template <typename PointT> void
pcl::LCCPSegmentation<PointT>::segment (std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>& supervoxel_clusters_arg,
std::multimap<boost::uint32_t, boost::uint32_t>& label_adjacency_arg)
{
// Initialization
prepareSegmentation (supervoxel_clusters_arg, label_adjacency_arg); // after this, sv_adjacency_list_ can be used to access adjacency list
// Calculate for every Edge if the connection is convex or invalid
// This effectively performs the segmentation.
calculateConvexConnections (sv_adjacency_list_);
// Correct edge relations using extended convexity definition if k>0
applyKconvexity (k_factor_);
// Perform depth search on the graph and recursively group all supervoxels with convex connections
//The vertices in the supervoxel adjacency list are the supervoxel centroids
std::pair< VertexIterator, VertexIterator> vertex_iterator_range;
vertex_iterator_range = boost::vertices (sv_adjacency_list_);
// Note: *sv_itr is of type " boost::graph_traits<VoxelAdjacencyList>::vertex_descriptor " which it nothing but a typedef of size_t..
unsigned int segment_label = 1; // This starts at 1, because 0 is reserved for errors
for (VertexIterator sv_itr = vertex_iterator_range.first; sv_itr != vertex_iterator_range.second; ++sv_itr) // For all SuperVoxels
{
const VertexID sv_vertex_id = *sv_itr;
const uint32_t sv_label = sv_adjacency_list_[sv_vertex_id];
if (!processed_[sv_label])
{
// Add neighbors (and their neighbors etc.) to group if similarity constraint is met
recursiveGrouping (sv_vertex_id, segment_label);
++segment_label; // After recursive grouping ended (no more neighbors to consider) -> go to next group
}
}
grouping_data_valid_ = true;
}
template <typename PointT> void
pcl::LCCPSegmentation<PointT>::segment ()
{
if (supervoxels_set_)
{
// Calculate for every Edge if the connection is convex or invalid
// This effectively performs the segmentation.
calculateConvexConnections (sv_adjacency_list_);
// Correct edge relations using extended convexity definition if k>0
applyKconvexity (k_factor_);
// group supervoxels
doGrouping ();
grouping_data_valid_ = true;
// merge small segments
mergeSmallSegments ();
}
else
PCL_WARN ("[pcl::LCCPSegmentation::segment] WARNING: Call function setInputSupervoxels first. Nothing has been done. \n");
}
