diff --git a/trunk/bin/tos_supervoxels_test b/trunk/bin/tos_supervoxels_test
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Binary files a/trunk/bin/tos_supervoxels_test and b/trunk/bin/tos_supervoxels_test differ
diff --git a/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o b/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o
index 722d8c3eeb868ea1626313aa7b00d07442da1b2d..d48d5a0c9141f568d2422066b3bac853d6e16f75 100644
Binary files a/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o and b/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o differ
diff --git a/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o b/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o
index 2da632b413c8a42d863b49a97d8e68c463f2312a..f8f34f8e0dbbb6e4b72273915194dce85fdea6f3 100644
Binary files a/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o and b/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o differ
diff --git a/trunk/lib/libtos_supervoxels.so b/trunk/lib/libtos_supervoxels.so
index 655e91e6e3629c6b9ed5852d5687c0f750205f2f..5eb314a7b6eff27ebe53d7d973ba55dc9178dd9a 100755
Binary files a/trunk/lib/libtos_supervoxels.so and b/trunk/lib/libtos_supervoxels.so differ
diff --git a/trunk/src/examples/tos_supervoxels_test.cpp b/trunk/src/examples/tos_supervoxels_test.cpp
index 12a16466829fc6480375787367e6a3c80f37dbe6..3f7c47100700ad9de556a5236ec41ce6a6f63f5a 100644
--- a/trunk/src/examples/tos_supervoxels_test.cpp
+++ b/trunk/src/examples/tos_supervoxels_test.cpp
@@ -122,18 +122,22 @@ main (int argc, char ** argv)
viewer->setBackgroundColor (0, 0, 0);
viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);
+ seg.show_table_plane(viewer); // we add the table plane
+ std::cout << "Press 'n' to show the segmented objects\n";
+ while (!viewer->wasStopped () && !pressed) // the pressed variable is just usfull only for this first while (bad programming)
+ viewer->spinOnce (100);
+
// show super voxels with normals and adiacency map
bool show_adjacency_map = true;
bool show_super_voxel_normals = false;
seg.show_super_voxels(viewer,show_adjacency_map,show_super_voxel_normals);
- std::cout << "Press 'n' to show the segmented objects\n";
while (!viewer->wasStopped () && !pressed) // the pressed variable is just usfull only for this first while (bad programming)
viewer->spinOnce (100);
seg.clean_viewer(viewer);
// show the segmented objects, the result of the segmentation
- std::cout << "\nClose the visualizer to go to the next step\n";
+ std::cout << "\nClose the visualizer to go to the next step: retrieving the objects point in the RGB image\n";
seg.show_segmented_objects(viewer);
while (!viewer->wasStopped ()) // the pressed variable is just usfull only for this first while (bad programming)
viewer->spinOnce (100);
diff --git a/trunk/src/tos_supervoxels.cpp b/trunk/src/tos_supervoxels.cpp
index ab2b222a1b5e7f01a600117882462f167603bc4c..230abef111fb501ce68582647695d600567d78e3 100644
--- a/trunk/src/tos_supervoxels.cpp
+++ b/trunk/src/tos_supervoxels.cpp
@@ -166,6 +166,7 @@ void tos_supervoxels::detectObjectsOnTable(pcl::PointCloud<pcl::PointXYZRGBA>::P
pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);
segmentation.segment(*planeIndices, this->plane_coefficients);
+
if (planeIndices->indices.size() == 0)
std::cout << "Could not find a plane in the scene." << std::endl;
else
@@ -174,11 +175,13 @@ void tos_supervoxels::detectObjectsOnTable(pcl::PointCloud<pcl::PointXYZRGBA>::P
pcl::ExtractIndices<pcl::PointXYZRGBA> extract;
extract.setInputCloud(cloud);
extract.setIndices(planeIndices);
+ //extract.filter(*(this->table_plane_cloud));
extract.filter(*plane);
// Retrieve the convex hull.
pcl::ConvexHull<pcl::PointXYZRGBA> hull;
hull.setInputCloud(plane);
+ //hull.setInputCloud(this->table_plane_cloud);
// Make sure that the resulting hull is bidimensional.
hull.setDimension(2); //2dimension -> planar convex hull
hull.reconstruct(*convexHull);
@@ -207,6 +210,8 @@ void tos_supervoxels::detectObjectsOnTable(pcl::PointCloud<pcl::PointXYZRGBA>::P
}
else std::cout << "The chosen hull is not planar." << std::endl;
+
+ this->table_plane_cloud = plane;
}
}
@@ -472,12 +477,18 @@ void tos_supervoxels::show_segmented_objects(boost::shared_ptr<pcl::visualizatio
return;
}
+void tos_supervoxels::show_table_plane(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)
+{
+ pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> rgb(this->table_plane_cloud);
+ viewer->addPointCloud<pcl::PointXYZRGBA> (this->table_plane_cloud, rgb, "table_plane_cloud");
+}
+
void tos_supervoxels::clean_viewer(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)
{
viewer->removePointCloud("supervoxel_cloud");
viewer->removePointCloud("supervoxel_normals");
viewer->removePointCloud("segmented_object_cloud");
-
+ viewer->removePointCloud("table_plane_cloud");
std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();
for ( ; label_itr != (this->supervoxel_adjacency).end(); )
@@ -535,7 +546,10 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr tos_supervoxels::get_input_cloud()
{
return this->cloud;
}
-
+pcl::PointCloud<pcl::PointXYZRGBA>::Ptr tos_supervoxels::get_plane_cloud()
+{
+ return this->table_plane_cloud;
+}
pcl::PointCloud<pcl::PointXYZL> tos_supervoxels::get_labeled_voxel_cloud()
{
return *(this->labeled_voxel_cloud);
diff --git a/trunk/src/tos_supervoxels.h b/trunk/src/tos_supervoxels.h
index 87d2ae73dac82968eab20a912ebd310178dd2bd9..a016871e853c922c53381f7e43cce0b4f9358844 100644
--- a/trunk/src/tos_supervoxels.h
+++ b/trunk/src/tos_supervoxels.h
@@ -148,6 +148,9 @@ class tos_supervoxels
std::vector<Object> detected_objects;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;
+
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr table_plane_cloud;
+
pcl::PointCloud<pcl::PointXYZL>::Ptr lccp_labeled_cloud;
std::multimap<uint32_t, uint32_t> supervoxel_adjacency;
pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_voxel_cloud;
@@ -266,6 +269,12 @@ class tos_supervoxels
*/
void show_segmented_objects(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);
+ /*! \brief show the detect table plane
+ *
+ * \param viewer viewer in which shows the objects
+ */
+ void show_table_plane(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);
+
/*! \brief clean all the pointclouds or shapes introduced by the class in the viewer
*
* \param viewer viewer to clean up
@@ -289,6 +298,10 @@ class tos_supervoxels
*/
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr get_input_cloud();
+ /*! \brief returns the table plane point cloud
+ */
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr get_plane_cloud();
+
/*! \brief returns labeld voxel cloud
*/
pcl::PointCloud<pcl::PointXYZL> get_labeled_voxel_cloud();