minot changes

trunk/src/examples/tabletop_object_detection_test.cpp

@@ -71,7 +71,6 @@ main (int argc, char ** argv)
    }
 
   // parameters for the LCCP segmentation
-  TableTop_Object_Detection seg;
   tableTop_object_detection_parameters opt;
 
   // ------------------- parsing the inputs ----------------------------     
@@ -104,9 +103,10 @@ main (int argc, char ** argv)
     return (1);
   }
   //----------------------------------------
-  //TableTop_Object_Detection segLCCP;
+  TableTop_Object_Detection seg;
   std::vector<Object> seg_objs; //("seg_objs" stands for "segmented objects") 
   seg.init(*cloud,opt);
+  //seg.init(*cloud);
   seg.print_parameters();
   seg.segment();
   seg_objs = seg.get_segmented_objects();
@@ -120,7 +120,7 @@ main (int argc, char ** argv)
   
   // show super voxels with normals and adiacency map 
   bool show_adjacency_map = true;
-  bool show_super_voxel_normals = 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";
@@ -165,6 +165,8 @@ main (int argc, char ** argv)
     cv::imshow("Original", img_orignal); //display the image which is stored in the 'img' in the "MyWindow" window
     std::cout << "You are now viewing the RGB image (recovered by the point cloud)."
               << " Press whatever key to go further.";
+    cv::imwrite( "./original.jpg", img_orignal );
+
     cv::waitKey(0);
 
     // displaying in the RGB image what are the pixels of the rgb image related to the segmented objects
@@ -217,6 +219,10 @@ main (int argc, char ** argv)
 
         cv::imshow("Segmented Results", img); //display the image which is stored in the 'img' in the "MyWindow" window
         std::cout << "Object: " << idx_v + 1 << " of " << seg_objs.size() << " objects." << std::endl;
+        
+        std::stringstream ss;
+        ss << "img" << idx_v << ".jpg";
+        cv::imwrite( ss.str(), img );
         k = cv::waitKey(0);
       }
 

trunk/src/tabletop_object_detection.h

@@ -35,7 +35,7 @@ typedef pcl::LCCPSegmentation<pcl::PointXYZRGBA>::SupervoxelAdjacencyList SuperV
 struct Object
 {
   pcl::PointCloud<pcl::PointXYZRGBA> object_cloud;
-  int label;
+  int label; /**< label assigned by the lccp algorithm*/
 };
 #endif
 
@@ -48,7 +48,7 @@ class tableTop_object_detection_parameters
   protected:
     // -------- Default Parameters --------
     // supervoxels parameters 
-    static const bool DISABLE_TRANSFORM = false; /**< default value of disable_transform for supervoxel algorithm*/
+    static const bool DISABLE_TRANSFORM = true; /**< default value of disable_transform for supervoxel algorithm*/
     static const double VOXEL_RESOLUTION = 0.0075f;/**< default value of voxel_resolution for supervoxel algorithm*/
     static const double SEED_RESOLUTION = 0.03f; /**< default value of seed_resolution for supervoxel algorithm*/
     static const double COLOR_IMPORTANCE = 0.0f;/**< default value of color_importance for supervoxel algorithm*/
@@ -129,7 +129,7 @@ class TableTop_Object_Detection
 
     // -------- Default Parameters --------
     // supervoxels parameters 
-    static const bool DISABLE_TRANSFORM = false; /**< default value of disable_transform for supervoxel algorithm*/
+    static const bool DISABLE_TRANSFORM = true; /**< default value of disable_transform for supervoxel algorithm*/
     static const double VOXEL_RESOLUTION = 0.0075f;/**< default value of voxel_resolution for supervoxel algorithm*/
     static const double SEED_RESOLUTION = 0.03f; /**< default value of seed_resolution for supervoxel algorithm*/
     static const double COLOR_IMPORTANCE = 0.0f;/**< default value of color_importance for supervoxel algorithm*/