Function compute

tools/crf_segmentation.cpp:100–147

}

void
compute (const CloudT::Ptr &cloud, 
         const CloudLT::Ptr &anno,
         float normal_radius_search,
         float leaf_x, float leaf_y, float leaf_z,
         CloudLT::Ptr &out)
{
  TicToc tt;
  tt.tic ();
  
  print_highlight ("Computing ");

  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_normals (new pcl::PointCloud<pcl::PointNormal>);
  cloud_normals->width = cloud->width;
  cloud_normals->height = cloud->height;
  cloud_normals->points.resize (cloud->size ());
  for (std::size_t i = 0; i < cloud->size (); i++)
  {
    (*cloud_normals)[i].x = (*cloud)[i].x;
    (*cloud_normals)[i].y = (*cloud)[i].y;
    (*cloud_normals)[i].z = (*cloud)[i].z;
  }

  // estimate surface normals
  pcl::NormalEstimation<PointT, pcl::PointNormal> ne;
  pcl::search::KdTree<PointT>::Ptr tree (new pcl::search::KdTree<PointT> ());
  ne.setSearchMethod (tree);
  ne.setInputCloud (cloud);
  ne.setRadiusSearch (normal_radius_search);
  ne.compute (*cloud_normals);

  pcl::CrfSegmentation<PointT> crf;
  crf.setInputCloud (cloud);
  crf.setNormalCloud (cloud_normals);
  crf.setAnnotatedCloud (anno);
  crf.setVoxelGridLeafSize (leaf_x, leaf_y, leaf_z);
  crf.setSmoothnessKernelParameters (3, 3, 3, 1.0);
  crf.setAppearanceKernelParameters (30, 30, 30, 20, 20, 20, 3.5);
  crf.setSurfaceKernelParameters (20, 20, 20, 0.3f, 0.3f, 0.3f, 8.5);
  //crf.setSurfaceKernelParameters (20, 20, 20, 0.3, 0.3, 0.3, 0.0);
  crf.setNumberOfIterations (10);
  crf.segmentPoints (*out);

  print_info ("[done, "); 
  print_value ("%g", tt.toc ()); 
  print_info (" ms : "); print_value ("%d", out->width * out->height); 
  print_info (" points]\n");
}

void
saveCloud (const std::string &filename, CloudLT::Ptr &output)