fixed some comments and other minor changes

include/tos_supervoxels_alg.h

@@ -54,9 +54,10 @@ const bool USE_PARAMETERS = false;
 //-------------------
 
 /**
- * \brief IRI ROS Specific Driver Class
- *
+ * \brief IRI ROS Specific Driver Class - Tabletop Object Segmentation by Supervoxels convexity
  *
+ * Class to segmented tabletop objects, the table has to be
+ * the bigger plane in the scene. 
  */
 class TosSupervoxelsAlgorithm
 {
@@ -168,14 +169,6 @@ class TosSupervoxelsAlgorithm
     void init(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud,
               tos_supervoxels_parameters &opt);
 
-    /*! \brief Class initializer
-    *
-    * \param input_cloud input cloud to segment 
-    * \param opt parameters for the algorithm 
-    */
-    //void init(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud,
-              //    iri_tos_supervoxels::parameters &opt);
-
     /*! \brief Class initializer, with default parameters
     *
     * \param input_cloud input cloud to segment 
@@ -195,19 +188,15 @@ class TosSupervoxelsAlgorithm
     */  
     tos_supervoxels_parameters get_default_parameters(); 
 
-    /*! \brief get the default parameters of the algorithm in the message format
-    */
-    //iri_tos_supervoxels::parameters get_default_parameters_msg();
-
     /*! \brief Detect and segment the objects on the table
     */
     void segment();
 
-    /*! \brief Get the detected objects as a vector of the variable Object
+    /*! \brief Get the segmented objects as a vector of the variable Object
     */
     std::vector<Object> get_segmented_objects();
 
-    /*! \brief Get the detected objects as a vector of point clouds
+    /*! \brief Get the segmented objects as a vector of point clouds
     */
     std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > get_segmented_objects_simple();
 
@@ -231,6 +220,8 @@ class TosSupervoxelsAlgorithm
     */
     pcl::PointCloud<pcl::PointNormal> get_sv_normal_cloud();
 
+    // functions to set and get the parameters of the algorithm
+
     void set_disable_transform(bool disable_transform_in);
     void set_voxel_resolution(double voxel_resolution_in);
     void set_seed_resolution(double seed_resolution_in);

launch/tos_supervoxels.launch

@@ -4,12 +4,15 @@
    name="iri_tos_supervoxels_alg" output="screen">
       <param name="seed_resolution" value="0.015"/>
       <param name="th_points" value="50"/>
+      <param name="service_name" value="object_segmentation"/>
   </node>
 
 
   <!-- client -->
   <node pkg="iri_tos_supervoxels" type="iri_tos_supervoxels_client"
    name="iri_tos_supervoxels_alg_client" output="screen">
+   <param name="input_topic" value="/camera/depth/points"/>
+   <param name="service_name" value="/iri_tos_supervoxels_alg/object_segmentation"/>
   </node>
 
 </launch>
\ No newline at end of file

src/tos_supervoxels_alg.cpp

@@ -32,29 +32,6 @@ void TosSupervoxelsAlgorithm::init(pcl::PointCloud<pcl::PointXYZRGBA> input_clou
   this->obj_segment.init(input_cloud);
 }
 
-/*void TosSupervoxelsAlgorithm::init(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud,
-          iri_tos_supervoxels::parameters &opt)
-{
-  this->obj_segment.init(input_cloud);
-
-  this->obj_segment.set_disable_transform(opt.disable_transform);
-  this->obj_segment.set_voxel_resolution(opt.voxel_resolution);
-  this->obj_segment.set_seed_resolution(opt.seed_resolution);
-  this->obj_segment.set_color_importance(opt.color_importance);
-  this->obj_segment.set_spatial_importance(opt.spatial_importance);
-  this->obj_segment.set_normal_importance(opt.normal_importance);  
-
-  this->obj_segment.set_concavity_tolerance_threshold(opt.concavity_tolerance_threshold);
-  this->obj_segment.set_smoothness_threshold(opt.smoothness_threshold);
-  this->obj_segment.set_min_segment_size(opt.min_segment_size);
-  this->obj_segment.set_use_extended_convexity(opt.use_extended_convexity);
-  this->obj_segment.set_use_sanity_criterion(opt.use_sanity_criterion);
- 
-  this->obj_segment.set_zmin(opt.zmin);
-  this->obj_segment.set_zmax(opt.zmax);
-  this->obj_segment.set_th_points(opt.th_points);
-}*/
-
 void TosSupervoxelsAlgorithm::reset()
 {
   this->obj_segment.reset();
@@ -65,41 +42,11 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr TosSupervoxelsAlgorithm::get_input_cloud
   return this->obj_segment.get_input_cloud();
 }
 
-
 tos_supervoxels_parameters TosSupervoxelsAlgorithm::get_default_parameters()
 {
   return this->obj_segment.get_default_parameters();
 }
 
-/*iri_tos_supervoxels::parameters TosSupervoxelsAlgorithm::get_default_parameters_msg()
-{
-  iri_tos_supervoxels::parameters p;
-  
-  tos_supervoxels_parameters opt = this->obj_segment.get_default_parameters();
-
-  p.disable_transform = opt.disable_transform;
-  p.voxel_resolution = opt.voxel_resolution;
-  p.seed_resolution = opt.seed_resolution;
-  p.color_importance = opt.color_importance;
-  p.spatial_importance = opt.spatial_importance;
-  p.normal_importance = opt.normal_importance;
-
-  // LCCPSegmentation Stuff
-  p.concavity_tolerance_threshold = opt.concavity_tolerance_threshold;
-  p.smoothness_threshold = opt.smoothness_threshold;
-  p.min_segment_size = opt.min_segment_size; 
-  p.use_extended_convexity = opt.use_extended_convexity;
-  p.use_sanity_criterion = opt.use_sanity_criterion;
-
-  p.zmin = opt.zmin;//meters
-  p.zmax = opt.zmax;//meters
-
-  p.th_points = opt.th_points;
-
-  return p;
-}*/
-
-
 void TosSupervoxelsAlgorithm::segment()
 {
   this->obj_segment.segment();

src/tos_supervoxels_alg_client_node.cpp

@@ -21,6 +21,7 @@ void callback(const sensor_msgs::PointCloud2 cloud_msg)
   iri_tos_supervoxels::object_segmentation srv;
   srv.request.point_cloud = cloud_msg;
 
+  // call the service to segment the table otp objects
   if(client.call(srv))
   {
     //creating new point cloud for debugging with random color for each segmented object
@@ -33,7 +34,7 @@ void callback(const sensor_msgs::PointCloud2 cloud_msg)
       pcl::fromROSMsg(srv.response.objects[i],tmp);
 
       //we now construct manually the point cloud
-      //choose a random color for the object
+      //choose a random color for each segmented object
       float r,g,b;
       r = static_cast <float> (rand()) / static_cast <float> (RAND_MAX);
       g = static_cast <float> (rand()) / static_cast <float> (RAND_MAX);
@@ -55,14 +56,14 @@ void callback(const sensor_msgs::PointCloud2 cloud_msg)
     detected_objects_cloud.height = 1;
     detected_objects_cloud.is_dense = true;
 
-    std::cout << "detected_objects_cloud.points.size() " << detected_objects_cloud.points.size() << "\n";
+    //std::cout << "detected_objects_cloud.points.size() " << detected_objects_cloud.points.size() << "\n";
     pcl::toROSMsg(detected_objects_cloud,detected_objects_msg);
-    std::cout << "detected_objects_msg.data.size() " << detected_objects_msg.data.size() << "\n";
+    //std::cout << "detected_objects_msg.data.size() " << detected_objects_msg.data.size() << "\n";
 
     detected_objects_msg.header.seq = 1;
     detected_objects_msg.header.frame_id = cloud_msg.header.frame_id;
     detected_objects_msg.header.stamp = ros::Time::now();
-    std::cout << "frame of point cloud: " << detected_objects_msg.header.frame_id << "\n";
+    //std::cout << "frame of point cloud: " << detected_objects_msg.header.frame_id << "\n";
     pub.publish(detected_objects_msg);
   }
   else

src/tos_supervoxels_alg_node.cpp

@@ -6,6 +6,7 @@ TosSupervoxelsAlgNode::TosSupervoxelsAlgNode(void) :
   //init class attributes if necessary
   this->loop_rate_ = 10;//in [Hz]
 
+  // initialize class parameters
   this->public_node_handle_.param("disable_transform",alg_.params.disable_transform,DISABLE_TRANSFORM);
   this->public_node_handle_.param("voxel_resolution",alg_.params.voxel_resolution,VOXEL_RESOLUTION);
   this->public_node_handle_.param("seed_resolution",alg_.params.seed_resolution,SEED_RESOLUTION);