Use type uint64_t for cluster IDs

Author: AndreasR30

include/continuous_clustering/clustering/continuous_clustering.hpp

@@ -142,7 +142,7 @@ struct Point
     std::set<RangeImageIndex> associated_trees{};
     RangeImageIndex tree_root_{0, -1};
     uint32_t tree_num_points{0};
-    uint32_t id{0};
+    uint64_t id{0};
     double visited_at_continuous_azimuth_angle{-1.};
     bool belongs_to_finished_cluster{false};
     int number_of_visited_neighbors{0};
@@ -178,7 +178,7 @@ struct PublishingJob
     int64_t ring_buffer_current_global_column_index;
     int64_t ring_buffer_min_required_global_column_index;
 
-    std::list<int64_t> cluster_ids;
+    std::list<uint64_t> cluster_ids;
     std::list<std::list<RangeImageIndex>> trees_per_finished_cluster;
 };
 
@@ -255,7 +255,7 @@ class ContinuousClustering
     std::mutex sc_first_unfinished_global_column_index_mutex;
     std::list<int64_t> sc_minimum_required_global_column_indices;
     std::list<RangeImageIndex> sc_unfinished_point_trees_;
-    uint32_t sc_cluster_counter_{1};
+    uint64_t sc_cluster_counter_{1};
     std::vector<float> sc_inclination_angles_between_lasers_;
     std::function<void(int64_t, int64_t, bool)> finished_column_callback_;
     std::function<void(const std::vector<Point>&, uint64_t)> finished_cluster_callback_;

src/clustering/continuous_clustering.cpp

@@ -1,6 +1,5 @@
 #include <continuous_clustering/clustering/continuous_clustering.hpp>
 
-#include <fstream>
 #include <iostream>
 #include <utility>
 
@@ -813,7 +812,7 @@ void ContinuousClustering::findFinishedTreesAndAssignSameId(TreeCombinationJob&&
     sc_unfinished_point_trees_.splice(sc_unfinished_point_trees_.end(), std::move(job.new_unfinished_point_trees));
 
     std::list<std::list<RangeImageIndex>> trees_per_finished_cluster;
-    std::list<int64_t> finished_cluster_ids;
+    std::list<uint64_t> finished_cluster_ids;
 
     std::list<RangeImageIndex> trees_collected_for_current_cluster;
     std::list<RangeImageIndex> trees_to_visit_for_current_cluster;
@@ -914,7 +913,7 @@ void ContinuousClustering::collectPointsForCusterAndPublish(PublishingJob&& job)
     std::vector<Point> cluster_points;
 
     auto it_trees_per_finished_cluster = job.trees_per_finished_cluster.begin();
-    for (int64_t cluster_id : job.cluster_ids)
+    for (uint64_t cluster_id : job.cluster_ids)
     {
         // clear buffer
         cluster_points.clear();