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///////// GETTER FUNCTIONS
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template <typename PointT> void
pcl::SupervoxelClustering<PointT>::getSupervoxelAdjacencyList (VoxelAdjacencyList &adjacency_list_arg) const
{
adjacency_list_arg.clear ();
//Add a vertex for each label, store ids in map
std::map <uint32_t, VoxelID> label_ID_map;
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
VoxelID node_id = add_vertex (adjacency_list_arg);
adjacency_list_arg[node_id] = (sv_itr->getLabel ());
label_ID_map.insert (std::make_pair (sv_itr->getLabel (), node_id));
}
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
uint32_t label = sv_itr->getLabel ();
std::set<uint32_t> neighbor_labels;
sv_itr->getNeighborLabels (neighbor_labels);
for (std::set<uint32_t>::iterator label_itr = neighbor_labels.begin (); label_itr != neighbor_labels.end (); ++label_itr)
{
bool edge_added;
EdgeID edge;
VoxelID u = (label_ID_map.find (label))->second;
VoxelID v = (label_ID_map.find (*label_itr))->second;
boost::tie (edge, edge_added) = add_edge (u,v,adjacency_list_arg);
//Calc distance between centers, set as edge weight
if (edge_added)
{
VoxelData centroid_data = (sv_itr)->getCentroid ();
//Find the neighbhor with this label
VoxelData neighb_centroid_data;
for (typename HelperListT::const_iterator neighb_itr = supervoxel_helpers_.cbegin (); neighb_itr != supervoxel_helpers_.cend (); ++neighb_itr)
{
if (neighb_itr->getLabel () == (*label_itr))
{
neighb_centroid_data = neighb_itr->getCentroid ();
break;
}
}
float length = voxelDataDistance (centroid_data, neighb_centroid_data);
adjacency_list_arg[edge] = length;
}
}
}
}
template <typename PointT> void
pcl::SupervoxelClustering<PointT>::getSupervoxelAdjacency (std::multimap<uint32_t, uint32_t> &label_adjacency) const
{
label_adjacency.clear ();
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
uint32_t label = sv_itr->getLabel ();
std::set<uint32_t> neighbor_labels;
sv_itr->getNeighborLabels (neighbor_labels);
for (std::set<uint32_t>::iterator label_itr = neighbor_labels.begin (); label_itr != neighbor_labels.end (); ++label_itr)
label_adjacency.insert (std::pair<uint32_t,uint32_t> (label, *label_itr) );
//if (neighbor_labels.size () == 0)
// std::cout << label<<"(size="<<sv_itr->size () << ") has "<<neighbor_labels.size () << "\n";
}
}
