Replace exclude_labels map for a set in EuclideanClusterComparator

PointCloudLibrary · Nov 21, 2017 · 5db45b0 · 5db45b0
1 parent 25725d9
commit 5db45b0
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Showing 6 changed files with 23 additions and 22 deletions.
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp b/apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp
@@ -103,9 +103,10 @@
      std::vector<pcl::PointIndices> boundary_indices;
      mps.segmentAndRefine (regions, model_coefficients, inlier_indices, labels, label_indices, boundary_indices);
 
-     boost::shared_ptr<std::map<uint32_t, bool> > plane_labels = boost::make_shared<std::map<uint32_t, bool> > ();
+     boost::shared_ptr<std::set<uint32_t> > plane_labels = boost::make_shared<std::set<uint32_t> > ();
      for (size_t i = 0; i < label_indices.size (); ++i)
-       (*plane_labels)[i] = (label_indices[i].indices.size () > (size_t) min_plane_size);
+      if (label_indices[i].indices.size () > (size_t) min_plane_size)
+        plane_labels->insert (i);
      typename PointCloud<PointT>::CloudVectorType clusters;
 
      typename EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator =

diff --git a/apps/src/ni_linemod.cpp b/apps/src/ni_linemod.cpp
@@ -260,9 +260,8 @@ class NILinemod
         scene->points[points_above_plane->indices[i]].label = 1;
       euclidean_cluster_comparator->setLabels (scene);
 
-      boost::shared_ptr<std::map<uint32_t, bool> > exclude_labels = boost::make_shared<std::map<uint32_t, bool> > ();
-      (*exclude_labels)[0] = true;
-      (*exclude_labels)[1] = false;
+      boost::shared_ptr<std::set<uint32_t> > exclude_labels = boost::make_shared<std::set<uint32_t> > ();
+      exclude_labels->insert (0);
 
       OrganizedConnectedComponentSegmentation<PointT, Label> euclidean_segmentation (euclidean_cluster_comparator);
       euclidean_segmentation.setInputCloud (cloud);

diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp
@@ -309,9 +309,10 @@ OrganizedSegmentationDemo::cloud_cb (const CloudConstPtr& cloud)
 
   if (use_clustering_ && regions.size () > 0)
   {
-    boost::shared_ptr<std::map<uint32_t, bool> > plane_labels = boost::make_shared<std::map<uint32_t, bool> > ();
+    boost::shared_ptr<std::set<uint32_t> > plane_labels = boost::make_shared<std::set<uint32_t> > ();
     for (size_t i = 0; i < label_indices.size (); ++i)
-      (*plane_labels)[i] = (label_indices[i].indices.size () > 10000);
+      if (label_indices[i].indices.size () > 10000)
+        plane_labels->insert (i);
 
     euclidean_cluster_comparator_->setInputCloud (cloud);
     euclidean_cluster_comparator_->setLabels (labels);

diff --git a/apps/src/pcd_select_object_plane.cpp b/apps/src/pcd_select_object_plane.cpp
@@ -205,9 +205,8 @@ class ObjectSelection
           scene->points[points_above_plane->indices[i]].label = 1;
         euclidean_cluster_comparator->setLabels (scene);
 
-        boost::shared_ptr<std::map<uint32_t, bool> > exclude_labels = boost::make_shared<std::map<uint32_t, bool> > ();
-        (*exclude_labels)[0] = true;
-        (*exclude_labels)[1] = false;
+        boost::shared_ptr<std::set<uint32_t> > exclude_labels = boost::make_shared<std::set<uint32_t> > ();
+        exclude_labels->insert (0);
         euclidean_cluster_comparator->setExcludeLabels (exclude_labels);
 
         OrganizedConnectedComponentSegmentation<PointT, Label> euclidean_segmentation (euclidean_cluster_comparator);

diff --git a/apps/src/stereo_ground_segmentation.cpp b/apps/src/stereo_ground_segmentation.cpp
@@ -393,9 +393,10 @@ class HRCSSegmentation
         pcl::PointCloud<PointT>::CloudVectorType clusters;
         if (ground_cloud->points.size () > 0)
         {
-          boost::shared_ptr<std::map<uint32_t, bool> > plane_labels = boost::make_shared<std::map<uint32_t, bool> > ();
+          boost::shared_ptr<std::set<uint32_t> > plane_labels = boost::make_shared<std::set<uint32_t> > ();
           for (size_t i = 0; i < region_indices.size (); ++i)
-            (*plane_labels)[i] = (region_indices[i].indices.size () > mps.getMinInliers ());
+            if ((region_indices[i].indices.size () > mps.getMinInliers ()))
+              plane_labels->insert (i);
 
           pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator_ (new pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label> ());
           euclidean_cluster_comparator_->setInputCloud (cloud);

diff --git a/segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h b/segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h
@@ -63,9 +63,9 @@ namespace pcl
       typedef boost::shared_ptr<EuclideanClusterComparator2<PointT, PointLT> > Ptr;
       typedef boost::shared_ptr<const EuclideanClusterComparator2<PointT, PointLT> > ConstPtr;
 
-      typedef std::map<uint32_t, bool> ExcludeLabelMap;
-      typedef boost::shared_ptr<ExcludeLabelMap> ExcludeLabelMapPtr;
-      typedef boost::shared_ptr<const ExcludeLabelMap> ExcludeLabelMapConstPtr;
+      typedef std::set<uint32_t> ExcludeLabelSet;
+      typedef boost::shared_ptr<ExcludeLabelSet> ExcludeLabelSetPtr;
+      typedef boost::shared_ptr<const ExcludeLabelSet> ExcludeLabelSetConstPtr;
 
       virtual void 
       setInputCloud (const PointCloudConstPtr& cloud)
@@ -102,7 +102,7 @@ namespace pcl
         labels_ = labels;
       }
 
-      const ExcludeLabelMapConstPtr&
+      const ExcludeLabelSetConstPtr&
       getExcludeLabels () const
       {
         return exclude_labels_;
@@ -112,7 +112,7 @@ namespace pcl
         * \param exclude_labels a vector of bools corresponding to whether or not a given label should be considered
         */
       void
-      setExcludeLabels (const ExcludeLabelMapConstPtr &exclude_labels)
+      setExcludeLabels (const ExcludeLabelSetConstPtr &exclude_labels)
       {
         exclude_labels_ = exclude_labels;
       }
@@ -130,12 +130,12 @@ namespace pcl
           const uint32_t &label1 = (*labels_)[idx1].label;
           const uint32_t &label2 = (*labels_)[idx2].label;
 
-          const std::map<uint32_t, bool>::const_iterator it1 = exclude_labels_->find (label1);
-          if ((it1 == exclude_labels_->end ()) || it1->second)
+          const std::set<uint32_t>::const_iterator it1 = exclude_labels_->find (label1);
+          if (it1 == exclude_labels_->end ())
             return false;
 
-          const std::map<uint32_t, bool>::const_iterator it2 = exclude_labels_->find (label2);
-          if ((it2 == exclude_labels_->end ()) || it2->second)
+          const std::set<uint32_t>::const_iterator it2 = exclude_labels_->find (label2);
+          if (it2 == exclude_labels_->end ())
             return false;
         }
 
@@ -175,7 +175,7 @@ namespace pcl
         * If a label is not specified, it's assumed by default that it's
         * intended be excluded
         */
-      ExcludeLabelMapConstPtr exclude_labels_;
+      ExcludeLabelSetConstPtr exclude_labels_;
 
       float distance_threshold_;