Esempi in C++ (Cpp) per const_iterator::getCentroid

Esempio n. 1

File: supervoxel_clustering.hpp Progetto: 4ker/pcl

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////// GETTER FUNCTIONS
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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;
      }
    }
      
  }

}