Add option to do high-level breadth-first-search (BFS) just every n'th column

Author: AndreasR30

cfg/ContinuousClustering.cfg

@@ -76,5 +76,8 @@ c.add("ignore_points_with_too_big_inclination_angle_diff", bool_t, 0,
 c.add("use_last_point_for_cluster_stamp", bool_t, 0,
       "whether to use the latest stamp of all points in the cluster as cluster stamp or the middle between oldest and latest stamp. This should be typically disabled and is only useful to measure the cluster' latency.",
       False)
+c.add("cluster_point_trees_every_nth_column", int_t, 0,
+      "custher point trees every n'th column (n==1 means every column)",
+      1, 0, 3000)
 
 exit(gen.generate(PACKAGE, "continuous_clustering_node", "ContinuousClustering"))

include/continuous_clustering/clustering/continuous_clustering.hpp

@@ -75,6 +75,7 @@ struct ContinuousClusteringConfiguration
     bool ignore_points_in_chessboard_pattern{true};
     bool ignore_points_with_too_big_inclination_angle_diff{true};
     bool use_last_point_for_cluster_stamp{false};
+    int cluster_point_trees_every_nth_column{1};
 };
 
 struct Configuration

src/clustering/continuous_clustering.cpp

@@ -838,6 +838,9 @@ void ContinuousClustering::findFinishedTreesAndAssignSameId(TreeCombinationJob&&
 {
     sc_unfinished_point_trees_.splice(sc_unfinished_point_trees_.end(), std::move(job.new_unfinished_point_trees));
 
+    if (job.ring_buffer_current_global_column_index % config_.clustering.cluster_point_trees_every_nth_column != 0)
+        return;
+
     std::list<std::list<RangeImageIndex>> trees_per_finished_cluster;
     std::list<uint64_t> finished_cluster_ids;
 

src/ros/continuous_clustering_node.cpp

@@ -229,6 +229,7 @@ class RosContinuousClustering
         config_.clustering.ignore_points_with_too_big_inclination_angle_diff =
             config.ignore_points_with_too_big_inclination_angle_diff;
         config_.clustering.use_last_point_for_cluster_stamp = config.use_last_point_for_cluster_stamp;
+        config_.clustering.cluster_point_trees_every_nth_column = config.cluster_point_trees_every_nth_column;
 
         clustering_.setConfiguration(config_);
     }