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Delete unused params in OrganizedMultiPlaneSegmentation::refine() #3302

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Aug 22, 2019
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Delete unused params in OrganizedMultiPlaneSegmentation::refine() #3302

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2 changes: 0 additions & 2 deletions segmentation/include/pcl/segmentation/impl/organized_multi_plane_segmentation.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -312,8 +312,6 @@ pcl::OrganizedMultiPlaneSegmentation<PointT, PointNT, PointLT>::segmentAndRefine
template<typename PointT, typename PointNT, typename PointLT> void
pcl::OrganizedMultiPlaneSegmentation<PointT, PointNT, PointLT>::refine (std::vector<ModelCoefficients>& model_coefficients,
std::vector<PointIndices>& inlier_indices,
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >&,
std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >&,
PointCloudLPtr& labels,
std::vector<pcl::PointIndices>& label_indices)
{
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20 changes: 18 additions & 2 deletions segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -263,7 +263,19 @@ namespace pcl
PointCloudLPtr& labels,
std::vector<pcl::PointIndices>& label_indices,
std::vector<pcl::PointIndices>& boundary_indices);


/** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
* \param [in] model_coefficients The list of segmented model coefficients
* \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
* \param [in] labels The labels produced by the initial segmentation
* \param [in] label_indices The list of indices corresponding to each label
*/
void
refine (std::vector<ModelCoefficients>& model_coefficients,
std::vector<PointIndices>& inlier_indices,
PointCloudLPtr& labels,
std::vector<pcl::PointIndices>& label_indices);

/** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
* \param [in] model_coefficients The list of segmented model coefficients
* \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
Expand All @@ -272,13 +284,17 @@ namespace pcl
* \param [in] labels The labels produced by the initial segmentation
* \param [in] label_indices The list of indices corresponding to each label
*/
[[deprecated("centroids and covariances parameters are not used; they are deprecated and will be removed in future releases")]]
void
refine (std::vector<ModelCoefficients>& model_coefficients,
std::vector<PointIndices>& inlier_indices,
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
PointCloudLPtr& labels,
std::vector<pcl::PointIndices>& label_indices);
std::vector<pcl::PointIndices>& label_indices)
{
refine(model_coefficients, inlier_indices, labels, label_indices);
}

protected:

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