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; }