Get labeled point cloud object

[brunoeducsantos]

Hi @niosus ,
Thanks for the amazing project.
I wonder if you could give me a pointer how to get point cloud label indices.
Kind regards,
Bruno

[brunoeducsantos]

For the ones who may care, I managed to get labeled point cloud as follows:

for (auto path : cloud_reader.GetAllFilePaths()) {
    time_utils::Timer timer;
    auto cloud = ReadKittiCloud(path);
    cloud->InitProjection(*proj_params_ptr);
    auto proj =cloud->projection_ptr();
    auto img= proj->depth_image();
       LinearImageLabeler<> image_labeler(cloud->projection_ptr()->depth_image(),
                           cloud->projection_ptr()->params(), angle_tollerance);
    image_labeler.ComputeLabels(DiffFactory::DiffType::ANGLES);
    const cv::Mat* labels_ptr = image_labeler.GetLabelImage();
     std::unordered_map<uint16_t, Cloud> clusters;
    for (int row = 0; row < labels_ptr->rows; ++row) {
      for (int col = 0; col < labels_ptr->cols; ++col) {
        const auto& point_container = cloud->projection_ptr()->at(row, col);
        if (point_container.IsEmpty()) {
          // this is ok, just continue, nothing interesting here, no points.
          continue;
        }
        uint16_t label = labels_ptr->at<uint16_t>(row, col);
        if (label < 1) {
          // this is a default label, skip
          continue;
        }
        for (const auto& point_idx : point_container.points()) {
          const auto& point = cloud->points()[point_idx];
          clusters[label].push_back(point);
        }
      }
    }

[brunoeducsantos]

After all it didnt sort it.