template <typename PointT> bool
pcl::SupervoxelClustering<PointT>::prepareForSegmentation ()
{
// if user forgot to pass point cloud or if it is empty
if ( input_->points.size () == 0 )
return (false);
//Add the new cloud of data to the octree
//std::cout << "Populating adjacency octree with new cloud \n";
//double prep_start = timer_.getTime ();
if ( (use_default_transform_behaviour_ && input_->isOrganized ())
|| (!use_default_transform_behaviour_ && use_single_camera_transform_))
adjacency_octree_->setTransformFunction (boost::bind (&SupervoxelClustering::transformFunction, this, _1));
adjacency_octree_->addPointsFromInputCloud ();
//double prep_end = timer_.getTime ();
//std::cout<<"Time elapsed populating octree with next frame ="<<prep_end-prep_start<<" ms\n";
//Compute normals and insert data for centroids into data field of octree
//double normals_start = timer_.getTime ();
computeVoxelData ();
//double normals_end = timer_.getTime ();
//std::cout << "Time elapsed finding normals and pushing into octree ="<<normals_end-normals_start<<" ms\n";
return true;
}
template <typename PointT> bool
pcl::SupervoxelClustering<PointT>::prepareForSegmentation ()
{
// if user forgot to pass point cloud or if it is empty
if ( input_->points.size () == 0 )
return (false);
//Add the new cloud of data to the octree
//std::cout << "Populating adjacency octree with new cloud \n";
//double prep_start = timer_.getTime ();
adjacency_octree_->addPointsFromInputCloud ();
//double prep_end = timer_.getTime ();
//std::cout<<"Time elapsed populating octree with next frame ="<<prep_end-prep_start<<" ms\n";
//Compute normals and insert data for centroids into data field of octree
//double normals_start = timer_.getTime ();
computeVoxelData ();
//double normals_end = timer_.getTime ();
//std::cout << "Time elapsed finding normals and pushing into octree ="<<normals_end-normals_start<<" ms\n";
return true;
}
