Point Cloud Library (PCL)  1.7.1
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pcl::SupervoxelClustering< PointT > Class Template Reference

Implements a supervoxel algorithm based on voxel structure, normals, and rgb values. More...

#include <pcl/segmentation/supervoxel_clustering.h>

+ Inheritance diagram for pcl::SupervoxelClustering< PointT >:

Classes

class  VoxelData
 VoxelData is a structure used for storing data within a pcl::octree::OctreePointCloudAdjacencyContainer. More...
 

Public Types

typedef
pcl::octree::OctreePointCloudAdjacencyContainer
< PointT, VoxelData
LeafContainerT
 
typedef std::vector
< LeafContainerT * > 
LeafVectorT
 
typedef pcl::PointCloud< PointTPointCloudT
 
typedef pcl::PointCloud< NormalNormalCloudT
 
typedef
pcl::octree::OctreePointCloudAdjacency
< PointT, LeafContainerT
OctreeAdjacencyT
 
typedef
pcl::octree::OctreePointCloudSearch
< PointT
OctreeSearchT
 
typedef pcl::search::KdTree
< PointT
KdTreeT
 
typedef boost::shared_ptr
< std::vector< int > > 
IndicesPtr
 
typedef boost::adjacency_list
< boost::setS, boost::setS,
boost::undirectedS, uint32_t,
float > 
VoxelAdjacencyList
 
typedef
VoxelAdjacencyList::vertex_descriptor 
VoxelID
 
typedef
VoxelAdjacencyList::edge_descriptor 
EdgeID
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 SupervoxelClustering (float voxel_resolution, float seed_resolution, bool use_single_camera_transform=true)
 Constructor that sets default values for member variables. More...
 
virtual ~SupervoxelClustering ()
 This destructor destroys the cloud, normals and search method used for finding neighbors. More...
 
void setVoxelResolution (float resolution)
 Set the resolution of the octree voxels. More...
 
float getVoxelResolution () const
 Get the resolution of the octree voxels. More...
 
void setSeedResolution (float seed_resolution)
 Set the resolution of the octree seed voxels. More...
 
float getSeedResolution () const
 Get the resolution of the octree seed voxels. More...
 
void setColorImportance (float val)
 Set the importance of color for supervoxels. More...
 
void setSpatialImportance (float val)
 Set the importance of spatial distance for supervoxels. More...
 
void setNormalImportance (float val)
 Set the importance of scalar normal product for supervoxels. More...
 
virtual void extract (std::map< uint32_t, typename Supervoxel< PointT >::Ptr > &supervoxel_clusters)
 This method launches the segmentation algorithm and returns the supervoxels that were obtained during the segmentation. More...
 
virtual void setInputCloud (typename pcl::PointCloud< PointT >::ConstPtr cloud)
 This method sets the cloud to be supervoxelized. More...
 
virtual void refineSupervoxels (int num_itr, std::map< uint32_t, typename Supervoxel< PointT >::Ptr > &supervoxel_clusters)
 This method refines the calculated supervoxels - may only be called after extract. More...
 
pcl::PointCloud< PointXYZRGBA >
::Ptr 
getColoredCloud () const
 Returns an RGB colorized cloud showing superpixels Otherwise it returns an empty pointer. More...
 
pcl::PointCloud< PointT >::Ptr getVoxelCentroidCloud () const
 Returns a deep copy of the voxel centroid cloud. More...
 
pcl::PointCloud< PointXYZL >::Ptr getLabeledCloud () const
 Returns labeled cloud Points that belong to the same supervoxel have the same label. More...
 
pcl::PointCloud
< pcl::PointXYZRGBA >::Ptr 
getColoredVoxelCloud () const
 Returns an RGB colorized voxelized cloud showing superpixels Otherwise it returns an empty pointer. More...
 
pcl::PointCloud
< pcl::PointXYZL >::Ptr 
getLabeledVoxelCloud () const
 Returns labeled voxelized cloud Points that belong to the same supervoxel have the same label. More...
 
void getSupervoxelAdjacencyList (VoxelAdjacencyList &adjacency_list_arg) const
 Gets the adjacency list (Boost Graph library) which gives connections between supervoxels. More...
 
void getSupervoxelAdjacency (std::multimap< uint32_t, uint32_t > &label_adjacency) const
 Get a multimap which gives supervoxel adjacency. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Static Public Member Functions

static pcl::PointCloud
< pcl::PointNormal >::Ptr 
makeSupervoxelNormalCloud (std::map< uint32_t, typename Supervoxel< PointT >::Ptr > &supervoxel_clusters)
 Static helper function which returns a pointcloud of normals for the input supervoxels. More...
 

Friends

class SupervoxelHelper
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointT>
class pcl::SupervoxelClustering< PointT >

Implements a supervoxel algorithm based on voxel structure, normals, and rgb values.

Note
Supervoxels are oversegmented volumetric patches (usually surfaces)
Usually, color isn't needed (and can be detrimental)- spatial structure is mainly used
  • J. Papon, A. Abramov, M. Schoeler, F. Woergoetter Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013
Author
Jeremie Papon (jpapo.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Definition at line 119 of file supervoxel_clustering.h.

Member Typedef Documentation

template<typename PointT >
typedef VoxelAdjacencyList::edge_descriptor pcl::SupervoxelClustering< PointT >::EdgeID

Definition at line 177 of file supervoxel_clustering.h.

template<typename PointT >
typedef boost::shared_ptr<std::vector<int> > pcl::SupervoxelClustering< PointT >::IndicesPtr

Definition at line 169 of file supervoxel_clustering.h.

template<typename PointT >
typedef pcl::search::KdTree<PointT> pcl::SupervoxelClustering< PointT >::KdTreeT

Definition at line 168 of file supervoxel_clustering.h.

Definition at line 161 of file supervoxel_clustering.h.

template<typename PointT >
typedef std::vector<LeafContainerT*> pcl::SupervoxelClustering< PointT >::LeafVectorT

Definition at line 162 of file supervoxel_clustering.h.

template<typename PointT >
typedef pcl::PointCloud<Normal> pcl::SupervoxelClustering< PointT >::NormalCloudT

Definition at line 165 of file supervoxel_clustering.h.

Definition at line 166 of file supervoxel_clustering.h.

Definition at line 167 of file supervoxel_clustering.h.

template<typename PointT >
typedef pcl::PointCloud<PointT> pcl::SupervoxelClustering< PointT >::PointCloudT

Definition at line 164 of file supervoxel_clustering.h.

template<typename PointT >
typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, float> pcl::SupervoxelClustering< PointT >::VoxelAdjacencyList

Definition at line 175 of file supervoxel_clustering.h.

template<typename PointT >
typedef VoxelAdjacencyList::vertex_descriptor pcl::SupervoxelClustering< PointT >::VoxelID

Definition at line 176 of file supervoxel_clustering.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::SupervoxelClustering< PointT >::SupervoxelClustering ( float  voxel_resolution,
float  seed_resolution,
bool  use_single_camera_transform = true 
)

Constructor that sets default values for member variables.

Parameters
[in]voxel_resolutionThe resolution (in meters) of voxels used
[in]seed_resolutionThe average size (in meters) of resulting supervoxels
[in]use_single_camera_transformSet to true if point density in cloud falls off with distance from origin (such as with a cloud coming from one stationary camera), set false if input cloud is from multiple captures from multiple locations.

Definition at line 47 of file supervoxel_clustering.hpp.

template<typename PointT >
pcl::SupervoxelClustering< PointT >::~SupervoxelClustering ( )
virtual

This destructor destroys the cloud, normals and search method used for finding neighbors.

In other words it frees memory.

Definition at line 76 of file supervoxel_clustering.hpp.

Member Function Documentation

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::extract ( std::map< uint32_t, typename Supervoxel< PointT >::Ptr > &  supervoxel_clusters)
virtual

This method launches the segmentation algorithm and returns the supervoxels that were obtained during the segmentation.

Parameters
[out]supervoxel_clustersA map of labels to pointers to supervoxel structures

Definition at line 98 of file supervoxel_clustering.hpp.

template<typename PointT >
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr pcl::SupervoxelClustering< PointT >::getColoredCloud ( ) const

Returns an RGB colorized cloud showing superpixels Otherwise it returns an empty pointer.

Points that belong to the same supervoxel have the same color. But this function doesn't guarantee that different segments will have different color(it's random). Points that are unlabeled will be black

Definition at line 514 of file supervoxel_clustering.hpp.

References pcl::PointCloud< T >::begin(), pcl::copyPointCloud(), pcl::PointCloud< T >::end(), and pcl::SupervoxelClustering< PointT >::VoxelData::owner_.

template<typename PointT >
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr pcl::SupervoxelClustering< PointT >::getColoredVoxelCloud ( ) const

Returns an RGB colorized voxelized cloud showing superpixels Otherwise it returns an empty pointer.

Points that belong to the same supervoxel have the same color. But this function doesn't guarantee that different segments will have different color(it's random). Points that are unlabeled will be black

Definition at line 545 of file supervoxel_clustering.hpp.

References pcl::PointCloud< T >::begin(), pcl::copyPointCloud(), and pcl::PointCloud< T >::end().

template<typename PointT >
pcl::PointCloud< pcl::PointXYZL >::Ptr pcl::SupervoxelClustering< PointT >::getLabeledCloud ( ) const

Returns labeled cloud Points that belong to the same supervoxel have the same label.

Labels for segments start from 1, unlabled points have label 0

Definition at line 598 of file supervoxel_clustering.hpp.

References pcl::PointCloud< T >::begin(), pcl::copyPointCloud(), pcl::PointCloud< T >::end(), and pcl::SupervoxelClustering< PointT >::VoxelData::owner_.

template<typename PointT >
pcl::PointCloud< pcl::PointXYZL >::Ptr pcl::SupervoxelClustering< PointT >::getLabeledVoxelCloud ( ) const

Returns labeled voxelized cloud Points that belong to the same supervoxel have the same label.

Labels for segments start from 1, unlabled points have label 0

Definition at line 576 of file supervoxel_clustering.hpp.

References pcl::PointCloud< T >::begin(), pcl::copyPointCloud(), and pcl::PointCloud< T >::end().

template<typename PointT >
float pcl::SupervoxelClustering< PointT >::getSeedResolution ( ) const

Get the resolution of the octree seed voxels.

Definition at line 660 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::getSupervoxelAdjacency ( std::multimap< uint32_t, uint32_t > &  label_adjacency) const

Get a multimap which gives supervoxel adjacency.

Parameters
[out]label_adjacencyMulti-Map which maps a supervoxel label to all adjacent supervoxel labels

Definition at line 495 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::getSupervoxelAdjacencyList ( VoxelAdjacencyList adjacency_list_arg) const

Gets the adjacency list (Boost Graph library) which gives connections between supervoxels.

Parameters
[out]adjacency_list_argBGL graph where supervoxel labels are vertices, edges are touching relationships

Definition at line 444 of file supervoxel_clustering.hpp.

template<typename PointT >
pcl::PointCloud< PointT >::Ptr pcl::SupervoxelClustering< PointT >::getVoxelCentroidCloud ( ) const

Returns a deep copy of the voxel centroid cloud.

Definition at line 567 of file supervoxel_clustering.hpp.

References pcl::copyPointCloud().

template<typename PointT >
float pcl::SupervoxelClustering< PointT >::getVoxelResolution ( ) const

Get the resolution of the octree voxels.

Definition at line 645 of file supervoxel_clustering.hpp.

template<typename PointT >
pcl::PointCloud< pcl::PointNormal >::Ptr pcl::SupervoxelClustering< PointT >::makeSupervoxelNormalCloud ( std::map< uint32_t, typename Supervoxel< PointT >::Ptr > &  supervoxel_clusters)
static

Static helper function which returns a pointcloud of normals for the input supervoxels.

Parameters
[in]supervoxel_clustersSupervoxel cluster map coming from this class
Returns
Cloud of PointNormals of the supervoxels

Definition at line 628 of file supervoxel_clustering.hpp.

References pcl::PointCloud< T >::begin(), and pcl::PointCloud< T >::resize().

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::refineSupervoxels ( int  num_itr,
std::map< uint32_t, typename Supervoxel< PointT >::Ptr > &  supervoxel_clusters 
)
virtual

This method refines the calculated supervoxels - may only be called after extract.

Parameters
[in]num_itrThe number of iterations of refinement to be done (2 or 3 is usually sufficient)
[out]supervoxel_clustersThe resulting refined supervoxels

Definition at line 150 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::setColorImportance ( float  val)

Set the importance of color for supervoxels.

Definition at line 675 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::setInputCloud ( typename pcl::PointCloud< PointT >::ConstPtr  cloud)
virtual

This method sets the cloud to be supervoxelized.

Parameters
[in]cloudThe cloud to be supervoxelize

Definition at line 83 of file supervoxel_clustering.hpp.

References pcl::PointCloud< T >::size().

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::setNormalImportance ( float  val)

Set the importance of scalar normal product for supervoxels.

Definition at line 689 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::setSeedResolution ( float  seed_resolution)

Set the resolution of the octree seed voxels.

Definition at line 667 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::setSpatialImportance ( float  val)

Set the importance of spatial distance for supervoxels.

Definition at line 682 of file supervoxel_clustering.hpp.

template<typename PointT >
void pcl::SupervoxelClustering< PointT >::setVoxelResolution ( float  resolution)

Set the resolution of the octree voxels.

Definition at line 652 of file supervoxel_clustering.hpp.

Friends And Related Function Documentation

template<typename PointT >
friend class SupervoxelHelper
friend

Definition at line 122 of file supervoxel_clustering.h.


The documentation for this class was generated from the following files: