FIX: naming of the cilantro wrap function changed to SmoothSegmentation

Author: DamienGilliard

src/diffCheck/segmentation/DFSegmentation.cc

@@ -6,7 +6,7 @@
 
 namespace diffCheck::segmentation
 {   
-    std::vector<std::shared_ptr<geometry::DFPointCloud>> DFSegmentation::SegmentationPointCloud(
+    std::vector<std::shared_ptr<geometry::DFPointCloud>> DFSegmentation::SmoothSegmentation(
         geometry::DFPointCloud &pointCloud,
         float voxelSize,
         float normalThresholdDegree,

src/diffCheck/segmentation/DFSegmentation.hh

@@ -6,17 +6,17 @@ namespace diffCheck::segmentation
     class DFSegmentation
     {
         public:
-        /** @brief Downsamples and segments the point cloud using Cilantro's ConnectedComponentExtraction3f method
+        /** @brief Downsamples and segments the point cloud using Cilantro's ConnectedComponentExtraction3f method. It uses the normals' variations to detect different parts in the point cloud.
          * @param pointCloud the point cloud to segment
          * @param voxelSize the voxel size for the downsampling of the point cloud. The point cloud is downsampled after the normal calculation. A lower number will result in a denser point cloud
          * @param normalThresholdDegree the normal threshold in degrees do differentiate segments. The higher the number, the more tolerent the segmentation will be to normal differences
          * @param minClusterSize the minimum cluster size to consider a segment. A lower number will discard smaller segments
          * @param useKnnNeighborhood if true, the neighborhood search will be done using the knnNeighborhoodSize, otherwise it will be done using radiusNeighborhoodSize
          * @param knnNeighborhoodSize the k nearest neighbors size for the "neighborhood search". This is used when useKnnNeighborhood is true. a higher number will result in smoother segmentation, but at the cost of computation time
          * @param radiusNeighborhoodSize the radius of the neighborhood size for the "radius search". This is used when useKnnNeighborhood is false. A higher number will result in smoother segmentation, but at the cost of computation time.
-         * @return std::vector<geometry::DFPointCloud> the segmented point clouds
+         * @return std::vector<std::shared_ptr<geometry::DFPointCloud>> the segmented point clouds
          */
-        static std::vector<std::shared_ptr<geometry::DFPointCloud>> SegmentationPointCloud(
+        static std::vector<std::shared_ptr<geometry::DFPointCloud>> SmoothSegmentation(
             geometry::DFPointCloud &pointCloud,
             float voxelSize = 0.2,
             float normalThresholdDegree = 20,

src/diffCheckApp.cc

@@ -15,7 +15,7 @@ int main()
   pcdSrc->LoadFromPLY(pathPcdSrc);
   meshSrc->LoadFromPLY(pathMeshSrc);
 
-  segments = diffCheck::segmentation::DFSegmentation::SegmentationPointCloud(*pcdSrc, 0.01, 1, 30, true, 50, 30);
+  segments = diffCheck::segmentation::DFSegmentation::SmoothSegmentation(*pcdSrc, 0.01, 1, 30, true, 50, 30);
   std::cout << "number of segments:" << segments.size()<< std::endl;
 
   diffCheck::visualizer::Visualizer vis;

src/diffCheckBindings.cc

@@ -159,7 +159,7 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
     py::module_ submodule_segmentation = m.def_submodule("dfb_segmentation", "A submodule for the `semantic` segmentation methods.");
 
     py::class_<diffCheck::segmentation::DFSegmentation>(submodule_segmentation, "DFSegmentation")
-        .def_static("segmentation_point_cloud", &diffCheck::segmentation::DFSegmentation::SegmentationPointCloud,
+        .def_static("smooth_segmentation", &diffCheck::segmentation::DFSegmentation::SmoothSegmentation,
             py::arg("point_cloud"),
             py::arg("voxel_size") = 1,
             py::arg("normal_threshold_degree") = 20,