Allocates 'num' consecutive items; returns pointer to the first item. 'num' cannot be greater than the block size since items must fit i

Next three functins are for the linked list traversal

get point at row i, column j

* \brief similarity of two plane normals * * \param [in] p another PlaneSeg * \return abs(dot(this->normal, p->normal)) * * \details 1 me

* \brief clear/reset for next run */

* \brief connect this PlaneSeg to another PlaneSeg p in the graph * * \param [in] p the other PlaneSeg */

* \brief Dynamic normal deviation threshold, depending on depth z * * \param [in] phase specify whether invoked in initGraph or when merging

* \brief disconnect this PlaneSeg with all its neighbors * * \details after this call, this->nbs.nbs should not contain this, and this->nbs shou

push a new point (x,y,z) into this Stats

equivalent to { toc(); tic(); } @return duration from last tic, in (second * scale) */

* \brief PCA-based plane fitting * * \param [out] center center of mass of the PlaneSeg * \param [out] normal unit normal vector of the Pla

* \brief erode each segment at initial block/window level * * \param [in] isValidExtractedPlane coarsely extracted plane i is completely ero

* \brief Dynamic MSE threshold, depending on depth z * * \param [in] phase specify whether invoked in initGraph or when merging * \param [i

* \brief main clustering step * * \param [in] minQ a min MSE queue of PlaneSegs * \param [in] debug whether to collect some statistics w

return true if d0 and d1 is discontinuous

* \brief find out all valid 4-connect neighbours pixels of pixel (i,j) * * \param [in] i row index of the center pixel * \param [in] j c

caller is responsible to ensure (x,y,z) was collected in this stats

* \brief Generate pseudo-colors * * \param [in] ncolors number of colors to be generated (will be reset to 10 if ncolors<=0) * \return a vect

start record time, similar to matlab function "tic"; @return the start tick */

Deletes an item allocated previously */

* \brief Dynamic threshold to test whether the two adjacent pixels are discontinuous in depth * * \param [in] z depth of the current pixel *

/ For MRF optimization */

s[0]<=s[1]<=s[2], V[:][i] correspond to s[i]

called by run when doRefine==false

* \brief region grow from coarse segmentation boundaries * * \details this function implemented line 14~25 of Algorithm 4 in our paper */

* \brief find out pixel (pixX, pixY) belongs to which initial block/window * * \param [in] pixX column index * \param [in] pixY row inde

* \brief initialize a graph from pointsIn * * \param [in/out] minQ a min MSE queue of PlaneSegs * * \details this function implemen

This function returns lower bound computed by the algorithm (if any) By default, it returns 0.

* \brief finish merging PlaneSeg pa and pb to this * * \param [in] pa a parent PlaneSeg of this * \param [in] pb another parent PlaneSeg of th

called by run when doRefine==false

* \brief refine the coarse segmentation * * \details this function corresponds to Algorithm 4 in our paper; note: plane parameters of each e

* \brief run AHC plane fitting on one frame of point cloud pointsIn * * \param [in] pointsIn a frame of point cloud * \param [out] pMemb