified)
     {
       PCL_INFO ("Saving output\n");
@@ -374,12 +353,12 @@ LCCPSegmentation Parameters: \n\
         if (hasField (input_pointcloud2, "label"))
           PCL_WARN ("Input cloud already has a label field. It will be overwritten by the lccp segmentation output.\n");
         pcl::PCLPointCloud2 output_label_cloud2, output_concat_cloud2;
-        pcl::toPCLPointCloud2 (*segment_labeled_cloud, output_label_cloud2);
+        pcl::toPCLPointCloud2 (*lccp_labeled_cloud, output_label_cloud2);
         pcl::concatenateFields (input_pointcloud2, output_label_cloud2, output_concat_cloud2);
         pcl::io::savePCDFile (outputname + "_out.pcd", output_concat_cloud2, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), save_binary_pcd);
       }
       else
-        pcl::io::savePCDFile (outputname + "_out.pcd", *segment_labeled_cloud, save_binary_pcd);
+        pcl::io::savePCDFile (outputname + "_out.pcd", *lccp_labeled_cloud, save_binary_pcd);
 
       if (sv_output_specified)
       {
@@ -448,18 +427,16 @@ LCCPSegmentation Parameters: \n\
         pcl::PointXYZRGBA vert_curr = supervoxel->centroid_;    
 
 
-        const uint32_t sv_neighbor_label = sv_adjacency_list[*itr_neighbor];        
+        const uint32_t sv_neighbor_label = sv_adjacency_list[*itr_neighbor];
         pcl::Supervoxel<PointT>::Ptr supervoxel_neigh = supervoxel_clusters.at (sv_neighbor_label);
         pcl::PointXYZRGBA vert_neigh = supervoxel_neigh->centroid_;
-          
 
         points->InsertNextPoint (vert_curr.data);
-        points->InsertNextPoint (vert_neigh.data);  
-        
+        points->InsertNextPoint (vert_neigh.data);
 
-        // Add the points to the dataset        
-        vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();    
-        polyLine->GetPointIds ()->SetNumberOfIds (2);        
+        // Add the points to the dataset
+        vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
+        polyLine->GetPointIds ()->SetNumberOfIds (2);
         polyLine->GetPointIds ()->SetId (0,points->GetNumberOfPoints ()-2);
         polyLine->GetPointIds ()->SetId (1,points->GetNumberOfPoints ()-1);
         cells->InsertNextCell (polyLine);
@@ -474,10 +451,10 @@ LCCPSegmentation Parameters: \n\
     /// END: Calculate visualization of adjacency graph
 
     /// Configure Visualizer
-    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));    
+    pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
     viewer->setBackgroundColor (0, 0, 0);
     viewer->registerKeyboardCallback (keyboardEventOccurred, 0);
-    viewer->addPointCloud (recolored_cloud_ptr, "maincloud");
+    viewer->addPointCloud (lccp_labeled_cloud, "maincloud");
 
     /// Visualization Loop
     PCL_INFO ("Loading viewer\n");
@@ -486,7 +463,7 @@ LCCPSegmentation Parameters: \n\
       viewer->spinOnce (100);
 
       /// Show Segmentation or Supervoxels
-      viewer->updatePointCloud ( (show_supervoxels) ? sv_colored_cloud : recolored_cloud_ptr, "maincloud");
+      viewer->updatePointCloud ( (show_supervoxels) ? sv_labeled_cloud : lccp_labeled_cloud, "maincloud");
 
       /// Show Normals
       if (normals_changed)
@@ -531,27 +508,6 @@ LCCPSegmentation Parameters: \n\
 
 /// -------------------------| Definitions of helper functions|-------------------------
 
-void
-drawColors (std::vector<uint32_t>& label_colors_arg,
-            const uint nr_labels_arg)
-{
-  // Create colors for coloring segments
-  const uint32_t max_label = 1.1 * nr_labels_arg;  //10% error margin..
-  label_colors_arg.clear ();
-  label_colors_arg.reserve (max_label);
-  //NOTE First label pushed back can be used for errors
-  label_colors_arg.push_back (static_cast<uint32_t> (0) << 16 | static_cast<uint32_t> (0) << 8 | static_cast<uint32_t> (0));
-
-  srand (static_cast<unsigned int> (time (0)));
-  for (size_t i_label = 0; i_label < max_label; i_label++)
-  {
-    uint8_t r = static_cast<uint8_t> ( (rand () % 256));
-    uint8_t g = static_cast<uint8_t> ( (rand () % 256));
-    uint8_t b = static_cast<uint8_t> ( (rand () % 256));
-    label_colors_arg.push_back (static_cast<uint32_t> (r) << 16 | static_cast<uint32_t> (g) << 8 | static_cast<uint32_t> (b));
-  }
-}
-
 void
 printText (boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer_arg)
 {