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Modularize euclidean clustering #4268

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Modularize euclidean clustering #4268

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d54bb58
Modularize extractEuclideanClusters
shrijitsingh99 Jul 13, 2020
1b7a763
Switch to CloudIterator
shrijitsingh99 Jul 13, 2020
a985a57
Switch to Indices & fix noop lambda
shrijitsingh99 Jul 13, 2020
242b8f5
Fix bugs
shrijitsingh99 Jul 13, 2020
0353506
Concentrate checks into main overload
shrijitsingh99 Jul 13, 2020
d4f96b1
Replace '.points[' with '['
shrijitsingh99 Jul 13, 2020
c7d6838
Fix bugs
shrijitsingh99 Jul 13, 2020
4282d2f
Update filter lambda name
shrijitsingh99 Jul 13, 2020
fbf3b4b
Cleanup
shrijitsingh99 Jul 13, 2020
20ac71c
Use `pcl::utils::ignore` to avoid unused variable warnings
shrijitsingh99 Jul 13, 2020
795b545
Move function implementation to `.h` to avoid template instantiation
shrijitsingh99 Jul 13, 2020
bd3bc6b
Switch to `search::Kdtree` instead of `Kdtree`
shrijitsingh99 Jul 13, 2020
08b5155
Use eigen for dot product
shrijitsingh99 Jul 13, 2020
7d4f504
Rename lambdas to be more descriptive
shrijitsingh99 Jul 13, 2020
a2bcb28
Split clustering into 3 parts for cloud, indices and common cloud ite…
shrijitsingh99 Jul 13, 2020
95204a3
Update error messages to be technically accurate
shrijitsingh99 Jul 13, 2020
0128a1f
Add docstring
shrijitsingh99 Jul 14, 2020
228fae4
Add functor checks and improve docstring
shrijitsingh99 Jul 16, 2020
b6283ca
Fix nullptr bug
shrijitsingh99 Jul 16, 2020
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4 changes: 2 additions & 2 deletions common/include/pcl/common/utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,8 +58,8 @@ namespace pcl
}

/** \brief Utility function to eliminate unused variable warnings. */
template<typename T> void
ignore(const T&)
template<typename ...T> void
ignore(const T&...)
Comment on lines -61 to +62
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merged to master in the meantime

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Will rebase, once issues are resolved.

{
}
} // namespace utils
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6 changes: 3 additions & 3 deletions examples/segmentation/example_extract_clusters_normals.cpp
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Expand Up @@ -69,16 +69,16 @@ main (int, char **argv)
std::cout << "Estimated the normals" << std::endl;

// Creating the kdtree object for the search method of the extraction
pcl::KdTree<pcl::PointXYZ>::Ptr tree_ec (new pcl::KdTreeFLANN<pcl::PointXYZ> ());
tree_ec->setInputCloud (cloud_ptr);
auto tree = std::make_shared<pcl::search::KdTree<pcl::PointXYZ>>();
tree->setInputCloud (cloud_ptr);

// Extracting Euclidean clusters using cloud and its normals
std::vector<pcl::PointIndices> cluster_indices;
const float tolerance = 0.5f; // 50cm tolerance in (x, y, z) coordinate system
const double eps_angle = 5 * (M_PI / 180.0); // 5degree tolerance in normals
const unsigned int min_cluster_size = 50;

pcl::extractEuclideanClusters (*cloud_ptr, *cloud_normals, tolerance, tree_ec, cluster_indices, eps_angle, min_cluster_size);
pcl::extractEuclideanClusters (*cloud_ptr, *cloud_normals, tolerance, tree, cluster_indices, eps_angle, min_cluster_size);

std::cout << "No of clusters formed are " << cluster_indices.size () << std::endl;

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