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Removed Supervoxel template parameter from lccp. Now we should get so…
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…me conflicts with PointCloudLibrary#718
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@jpapon
jpapon committed Sep 24, 2014
1 parent 3de94b0 commit 98a85b7
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Showing 3 changed files with 22 additions and 25 deletions.
10 changes: 5 additions & 5 deletions examples/segmentation/example_lccp_segmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -304,7 +304,7 @@ LCCPSegmentation Parameters: \n\
super.setColorImportance (color_importance);
super.setSpatialImportance (spatial_importance);
super.setNormalImportance (normal_importance);
std::map<uint32_t, pcl::Supervoxel<PointT>::Ptr> supervoxel_clusters;
std::map<uint32_t, pcl::Supervoxel::Ptr> supervoxel_clusters;

PCL_INFO ("Extracting supervoxels\n");
super.extract (supervoxel_clusters);
Expand Down Expand Up @@ -444,13 +444,13 @@ LCCPSegmentation Parameters: \n\
colors->InsertNextTupleValue (color);
colors->InsertNextTupleValue (color);

pcl::Supervoxel<PointT>::Ptr supervoxel = supervoxel_clusters.at (sv_label);
pcl::PointXYZRGBA vert_curr = supervoxel->centroid_;
pcl::Supervoxel::Ptr supervoxel = supervoxel_clusters.at (sv_label);
pcl::Supervoxel::CentroidT vert_curr = supervoxel->centroid_;


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_;
pcl::Supervoxel::Ptr supervoxel_neigh = supervoxel_clusters.at (sv_neighbor_label);
pcl::Supervoxel::CentroidT vert_neigh = supervoxel_neigh->centroid_;


points->InsertNextPoint (vert_curr.data);
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31 changes: 14 additions & 17 deletions segmentation/include/pcl/segmentation/impl/lccp_segmentation.hpp
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Expand Up @@ -225,7 +225,7 @@ pcl::LCCPSegmentation<PointT>::removeSmallSegments (uint32_t min_segment_size_ar
}

template <typename PointT> void
pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>& supervoxel_clusters_arg,
pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typename pcl::Supervoxel::Ptr>& supervoxel_clusters_arg,
const std::multimap<boost::uint32_t, boost::uint32_t>& label_adjaceny_arg)
{
// Clear internal data
Expand All @@ -238,7 +238,7 @@ pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typ
std::map<uint32_t, VertexID> label_ID_map;

// Add all supervoxel labels as vertices
for (typename std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
for (typename std::map<uint32_t, typename pcl::Supervoxel::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
svlabel_itr != sv_label_to_supervoxel_map_.end (); ++svlabel_itr)
{
const uint32_t SV_LABEL = svlabel_itr->first;
Expand All @@ -261,7 +261,7 @@ pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typ
}

// Initialization
for (typename std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
for (typename std::map<uint32_t, typename pcl::Supervoxel::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
svlabel_itr != sv_label_to_supervoxel_map_.end (); ++svlabel_itr)
{
const uint32_t sv_label = svlabel_itr->first;
Expand All @@ -271,7 +271,7 @@ pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typ
}

template <typename PointT> void
pcl::LCCPSegmentation<PointT>::segment (std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>& supervoxel_clusters_arg,
pcl::LCCPSegmentation<PointT>::segment (std::map<uint32_t, typename pcl::Supervoxel::Ptr>& supervoxel_clusters_arg,
std::multimap<boost::uint32_t, boost::uint32_t>& label_adjacency_arg)
{
/// Initialization
Expand Down Expand Up @@ -425,14 +425,11 @@ template <typename PointT> bool
pcl::LCCPSegmentation<PointT>::connIsConvex (uint32_t source_label_arg,
uint32_t target_label_arg)
{
typename pcl::Supervoxel<PointT>::Ptr& sv_source = sv_label_to_supervoxel_map_[source_label_arg];
typename pcl::Supervoxel<PointT>::Ptr& sv_target = sv_label_to_supervoxel_map_[target_label_arg];
typename pcl::Supervoxel::Ptr& sv_source = sv_label_to_supervoxel_map_[source_label_arg];
typename pcl::Supervoxel::Ptr& sv_target = sv_label_to_supervoxel_map_[target_label_arg];

const pcl::PointXYZRGBA& source_centroid = sv_source->centroid_;
const pcl::PointXYZRGBA& target_centroid = sv_target->centroid_;

const pcl::Normal& source_normal = sv_source->normal_;
const pcl::Normal& target_normal = sv_target->normal_;
const pcl::Supervoxel::CentroidT& source_centroid = sv_source->centroid_;
const pcl::Supervoxel::CentroidT& target_centroid = sv_target->centroid_;

//NOTE For angles below 0 nothing will be merged
if (concavity_tolerance_threshold_ < 0)
Expand All @@ -442,7 +439,7 @@ pcl::LCCPSegmentation<PointT>::connIsConvex (uint32_t source_label_arg,

bool is_convex = true;
bool is_smooth = true;
float normal_angle = std::acos (source_normal.getNormalVector3fMap ().dot (target_normal.getNormalVector3fMap ())) * 180. / M_PI;
float normal_angle = std::acos (source_centroid.getNormalVector3fMap ().dot (target_centroid.getNormalVector3fMap ())) * 180. / M_PI;
// float curvature_difference = std::fabs (SOURCE_NORMAL.curvature - TARGET_NORMAL.curvature);

/// Geometric comparisons
Expand All @@ -461,18 +458,18 @@ pcl::LCCPSegmentation<PointT>::connIsConvex (uint32_t source_label_arg,
float dot_p_source, dot_p_target;

// vec_t_to_s is the reference direction for angle measurements
dot_p_source = unitvec_t_to_s.getVector3fMap ().dot (source_normal.getNormalVector3fMap ());
dot_p_target = unitvec_t_to_s.getVector3fMap ().dot (target_normal.getNormalVector3fMap ());
dot_p_source = unitvec_t_to_s.getVector3fMap ().dot (source_centroid.getNormalVector3fMap ());
dot_p_target = unitvec_t_to_s.getVector3fMap ().dot (target_centroid.getNormalVector3fMap ());

pcl::Normal ncross;
ncross.getNormalVector3fMap () = source_normal.getNormalVector3fMap ().cross (target_normal.getNormalVector3fMap ());
ncross.getNormalVector3fMap () = source_centroid.getNormalVector3fMap ().cross (target_centroid.getNormalVector3fMap ());

/// Smoothness Check: Check if there is a step between adjacent patches
if (use_smoothness_check_)
{
float expected_distance = ncross.getNormalVector3fMap ().norm () * seed_resolution_;
float dot_p_1 = vec_t_to_s.getVector3fMap ().dot (source_normal.getNormalVector3fMap ());
float dot_p_2 = vec_s_to_t.getVector3fMap ().dot (target_normal.getNormalVector3fMap ());
float dot_p_1 = vec_t_to_s.getVector3fMap ().dot (source_centroid.getNormalVector3fMap ());
float dot_p_2 = vec_s_to_t.getVector3fMap ().dot (target_centroid.getNormalVector3fMap ());
float point_dist = (std::fabs (dot_p_1) < std::fabs (dot_p_2)) ? std::fabs (dot_p_1) : std::fabs (dot_p_2);
const float dist_smoothing = smoothness_threshold_ * voxel_resolution_; // This is a slacking variable especially important for patches with very similar normals

Expand Down
6 changes: 3 additions & 3 deletions segmentation/include/pcl/segmentation/lccp_segmentation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ namespace pcl
* \param[in] supervoxel_clusters_arg Map of < supervoxel labels, supervoxels >
* \param[in] label_adjacency_arg The graph defining the supervoxel adjacency relations */
void
segment (std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr> &supervoxel_clusters_arg,
segment (std::map<uint32_t, typename pcl::Supervoxel::Ptr> &supervoxel_clusters_arg,
std::multimap<uint32_t, uint32_t> &label_adjacency_arg);

/** \brief Relabels cloud with supervoxel labels with the computed segment labels
Expand Down Expand Up @@ -215,7 +215,7 @@ namespace pcl
* \param[in] supervoxel_clusters_arg map of < supervoxel labels, supervoxels >
* \param[in] label_adjacency_arg The graph defining the supervoxel adjacency relations */
void
prepareSegmentation (const std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr> &supervoxel_clusters_arg,
prepareSegmentation (const std::map<uint32_t, typename pcl::Supervoxel::Ptr> &supervoxel_clusters_arg,
const std::multimap<uint32_t, uint32_t> &label_adjacency_arg);

/** \brief Assigns neighbors of the query point to the same group as the query point. Recursive part of groupSupervoxels (..). Grouping is done by a depth-search of nodes in the adjacency-graph.
Expand Down Expand Up @@ -276,7 +276,7 @@ namespace pcl
SupervoxelAdjacencyList sv_adjacency_list_;

/** \brief map from the supervoxel labels to the supervoxel objects */
std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr> sv_label_to_supervoxel_map_;
std::map<uint32_t, typename pcl::Supervoxel::Ptr> sv_label_to_supervoxel_map_;

/** \brief Storing relation between original SuperVoxel Labels and new segmantion labels. svLabel_segLabel_map_[old_labelID] = new_labelID */
std::map<uint32_t, uint32_t> sv_label_to_seg_label_map_;
Expand Down

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