Lccp

This pull-request is part of the GSOC 2014 project of Markus Schoeler (Automated benchmark generation for object-part segmentation).

It contains an implementation of the lccp segmentation published in:
S. C. Stein, M. Schoeler, J. Papon, F. Woergoetter
Object Partitioning using Local Convexity
In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2014 

In addition, it contains an example "example_lccp_segmentation.cpp" which shows how to use the lccp segmentation.
Get your s**t together, Markus!


On 27 June 2014 16:11, Sergey Alexandrov <notifications@github.com> wrote:

> In examples/segmentation/example_lccp_segmentation.cpp:
>
> > +/// --- Creating Colored Clouds and Output ---
> > +  if (segment_labeled_cloud->size () == input_CloudPtr->size ())
> > +  {
> > +    PCL_INFO ("Coloring cloud\n");
> > +
> > +    std::vector<uint32_t> label_colors;
> > +    drawColors (label_colors, supervoxel_clusters.size ());
> > +
> > +    /* NOTE: segment_labeled_cloud was produced by getLabeledCloud(), which performs an interpolation to the input cloud.
> > +     Thus, segment_labeled_cloud and the input cloud should have the same size and points with the same ID should correspond to one another. */
> > +    for (int pointID = 0; pointID < segment_labeled_cloud->size (); ++pointID)
> > +    {
> > +      PointT& searchPoint = input_CloudPtr->points[pointID];
> > +      pcl::PointXYZL& labelPoint = segment_labeled_cloud->points[pointID];
> > +
> > +      searchPoint.rgb = *reinterpret_cast<float*> (&label_colors[labelPoint.label]);
>
> That description is certainly outdated. Actually, both PointXYZRGB and
> PointXYZRGBA have exactly the same fields (which are created by line 177
> here
> <http://docs.pointclouds.org/1.7.0/point__types_8hpp_source.html#l00559>),
> so you can use rgba field for points of the former type.
>
> —
> Reply to this email directly or view it on GitHub
> <https://github.com/PointCloudLibrary/pcl/pull/718/files#r14312878>.
>