kmeans.hpp

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 * Author : Christian Potthast
 * Email  : potthast@usc.edu
 *
 */
 
#pragma once
 
#include <pcl/ml/kmeans.h>
 
//#include <pcl/common/io.h>
 
//#include <stdio.h>
//#include <stdlib.h>
//#include <time.h>
 
namespace pcl {
template <typename PointT>
Kmeans<PointT>::Kmeans() : cluster_field_name_("")
{}
 
template <typename PointT>
Kmeans<PointT>::~Kmeans()
{}
 
template <typename PointT>
void
Kmeans<PointT>::cluster(std::vector<PointIndices>& clusters)
{
  if (!initCompute() || (input_ != 0 && input_->points.empty()) ||
      (indices_ != 0 && indices_->empty())) {
    clusters.clear();
    return;
  }
 
  pcl::PointCloud<PointT> point;
  std::vector<pcl::PCLPointField> fields;
 
  // if no cluster field name is set, check for X Y Z
  if (strcmp(cluster_field_name_.c_str(), "") == 0) {
    int x_index = -1;
    int y_index = -1;
    int z_index = -1;
    x_index = pcl::getFieldIndex<PointT>("x", fields);
    if (y_index != -1)
      y_index = pcl::getFieldIndex<PointT>("y", fields);
    if (z_index != -1)
      z_index = pcl::getFieldIndex<PointT>("z", fields);
 
    if (x_index == -1 && y_index == -1 && z_index == -1) {
      PCL_ERROR("Failed to find match for field 'x y z'\n");
      return;
    }
 
    PCL_INFO("Use X Y Z as input data\n");
    // create input data
    /*
        for (std::size_t i = 0; i < input_->size (); i++)
        {
          DataPoint data (3);
          data[0] = (*input_)[i].data[0];
 
 
 
        }
    */
 
    std::cout << "x index: " << x_index << std::endl;
 
    float x = 0.0;
    memcpy(&x, &(*input_)[0] + fields[x_index].offset, sizeof(float));
 
    std::cout << "xxx: " << x << std::endl;
 
    // memcpy (&x, reinterpret_cast<float*> (&(*input_)[0]) + x_index, sizeof
    // (float));
 
    // int rgba_index = 1;
 
    // pcl::RGB rgb;
    // memcpy (&rgb, reinterpret_cast<const char*>
    // (&(*input_)[index_vector[i].cloud_point_index]) + rgba_index, sizeof (RGB));
  }
  // if cluster field name is set, check if field name is valid
  else {
    int user_index = pcl::getFieldIndex<PointT>(cluster_field_name_.c_str(), fields);
 
    if (user_index == -1) {
      PCL_ERROR("Failed to find match for field '%s'\n", cluster_field_name_.c_str());
      return;
    }
  }
 
  /*
    int xyz_index = -1;
    pcl::PointCloud <PointT> point;
    xyz_index = pcl::getFieldIndex<PointT> ("r", fields);
 
 
    if (xyz_index == -1 && strcmp (cluster_field_name_.c_str (), "") == 0)
    {
      PCL_ERROR ("Failed to find match for field '%s'\n", cluster_field_name_.c_str ());
    }
 
 
    std::cout << "index: " << xyz_index << std::endl;
 
    std::string t = pcl::getFieldsList (point);
    std::cout << "t: " << t << std::endl;
  */
 
  // std::vector <pcl::PCLPointField> fields;
  // pcl::getFieldIndex (*input_, "xyz", fields);
 
  // std::cout << "field: " << fields[xyz_index].count << std::endl;
 
  /*
    for (std::size_t i = 0; i < fields[vfh_idx].count; ++i)
    {
 
      //vfh.second[i] = point[0].histogram[i];
 
    }
  */
 
  deinitCompute();
}
} // namespace pcl
 
#define PCL_INSTANTIATE_Kmeans(T) template class PCL_EXPORTS pcl::Kmeans<T>;