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Fix bug in RegionGrowing and RegionGrowingRGB #6349

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Merged
merged 2 commits into from
Sep 24, 2025
Merged

Fix bug in RegionGrowing and RegionGrowingRGB #6349

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e81ba36
Fix bug in RegionGrowing and RegionGrowingRGB
mvieth Sep 23, 2025
97d83b5
Add tests
mvieth Sep 24, 2025
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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/impl/region_growing.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -332,7 +332,7 @@ pcl::RegionGrowing<PointT, NormalT>::findPointNeighbours ()
for (const auto& point_index: (*indices_))
{
neighbours.clear ();
search_->nearestKSearch (point_index, neighbour_number_, neighbours, distances);
search_->nearestKSearch ((*input_)[point_index], neighbour_number_, neighbours, distances);
point_neighbours_[point_index].swap (neighbours);
}
}
Expand All @@ -343,7 +343,7 @@ pcl::RegionGrowing<PointT, NormalT>::findPointNeighbours ()
if (!pcl::isFinite ((*input_)[point_index]))
continue;
neighbours.clear ();
search_->nearestKSearch (point_index, neighbour_number_, neighbours, distances);
search_->nearestKSearch ((*input_)[point_index], neighbour_number_, neighbours, distances);
point_neighbours_[point_index].swap (neighbours);
}
}
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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/impl/region_growing_rgb.hpp
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Expand Up @@ -278,7 +278,7 @@ pcl::RegionGrowingRGB<PointT, NormalT>::findPointNeighbours ()
{
neighbours.clear ();
distances.clear ();
search_->nearestKSearch (point_index, region_neighbour_number_, neighbours, distances);
search_->nearestKSearch ((*input_)[point_index], region_neighbour_number_, neighbours, distances);
point_neighbours_[point_index].swap (neighbours);
point_distances_[point_index].swap (distances);
}
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45 changes: 45 additions & 0 deletions test/segmentation/test_segmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,27 @@ TEST (RegionGrowingRGBTest, Segment)
EXPECT_NE (0, num_of_segments);
}

TEST (RegionGrowingRGBTest, SegmentWithIndices)
{
// Same test as before, but now we pass a reduced set of indices to RegionGrowingRGB, which results in fewer clusters
pcl::IndicesPtr indices (new pcl::Indices(colored_cloud->size()-611));
std::iota(indices->begin(), indices->end(), 611);

RegionGrowingRGB<pcl::PointXYZRGB> rg;

rg.setInputCloud (colored_cloud);
rg.setIndices (indices);
rg.setDistanceThreshold (10);
rg.setRegionColorThreshold (5);
rg.setPointColorThreshold (6);
rg.setMinClusterSize (20);

std::vector <pcl::PointIndices> clusters;
rg.extract (clusters);
const auto num_of_segments = clusters.size ();
EXPECT_EQ (5, num_of_segments);
}

////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RegionGrowingTest, Segment)
{
Expand All @@ -91,6 +112,30 @@ TEST (RegionGrowingTest, Segment)
EXPECT_NE (0, num_of_segments);
}

TEST (RegionGrowingTest, SegmentWithIndices)
{
// use colored_cloud, but with a reduced set of indices (colors are ignored)
pcl::IndicesPtr indices (new pcl::Indices(colored_cloud->size()-611));
std::iota(indices->begin(), indices->end(), 611);
// create dummy normals that all point into the same direction
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
normals->resize(colored_cloud->size());
for(auto& normal: *normals) {
normal.normal_x = normal.normal_y = 0.0f;
normal.normal_z = 1.0f;
}

pcl::RegionGrowing<pcl::PointXYZRGB, pcl::Normal> rg;
rg.setInputCloud (colored_cloud);
rg.setInputNormals (normals);
rg.setIndices (indices);

std::vector <pcl::PointIndices> clusters;
rg.extract (clusters);
const auto num_of_segments = clusters.size ();
EXPECT_EQ (5, num_of_segments);
}

////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RegionGrowingTest, SegmentWithoutCloud)
{
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