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Use range-based for & std::find to modernize codes in segmentation #4738

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merged 4 commits into from
May 11, 2021
Merged

Use range-based for & std::find to modernize codes in segmentation #4738

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6ce1e0f
used range-based for & std::find for modernization
ueqri Apr 29, 2021
178041b
fixed some errors in initial commit
ueqri Apr 29, 2021
8ae6b41
Fine-tuned some code details
ueqri Apr 30, 2021
ca196f6
Update segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
ueqri Apr 30, 2021
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8 changes: 4 additions & 4 deletions segmentation/include/pcl/segmentation/extract_clusters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -251,16 +251,16 @@ namespace pcl
Indices nn_indices;
std::vector<float> nn_distances;
// Process all points in the indices vector
for (std::size_t i = 0; i < indices.size (); ++i)
for (const auto& point : indices)
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{
if (processed[indices[i]])
if (processed[point])
continue;

Indices seed_queue;
int sq_idx = 0;
seed_queue.push_back (indices[i]);
seed_queue.push_back (point);

processed[indices[i]] = true;
processed[point] = true;

while (sq_idx < static_cast<int> (seed_queue.size ()))
{
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19 changes: 6 additions & 13 deletions segmentation/include/pcl/segmentation/impl/region_growing.hpp
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Expand Up @@ -611,20 +611,13 @@ pcl::RegionGrowing<PointT, NormalT>::getSegmentFromPoint (pcl::index_t index, pc
// to which this point belongs
for (const auto& i_segment : clusters_)
{
bool segment_was_found = false;
for (const auto& i_point : (i_segment.indices))
{
if (i_point == index)
{
segment_was_found = true;
cluster.indices.clear ();
cluster.indices.reserve (i_segment.indices.size ());
std::copy (i_segment.indices.begin (), i_segment.indices.end (), std::back_inserter (cluster.indices));
break;
}
}
if (segment_was_found)
const auto it = std::find (i_segment.indices.cbegin (), i_segment.indices.cend (), index);
if (it != i_segment.indices.cend())
{
// if segment was found
cluster.indices.clear ();
cluster.indices.reserve (i_segment.indices.size ());
std::copy (i_segment.indices.begin (), i_segment.indices.end (), std::back_inserter (cluster.indices));
break;
}
}// next segment
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47 changes: 16 additions & 31 deletions segmentation/include/pcl/segmentation/impl/region_growing_rgb.hpp
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Expand Up @@ -482,24 +482,19 @@ pcl::RegionGrowingRGB<PointT, NormalT>::applyRegionMergingAlgorithm ()
num_seg_in_homogeneous_region[i_reg] = 0;
final_segment_number -= 1;

int nghbr_number = static_cast<int> (region_neighbours[reg_index].size ());
for (int i_nghbr = 0; i_nghbr < nghbr_number; i_nghbr++)
for (auto& nghbr : region_neighbours[reg_index])
{
if ( segment_labels_[ region_neighbours[reg_index][i_nghbr].second ] == reg_index )
if ( segment_labels_[ nghbr.second ] == reg_index )
{
region_neighbours[reg_index][i_nghbr].first = std::numeric_limits<float>::max ();
region_neighbours[reg_index][i_nghbr].second = 0;
nghbr.first = std::numeric_limits<float>::max ();
nghbr.second = 0;
}
}
nghbr_number = static_cast<int> (region_neighbours[i_reg].size ());
for (int i_nghbr = 0; i_nghbr < nghbr_number; i_nghbr++)
for (const auto& nghbr : region_neighbours[i_reg])
{
if ( segment_labels_[ region_neighbours[i_reg][i_nghbr].second ] != reg_index )
if ( segment_labels_[ nghbr.second ] != reg_index )
{
std::pair<float, int> pair;
pair.first = region_neighbours[i_reg][i_nghbr].first;
pair.second = region_neighbours[i_reg][i_nghbr].second;
region_neighbours[reg_index].push_back (pair);
region_neighbours[reg_index].push_back (nghbr);
}
}
region_neighbours[i_reg].clear ();
Expand Down Expand Up @@ -535,9 +530,8 @@ pcl::RegionGrowingRGB<PointT, NormalT>::findRegionNeighbours (std::vector< std::
{
int segment_num = static_cast<int> (regions_in[i_reg].size ());
neighbours_out[i_reg].reserve (segment_num * region_neighbour_number_);
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for (int i_seg = 0; i_seg < segment_num; i_seg++)
for (const auto& curr_segment : regions_in[i_reg])
{
int curr_segment = regions_in[i_reg][i_seg];
int nghbr_number = static_cast<int> (segment_neighbours_[curr_segment].size ());
std::pair<float, int> pair;
for (int i_nghbr = 0; i_nghbr < nghbr_number; i_nghbr++)
Expand Down Expand Up @@ -571,10 +565,8 @@ pcl::RegionGrowingRGB<PointT, NormalT>::assembleRegions (std::vector<unsigned in

std::vector<int> counter;
counter.resize (num_regions, 0);
int point_number = static_cast<int> (indices_->size ());
for (int i_point = 0; i_point < point_number; i_point++)
for (const auto& point_index : (*indices_))
{
int point_index = (*indices_)[i_point];
int index = point_labels_[point_index];
index = segment_labels_[index];
clusters_[index].indices[ counter[index] ] = point_index;
Expand Down Expand Up @@ -735,22 +727,15 @@ pcl::RegionGrowingRGB<PointT, NormalT>::getSegmentFromPoint (pcl::index_t index,
}
// if we have already made the segmentation, then find the segment
// to which this point belongs
for (auto i_segment = clusters_.cbegin (); i_segment != clusters_.cend (); i_segment++)
for (const auto& i_segment : clusters_)
{
bool segment_was_found = false;
for (std::size_t i_point = 0; i_point < i_segment->indices.size (); i_point++)
{
if (i_segment->indices[i_point] == index)
{
segment_was_found = true;
cluster.indices.clear ();
cluster.indices.reserve (i_segment->indices.size ());
std::copy (i_segment->indices.begin (), i_segment->indices.end (), std::back_inserter (cluster.indices));
break;
}
}
if (segment_was_found)
const auto it = std::find (i_segment.indices.cbegin (), i_segment.indices.cend (), index);
if (it != i_segment.indices.cend())
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Perhaps, we can rewrite the condition to exit early

for(loop) {
    const auto it = find();
    if (it == cend) { continue; }
    // rest of logic
    break;
}

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@ueqri ueqri Apr 30, 2021 •
edited
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Using if (it == cend) { continue; } is more explicit, but could we just stay on the current to make it concise:blush:?

{
// if segment was found
cluster.indices.clear ();
cluster.indices.reserve (i_segment.indices.size ());
std::copy (i_segment.indices.begin (), i_segment.indices.end (), std::back_inserter (cluster.indices));
break;
}
}// next segment
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15 changes: 7 additions & 8 deletions segmentation/include/pcl/segmentation/impl/unary_classifier.hpp
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Expand Up @@ -174,25 +174,24 @@ pcl::UnaryClassifier<PointT>::getCloudWithLabel (typename pcl::PointCloud<PointT
// find the 'label' field index
std::vector <pcl::PCLPointField> fields;
int label_idx = -1;
pcl::PointCloud <PointT> point;
label_idx = pcl::getFieldIndex<PointT> ("label", fields);

if (label_idx != -1)
{
for (std::size_t i = 0; i < in->size (); i++)
for (auto& point : (*in))
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{
// get the 'label' field
std::uint32_t label;
memcpy (&label, reinterpret_cast<char*> (&(*in)[i]) + fields[label_idx].offset, sizeof(std::uint32_t));
memcpy (&label, reinterpret_cast<char*> (&point) + fields[label_idx].offset, sizeof(std::uint32_t));

if (static_cast<int> (label) == label_num)
{
pcl::PointXYZ point;
pcl::PointXYZ tmp;
// X Y Z
point.x = (*in)[i].x;
point.y = (*in)[i].y;
point.z = (*in)[i].z;
out->points.push_back (point);
tmp.x = point.x;
tmp.y = point.y;
tmp.z = point.z;
out->points.push_back (tmp);
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}
}
out->width = out->size ();
Expand Down