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Open chaozige opened 5 years ago
stale[bot]
commented
4 years ago Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.
Your Environment
Context
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/segmentation/include/pcl/segmentation/supervoxel_clustering.h#L328-L336
Expected Behavior
Add or change a static helper function
Current Behavior
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/examples/segmentation/example_supervoxels.cpp#L317-L319
In order to facilitate the processing of the above three point cloud data, the association is generated by the following three point clouds with labels.
PointLCloudT::Ptr refined_labeled_voxel_cloud PointLNCloudT::Ptr refined_sv_l_normal_cloud PointLCloudT::Ptr refined_full_labeled_cloud
Possible Solution
A ideas how to implement the addition or change
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/segmentation/include/pcl/segmentation/supervoxel_clustering.h#L328-L336
Add the following function declaration at the end of the above
static pcl::PointCloud::Ptr
makeSupervoxelXYZLNormalCloud(std::map<uint32_t, typename Supervoxel::Ptr> &supervoxel_clusters);
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp#L609-L623
Add the following function definition at the end of the above
template pcl::PointCloud::Ptr
pcl::SupervoxelClustering::makeSupervoxelXYZLNormalCloud(std::map<uint32_t, typename Supervoxel::Ptr > &supervoxel_clusters)
{
}
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/examples/segmentation/example_supervoxels.cpp#L20-L29
Add the following types at the end of the above
typedef pcl::PointXYZLNormal PointLNT; typedef pcl::PointCloud PointLNCloudT;
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/examples/segmentation/example_supervoxels.cpp#L317-L320
Add the following to generate a labeled normal point cloud at the end of the above
PointLNCloudT::Ptr refined_sv_l_normal_cloud = pcl::SupervoxelClustering::makeSupervoxelXYZLNormalCloud(refined_supervoxel_clusters);
There may be some other additions or changes, such as the following
https://github.com/PointCloudLibrary/pcl/blob/89ce7c60718ace9489d153e8b23f450fde121110/segmentation/include/pcl/segmentation/supervoxel_clustering.h#L89-L100
Thanks!