[ADD #371] Implemented status bar feature for - Surface detection by Lari/Habib

 * Implemented status bar feature for "Surface detection by Lari/Habib" and "Point Groups - Validator"

LiDARToolbox/VERSION

@@ -15,4 +15,4 @@
 #VERSION=1.2.0
 #VERSION=1.2.0+hgX  -> replaces the X with the current revision number
 #VERSUIB=1.2.0+hg1234 -> here, revision number was set by the build scripts for example.
-VERSION=0.0.3+hgX
+VERSION=0.5.0

LiDARToolbox/src/pointGroupsValidator/WGroupValidator.cpp

@@ -141,14 +141,18 @@ void WGroupValidator::validateGroups(
     m_validatedGroups = m_validatedPoints->getGroups();
 
 
+    setProgressSettings( m_referenceGroupEditor.getLastGroupID() );
     for( size_t refGroup = 0; refGroup <= m_referenceGroupEditor.getLastGroupID(); refGroup++ )
     {
         boost::shared_ptr< WDataSetPoints > referenceGroup = getPointsOfGroup( m_referencePoints, refGroup );
         size_t bestGroupIDInValidated = getBestMatchingGroupID( referenceGroup );
         validateGroup( refGroup, bestGroupIDInValidated );
+
+        m_progressStatus->increment( 1 );
     }
 
     identifyNotSegmentedGroupPoints();
+    m_progressStatus->finish();
 }
 
 
@@ -387,3 +391,18 @@ boost::shared_ptr< WDataSetPoints > WGroupValidator::getEmptyShowablePointSet()
             new WDataSetPoints( newVertices, newColors ) );
     return outputPoints;
 }
+
+
+void WGroupValidator::assignProgressCombiner( boost::shared_ptr< WProgressCombiner > progress )
+{
+    m_associatedProgressCombiner = progress;
+}
+
+void WGroupValidator::setProgressSettings( size_t referenceGroupCount )
+{
+    m_associatedProgressCombiner->removeSubProgress( m_progressStatus );
+    std::ostringstream headerLabel;
+    headerLabel << "Validating groups: " << referenceGroupCount;
+    m_progressStatus = boost::shared_ptr< WProgress >( new WProgress( headerLabel.str(), referenceGroupCount ) );
+    m_associatedProgressCombiner->addSubProgress( m_progressStatus );
+}

LiDARToolbox/src/pointGroupsValidator/WGroupValidator.h

@@ -32,6 +32,8 @@
 #include "../common/datastructures/WDataSetPointsGrouped.h"
 #include "../common/algorithms/pointSubtractionHelper/WPointSubtactionHelper.h"
 
+#include "core/common/WProgressCombiner.h"
+
 
 using std::vector;
 
@@ -160,6 +162,20 @@ public:
 
 
 
+
+    /**
+     * Assigns the progress combiner to depict the status during classifying.
+     * \param progress Progress combiner to assign.
+     */
+    void assignProgressCombiner( boost::shared_ptr< WProgressCombiner > progress );
+
+    /**
+     * Initializes the current progress status.
+     * \param referenceGroupCount Count of referrence groups to process.
+     */
+    void setProgressSettings( size_t referenceGroupCount );
+
+
 private:
     /**
      * Validates a single group using a reference point group set.
@@ -365,6 +381,18 @@ private:
      *                  covered by the reference group..
      */
     double m_minimalPointCorrectness;
+
+
+
+    /**
+    * Progress combiner for changing the plugin status in the modules overview.
+    */
+    boost::shared_ptr< WProgressCombiner > m_associatedProgressCombiner;
+
+    /**
+    * Current progress status.
+    */
+    boost::shared_ptr< WProgress > m_progressStatus;
 };
 
 #endif  // WGROUPVALIDATOR_H

LiDARToolbox/src/pointGroupsValidator/WMPointGroupsValidator.cpp

@@ -166,8 +166,7 @@ void WMPointGroupsValidator::moduleMain()
 //        std::cout << "Execute cycle\r\n";
         if  ( referenceGroups && validatedPoints )
         {
-            setProgressSettings( 10 );
-
+            m_groupValidator.assignProgressCombiner( m_progress );
             m_groupValidator.setCoordinateAccuracy( m_coordinateAccuracy->get() );
             m_groupValidator.setPointAreaRadius( m_pointAreaRadius->get() );
             m_groupValidator.setMinimalPointCompleteness( m_minimalPointCompleteness->get() );
@@ -185,8 +184,6 @@ void WMPointGroupsValidator::moduleMain()
             if( m_saveCSVTrigger->get(true) )
                 m_exportCSV.exportCSV();
             m_saveCSVTrigger->set( WPVBaseTypes::PV_TRIGGER_READY, true );
-
-            m_progressStatus->finish();
         }
 
 
@@ -206,16 +203,3 @@ void WMPointGroupsValidator::moduleMain()
 
     WKernel::getRunningKernel()->getGraphicsEngine()->getScene()->remove( m_rootNode );
 }
-
-
-
-
-
-void WMPointGroupsValidator::setProgressSettings( size_t steps )
-{
-    m_progress->removeSubProgress( m_progressStatus );
-    std::string headerText = "Loading data";
-    m_progressStatus = boost::shared_ptr< WProgress >( new WProgress( headerText, steps ) );
-    m_progress->addSubProgress( m_progressStatus );
-}
-

LiDARToolbox/src/pointGroupsValidator/WMPointGroupsValidator.h

@@ -142,14 +142,6 @@ protected:
     virtual void requirements();
 
 private:
-    /**
-     * Initializes progress bar settings.
-     * \param steps Points count as reference to the progress bar.
-     */
-    void setProgressSettings( size_t steps );
-
-
-
     /**
      * The OSG root node for this module. All other geodes or OSG nodes will be attached on this single node.
      */
@@ -195,10 +187,6 @@ private:
 
 
 
-    /**
-     * Plugin progress status that is shared with the reader.
-     */
-    boost::shared_ptr< WProgress > m_progressStatus;
 
     /**
      * Settings group that deals with coordinate accuracy of points to be evaluated.

LiDARToolbox/src/surfaceDetectionByLari/WLariBoundaryDetector.cpp

@@ -43,16 +43,19 @@ WLariBoundaryDetector::~WLariBoundaryDetector()
 {
 }
 
-void WLariBoundaryDetector::detectBoundaries( WKdTreeND* parameterDomain )
+void WLariBoundaryDetector::detectBoundaries( WLariPointClassifier* classifier )
 {
+    m_classifier = classifier;
     cout << "detectBoundaries()" << endl;
-    groupPointsByGroupID( parameterDomain );
+    groupPointsByGroupID( m_classifier->getParameterDomain() );
 
+    m_classifier->setProgressSettings( m_spatialInputClusters->size(), m_spatialInputClusters->size(), "Boundary detection - " );
     for( size_t cluster = 0; cluster < m_spatialInputClusters->size(); cluster++ )
     {
         cout << "Modified convex hull on cluster " << m_spatialInputClusters->at( cluster )->size()
                 << " points. [" << cluster << "]" << endl;
         detectInputCluster( m_spatialInputClusters->at( cluster ) );
+        m_classifier->incrementProgress();
     }
 }
 

LiDARToolbox/src/surfaceDetectionByLari/WLariBoundaryDetector.h

@@ -36,6 +36,7 @@
 #include "../common/datastructures/kdtree/WKdPointND.h"
 #include "../common/datastructures/kdtree/WPointSearcher.h"
 #include "../common/math/vectors/WVectorMaths.h"
+#include "WLariPointClassifier.h"
 
 
 using std::cout;
@@ -93,9 +94,10 @@ public:
      * Applies the algorithm on the input point data set where points have been 
      * clustered to groups that have a similar planar furmula. The algorithm splits 
      * grops that are spatially disconnected.
-     * \param parameterDomain Parameter domain containing planar input points.
+     * \param classifier Point classifier instance to fetch points of the spatial and 
+     *                   parameter domain.
      */
-    void detectBoundaries( WKdTreeND* parameterDomain );
+    void detectBoundaries( WLariPointClassifier* classifier );
 
     /**
      * Sets the neighbor point search distance limit:
@@ -223,6 +225,10 @@ private:
      */
     bool boundChainStillValid();
 
+    /**
+     * Point classifier to access the spatial and parameter domain.
+     */
+    WLariPointClassifier* m_classifier;
 
     /**
      * Spatial domain point set kd tree to be analyzed and its point group IDs modified.

LiDARToolbox/src/surfaceDetectionByLari/WLariPointClassifier.cpp

@@ -24,6 +24,7 @@
 
 #include <vector>
 #include <limits>
+#include <string>
 #include "WLariPointClassifier.h"
 #include "../common/math/leastSquares/WLeastSquares.h"
 
@@ -78,6 +79,8 @@ WKdTreeND* WLariPointClassifier::getSpatialDomain()
 
 void WLariPointClassifier::classifyPoints( vector<WSpatialDomainKdPoint*>* spatialPoints, vector<WParameterDomainKdPoint*>* parameterPoints )
 {
+    setProgressSettings( spatialPoints->size(), spatialPoints->size(), "Point classification - " );
+
     size_t threads = m_cpuThreadCount < spatialPoints->size() ?m_cpuThreadCount :spatialPoints->size();
     for( size_t thread = 0; thread < threads; thread++ )
         m_cpuThreads[thread] = new boost::thread( &WLariPointClassifier::
@@ -126,6 +129,8 @@ void WLariPointClassifier::classifyPointsAtThread( vector<WSpatialDomainKdPoint*
 
         delete nearestPoints;
         delete points;
+
+        incrementProgress();
     }
 }
 
@@ -191,3 +196,27 @@ void WLariPointClassifier::setCylindricalNLambdaRange( size_t lambdaIndex, doubl
     m_cylindricalNLambdaMin[lambdaIndex] = min;
     m_cylindricalNLambdaMax[lambdaIndex] = max;
 }
+
+void WLariPointClassifier::assignProgressCombiner( boost::shared_ptr< WProgressCombiner > progress )
+{
+    m_associatedProgressCombiner = progress;
+}
+
+void WLariPointClassifier::setProgressSettings( size_t iteration, size_t steps, std::string headerText )
+{
+    m_associatedProgressCombiner->removeSubProgress( m_progressStatus );
+    std::ostringstream headerLabel;
+    headerLabel << headerText << iteration;
+    m_progressStatus = boost::shared_ptr< WProgress >( new WProgress( headerLabel.str(), steps ) );
+    m_associatedProgressCombiner->addSubProgress( m_progressStatus );
+}
+
+void WLariPointClassifier::incrementProgress()
+{
+    m_progressStatus->increment( 1 );
+}
+
+void WLariPointClassifier::finishProgress()
+{
+    m_progressStatus->finish();
+}

LiDARToolbox/src/surfaceDetectionByLari/WLariPointClassifier.h

@@ -27,6 +27,7 @@
 
 #include <iostream>
 #include <vector>
+#include <string>
 #include <boost/thread.hpp>
 
 #include "core/dataHandler/WDataSetPoints.h"
@@ -144,6 +145,31 @@ public:
      */
     void setCylindricalNLambdaRange( size_t lambdaIndex, double min, double max );
 
+
+    /**
+     * Assigns the progress combiner to depict the status during classifying.
+     * \param progress Progress combiner to assign.
+     */
+    void assignProgressCombiner( boost::shared_ptr< WProgressCombiner > progress );
+
+    /**
+     * Initializes the current progress status.
+     * \param iteration Current iteration number. Mostly cluster ID.
+     * \param steps Step count of the process. Mostly it is the point count within a cluster.
+     * \param headerText Gives information about the task
+     */
+    void setProgressSettings( size_t iteration, size_t steps, std::string headerText );
+
+    /**
+     * Increments the progress status by one unit.
+     */
+    void incrementProgress();
+
+    /**
+     * Finishes the progress.
+     */
+    void finishProgress();
+
 private:
     /**
      * Classifies points using Eigen Value analyses (Eigen Values and Eigen Vectors) and 
@@ -162,13 +188,20 @@ private:
      */
     void classifyPointsAtThread( vector<WSpatialDomainKdPoint*>* spatialPoints, size_t threadIndex );
 
+
+
+    /**
+     * Sets the progress status.
+     */
+
     /**
-     * The maximal count of analyzed neighbors of an examined input point.
+     * The maximal count of analyzed neighbors of an examined input point. It is the 
+     * number of points that is required for a plane definition.
      */
     size_t m_numberPointsK;
 
     /**
-     * Maximal radius within which the nearest neighbors are examined.
+     * Maximal radius, within which the nearest neighbors are examined.
      */
     double m_maxPointDistanceR;
 
@@ -216,6 +249,17 @@ private:
      * CPU threads object for multithreading support.
      */
     vector<boost::thread*> m_cpuThreads;
+
+
+    /**
+    * Progress combiner for changing the plugin status in the modules overview.
+    */
+    boost::shared_ptr< WProgressCombiner > m_associatedProgressCombiner;
+
+    /**
+    * Current progress status.
+    */
+    boost::shared_ptr< WProgress > m_progressStatus;
 };
 
 #endif  // WLARIPOINTCLASSIFIER_H

LiDARToolbox/src/surfaceDetectionByLari/WMSurfaceDetectionByLari.cpp

@@ -117,8 +117,8 @@ void WMSurfaceDetectionByLari::properties()
     m_reloadData = m_properties->addProperty( "Reload data:",  "Execute", WPVBaseTypes::PV_TRIGGER_READY, m_propCondition );
 
     double minRange = 0.01;
-    m_segmentationPlaneDistance = m_properties->addProperty( "Plane distance", "", 0.7, m_propCondition );
-    m_segmentationMaxAngleDegrees = m_properties->addProperty( "Plane angle", "", 15.0, m_propCondition );
+    m_segmentationMaxPlaneDistance = m_properties->addProperty( "Delta d", "", 0.7, m_propCondition );
+    m_segmentationMaxAngleDegrees = m_properties->addProperty( "Delta alpha", "", 15.0, m_propCondition );
     m_numberPointsK = m_properties->addProperty( "Number points K=", "", 40, m_propCondition );
     m_maxPointDistanceR = m_properties->addProperty( "Max point distance r=", "", 1.0, m_propCondition );
 
@@ -215,7 +215,6 @@ void WMSurfaceDetectionByLari::moduleMain()
             timer.reset();
             WDataSetPoints::VertexArray inputVerts = points->getVertices();
             size_t count = inputVerts->size()/3;
-            setProgressSettings( count );
 
             WQuadTree* boundingBox = new WQuadTree( pow( 2.0, 3 ) );
 
@@ -227,12 +226,12 @@ void WMSurfaceDetectionByLari::moduleMain()
                 float z = inputVerts->at( vertex*3+2 );
                 inputPoints->push_back( new WSpatialDomainKdPoint( x, y, z ) );
                 boundingBox->registerPoint( x, y, z );
-                m_progressStatus->increment( 1 );
             }
 
             WLariPointClassifier* classifier = new WLariPointClassifier();
             WLariOutliner* outliner = new WLariOutliner( classifier );
 
+            classifier->assignProgressCombiner( m_progress );
             classifier->setNumberPointsK( m_numberPointsK->get() );
             classifier->setMaxPointDistanceR( m_maxPointDistanceR->get() );
             classifier->setCpuThreadCount( m_cpuThreadCount->get() );
@@ -250,7 +249,7 @@ void WMSurfaceDetectionByLari::moduleMain()
             m_outputLeastSquaresPlanes->updateData( outliner->outlineLeastSquaresPlanes( m_squareWidth->get() ) );
 
             WLariBruteforceClustering* clustering = new WLariBruteforceClustering( classifier );
-            clustering->setSegmentationSettings( m_segmentationMaxAngleDegrees->get(), m_segmentationPlaneDistance->get() );
+            clustering->setSegmentationSettings( m_segmentationMaxAngleDegrees->get(), m_segmentationMaxPlaneDistance->get() );
             clustering->setCpuThreadCount( m_cpuThreadCount->get() );
             clustering->detectClustersByBruteForce();
 
@@ -258,7 +257,7 @@ void WMSurfaceDetectionByLari::moduleMain()
             if( m_applyBoundaryDetection->get() )
             {
                 boundaryDetector->setMaxPointDistanceR( m_maxPointDistanceR->get() );
-                boundaryDetector->detectBoundaries( classifier->getParameterDomain() );
+                boundaryDetector->detectBoundaries( classifier );
             }
 
             cout << "Outlining spatial domain" << endl;
@@ -284,7 +283,7 @@ void WMSurfaceDetectionByLari::moduleMain()
             m_zMax->set( boundingBox->getRootNode()->getValueMax() );
             delete boundingBox;
             m_infoRenderTimeSeconds->set( timer.elapsed() / 60.0 );
-            m_progressStatus->finish();
+            classifier->finishProgress();
         }
         m_reloadData->set( WPVBaseTypes::PV_TRIGGER_READY, true );
         m_reloadData->get( true );
@@ -304,11 +303,3 @@ void WMSurfaceDetectionByLari::moduleMain()
 
     WKernel::getRunningKernel()->getGraphicsEngine()->getScene()->remove( m_rootNode );
 }
-
-void WMSurfaceDetectionByLari::setProgressSettings( size_t steps )
-{
-    m_progress->removeSubProgress( m_progressStatus );
-    std::string headerText = "Loading data";
-    m_progressStatus = boost::shared_ptr< WProgress >( new WProgress( headerText, steps ) );
-    m_progress->addSubProgress( m_progressStatus );
-}

LiDARToolbox/src/surfaceDetectionByLari/WMSurfaceDetectionByLari.h

@@ -257,7 +257,7 @@ private:
      * neighborship. This variable is the maximal difference between two plane normal 
      * distance to the origin.
      */
-    WPropDouble m_segmentationPlaneDistance;
+    WPropDouble m_segmentationMaxPlaneDistance;
 
     /**
      * The maximal count of analyzed neighbors of an 
@@ -370,10 +370,6 @@ private:
 
     WPropTrigger  m_reloadData; //!< This property triggers the actual reading,
 
-    /**
-     * Plugin progress status.
-     */
-    boost::shared_ptr< WProgress > m_progressStatus;
 
     /**
      * Applied CPU thread count.

LiDARToolbox/src/surfaceDetectionByLari/clusterDetection/WLariBruteforceClustering.cpp

@@ -32,6 +32,8 @@
 
 WLariBruteforceClustering::WLariBruteforceClustering( WLariPointClassifier* classifier )
 {
+    m_pointClassifier = classifier;
+
     m_parameterDomain = new WKdTreeND( 3 );
     m_parameterDomain->add( classifier->getParameterDomain()->getAllPoints() );
 
@@ -47,12 +49,12 @@ WLariBruteforceClustering::~WLariBruteforceClustering()
 void WLariBruteforceClustering::detectClustersByBruteForce()
 {
     vector<WKdPointND*>* parameterNodes = m_parameterDomain->getAllPoints();
-    size_t currentClusterID = 0;
+    m_currentClusterID = 0;
     while( parameterNodes->size() > 0 )
     {
         initExtentSizes( parameterNodes );
         WParameterDomainKdPoint* biggestExtentPoint = 0;
-        int mostNeighborsCount = 0;
+        size_t mostNeighborsCount = 0;
         for( size_t index = 0; index < parameterNodes->size(); index++ )
         {
             WParameterDomainKdPoint* parameterPoint = static_cast<WParameterDomainKdPoint*>( parameterNodes->at( index ) );
@@ -62,7 +64,7 @@ void WLariBruteforceClustering::detectClustersByBruteForce()
                 mostNeighborsCount = parameterPoint->getExtentPointCount();
             }
         }
-        addExtentCluster( biggestExtentPoint, currentClusterID++ );
+        addExtentCluster( biggestExtentPoint, m_currentClusterID++ );
 
         vector<WKdPointND*>* oldParameterNodes = parameterNodes;
         parameterNodes = new vector<WKdPointND*>();
@@ -95,6 +97,7 @@ void WLariBruteforceClustering::setCpuThreadCount( size_t cpuThreadCount )
 
 void WLariBruteforceClustering::initExtentSizes( vector<WKdPointND*>* pointsToProcess )
 {
+    m_pointClassifier->setProgressSettings( m_currentClusterID, pointsToProcess->size(), "Init. cluster " );
     size_t threads = m_cpuThreadCount < pointsToProcess->size() ?m_cpuThreadCount :pointsToProcess->size();
     for( size_t thread = 0; thread < threads; thread++ )
         m_cpuThreads[thread] = new boost::thread(
@@ -121,6 +124,7 @@ void WLariBruteforceClustering::initExtentSizesAtThread( vector<WKdPointND*>* po
             refreshable->setExtentPointCount( count );
             refreshable->tagToRefresh( false );
         }
+        m_pointClassifier->incrementProgress();
     }
 }
 
@@ -128,6 +132,7 @@ void WLariBruteforceClustering::addExtentCluster( WParameterDomainKdPoint* peakC
 {
     vector<WParameterDomainKdPoint*>* extentPoints =
             getParametersOfExtent( peakCenterPoint->getCoordinate() );
+    m_pointClassifier->setProgressSettings( m_currentClusterID, extentPoints->size(), "Adding cluster " );
     cout << "Updating Data for extent: " << extentPoints->size() << "/" << m_parameterDomain->getAllPoints()->size() << endl;
     size_t threads = m_cpuThreadCount < extentPoints->size() ?m_cpuThreadCount :extentPoints->size();
     for( size_t thread = 0; thread < threads; thread++ )
@@ -155,6 +160,7 @@ void WLariBruteforceClustering::addExtentClusterAtThread( vector<WParameterDomai
 
             extentPoint->setIsAddedToPlane( true );
         }
+        m_pointClassifier->incrementProgress();
     }
 }
 

LiDARToolbox/src/surfaceDetectionByLari/clusterDetection/WLariBruteforceClustering.h

@@ -147,6 +147,16 @@ private:
      */
     vector<WParameterDomainKdPoint*>* getParametersOfExtent( const vector<double>& parametersXYZ0 );
 
+    /**
+     * Current cluster ID of the brute-force clustering process.
+     */
+    size_t m_currentClusterID;
+
+    /**
+     * Assigned point classifier instance to get parameter and spatial domain points;
+     */
+    WLariPointClassifier* m_pointClassifier;
+
     /**
      * Parameter domain kd tree. This point set is emptied during operation for more 
      * speed. Assign a copy to that field.

LiDARToolbox/src/surfaceDetectionByLari/clusterDetection/WParameterSpaceSearcher.h

@@ -51,7 +51,8 @@ public:
     virtual ~WParameterSpaceSearcher();
 
     /**
-     * Tags kd tree points within the extent with searched point as peak center to be refreshed.
+     * Tags kd tree points within the extent with searched point as peak center to be 
+     * refreshed.
      */
     void tagExtentToRefresh();
 
@@ -95,8 +96,8 @@ protected:
 
 private:
     /**
-     * Returns the masimal euclidian distance within an extent from the peak center in 
-     * the parameter domain kd tree. It is a spherical bounding box concept.
+     * Returns the masimal euclidian distance within an extent from the peak center to 
+     * any parameter of the extent. It is a spherical bounding box concept.
      * \param parametersXYZ0 Parameter domain coordinate from which the maximal 
      *                       euclidian distance to the farest extent point is determined.
      * \return The maximal euclidian distance from the peak center to the farest 

LiDARToolbox/src/surfaceDetectionByLari/structure/WParameterDomainKdPoint.cpp

@@ -29,11 +29,13 @@
 WParameterDomainKdPoint::WParameterDomainKdPoint( vector<double> coordinate ) : WKdPointND( coordinate )
 {
     m_markedToRefresh = true;
+    m_extentPointCount = 0;
 }
 
 WParameterDomainKdPoint::WParameterDomainKdPoint( double x0, double y0, double z0 ) : WKdPointND( x0, y0, z0 )
 {
     m_markedToRefresh = true;
+    m_extentPointCount = 0;
 }
 
 WParameterDomainKdPoint::~WParameterDomainKdPoint()
@@ -45,7 +47,7 @@ void WParameterDomainKdPoint::setSpatialPoint( WSpatialDomainKdPoint* spatialPoi
     m_assignedSpatialNode = spatialPoint;
 }
 
-int WParameterDomainKdPoint::getExtentPointCount()
+size_t WParameterDomainKdPoint::getExtentPointCount()
 {
     return m_extentPointCount;
 }
@@ -65,7 +67,7 @@ bool WParameterDomainKdPoint::isTaggedToRefresh()
     return m_markedToRefresh;
 }
 
-void WParameterDomainKdPoint::setExtentPointCount( int extentPointCount )
+void WParameterDomainKdPoint::setExtentPointCount( size_t extentPointCount )
 {
     m_extentPointCount = extentPointCount;
 }

LiDARToolbox/src/surfaceDetectionByLari/structure/WParameterDomainKdPoint.h

@@ -75,7 +75,7 @@ public:
      * \return Parameter domain point count within the extent with the coordinate of 
      *         this object's parameter coordinate as peak center
      */
-    int getExtentPointCount();
+    size_t getExtentPointCount();
 
     /**
      * Returns the parameter spatial domain point object that is assigned to this 
@@ -107,7 +107,7 @@ public:
      * \param extentPointCount Extent point count of an extent with the coordinate of 
      *                         this parameter domain point as peak center.
      */
-    void setExtentPointCount( int extentPointCount );
+    void setExtentPointCount( size_t extentPointCount );
 
     /**
      * Sets whether a parameter that is added to plane or not. Assigned points to a 
@@ -139,7 +139,7 @@ private:
      * object as peak center. After each brute force plane point cluster detection 
      * estimation the biggest extent is picket out.
      */
-    int m_extentPointCount;
+    size_t m_extentPointCount;
 
     /**
      * Temporary tag which tells whether a parameter domain point is added to a plane or 

LiDARToolbox/src/surfaceDetectionByPCL/WMSurfaceDetectionByPCL.cpp

@@ -90,7 +90,7 @@ void WMSurfaceDetectionByPCL::connectors()