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 >:

Collaboration diagram for pcl::SupervoxelClustering< PointT >:

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

Public Types
using	LeafContainerT = pcl::octree::OctreePointCloudAdjacencyContainer<PointT, VoxelData>
using	LeafVectorT = std::vector<LeafContainerT *>
using	PointCloudT = pcl::PointCloud<PointT>
using	NormalCloudT = pcl::PointCloud<Normal>
using	OctreeAdjacencyT = pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT>
using	OctreeSearchT = pcl::octree::OctreePointCloudSearch<PointT>
using	KdTreeT = pcl::search::KdTree<PointT>
using	IndicesPtr = pcl::IndicesPtr
using	VoxelAdjacencyList = boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, std::uint32_t, float>
using	VoxelID = VoxelAdjacencyList::vertex_descriptor
using	EdgeID = VoxelAdjacencyList::edge_descriptor
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	SupervoxelClustering (float voxel_resolution, float seed_resolution)
	Constructor that sets default values for member variables.
	~SupervoxelClustering () override
	This destructor destroys the cloud, normals and search method used for finding neighbors.
void	setVoxelResolution (float resolution)
	Set the resolution of the octree voxels.
float	getVoxelResolution () const
	Get the resolution of the octree voxels.
void	setSeedResolution (float seed_resolution)
	Set the resolution of the octree seed voxels.
float	getSeedResolution () const
	Get the resolution of the octree seed voxels.
void	setColorImportance (float val)
	Set the importance of color for supervoxels.
void	setSpatialImportance (float val)
	Set the importance of spatial distance for supervoxels.
void	setNormalImportance (float val)
	Set the importance of scalar normal product for supervoxels.
void	setUseSingleCameraTransform (bool val)
	Set whether or not to use the single camera transform.
virtual void	extract (std::map< std::uint32_t, typename Supervoxel< PointT >::Ptr > &supervoxel_clusters)
	This method launches the segmentation algorithm and returns the supervoxels that were obtained during the segmentation.
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) override
	This method sets the cloud to be supervoxelized.
virtual void	setNormalCloud (typename NormalCloudT::ConstPtr normal_cloud)
	This method sets the normals to be used for supervoxels (should be same size as input cloud)
virtual void	refineSupervoxels (int num_itr, std::map< std::uint32_t, typename Supervoxel< PointT >::Ptr > &supervoxel_clusters)
	This method refines the calculated supervoxels - may only be called after extract.
pcl::PointCloud< PointT >::Ptr	getVoxelCentroidCloud () const
	Returns a deep copy of the voxel centroid cloud.
pcl::PointCloud< PointXYZL >::Ptr	getLabeledCloud () const
	Returns labeled cloud Points that belong to the same supervoxel have the same label.
pcl::PointCloud< pcl::PointXYZL >::Ptr	getLabeledVoxelCloud () const
	Returns labeled voxelized cloud Points that belong to the same supervoxel have the same label.
void	getSupervoxelAdjacencyList (VoxelAdjacencyList &adjacency_list_arg) const
	Gets the adjacency list (Boost Graph library) which gives connections between supervoxels.
void	getSupervoxelAdjacency (std::multimap< std::uint32_t, std::uint32_t > &label_adjacency) const
	Get a multimap which gives supervoxel adjacency.
int	getMaxLabel () const
	Returns the current maximum (highest) label.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

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

Friends
class	SupervoxelHelper
void	boost::checked_delete (const typename pcl::SupervoxelClustering< PointT >::SupervoxelHelper *)

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

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 126 of file supervoxel_clustering.h.

Member Typedef Documentation

◆ EdgeID

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::EdgeID = VoxelAdjacencyList::edge_descriptor

Definition at line 208 of file supervoxel_clustering.h.

◆ IndicesPtr

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::IndicesPtr = pcl::IndicesPtr

Definition at line 200 of file supervoxel_clustering.h.

◆ KdTreeT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::KdTreeT = pcl::search::KdTree<PointT>

Definition at line 199 of file supervoxel_clustering.h.

◆ LeafContainerT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::LeafContainerT = pcl::octree::OctreePointCloudAdjacencyContainer<PointT, VoxelData>

Definition at line 192 of file supervoxel_clustering.h.

◆ LeafVectorT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::LeafVectorT = std::vector<LeafContainerT *>

Definition at line 193 of file supervoxel_clustering.h.

◆ NormalCloudT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::NormalCloudT = pcl::PointCloud<Normal>

Definition at line 196 of file supervoxel_clustering.h.

◆ OctreeAdjacencyT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::OctreeAdjacencyT = pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT>

Definition at line 197 of file supervoxel_clustering.h.

◆ OctreeSearchT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::OctreeSearchT = pcl::octree::OctreePointCloudSearch<PointT>

Definition at line 198 of file supervoxel_clustering.h.

◆ PointCloudT

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::PointCloudT = pcl::PointCloud<PointT>

Definition at line 195 of file supervoxel_clustering.h.

◆ VoxelAdjacencyList

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::VoxelAdjacencyList = boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, std::uint32_t, float>

Definition at line 206 of file supervoxel_clustering.h.

◆ VoxelID

template<typename PointT>

using pcl::SupervoxelClustering< PointT >::VoxelID = VoxelAdjacencyList::vertex_descriptor

Definition at line 207 of file supervoxel_clustering.h.

Constructor & Destructor Documentation

◆ SupervoxelClustering()

template<typename PointT>

pcl::SupervoxelClustering< PointT >::SupervoxelClustering	(	float	voxel_resolution,
		float	seed_resolution )

Constructor that sets default values for member variables.

Parameters

[in]	voxel_resolution	The resolution (in meters) of voxels used
[in]	seed_resolution	The average size (in meters) of resulting supervoxels

Definition at line 48 of file supervoxel_clustering.hpp.

◆ ~SupervoxelClustering()

template<typename PointT>

pcl::SupervoxelClustering< PointT >::~SupervoxelClustering ( )

overridedefault

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

In other words it frees memory.

References extract(), getLabeledCloud(), getLabeledVoxelCloud(), getMaxLabel(), getSeedResolution(), getSupervoxelAdjacency(), getSupervoxelAdjacencyList(), getVoxelCentroidCloud(), getVoxelResolution(), makeSupervoxelNormalCloud(), refineSupervoxels(), setColorImportance(), setInputCloud(), setNormalCloud(), setNormalImportance(), setSeedResolution(), setSpatialImportance(), setUseSingleCameraTransform(), and setVoxelResolution().

Member Function Documentation

◆ extract()

template<typename PointT>

void pcl::SupervoxelClustering< PointT >::extract ( std::map< std::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_clusters A map of labels to pointers to supervoxel structures

Definition at line 91 of file supervoxel_clustering.hpp.

References pcl::PCLBase< PointT >::deinitCompute(), and pcl::PCLBase< PointT >::initCompute().

Referenced by ~SupervoxelClustering().

◆ getLabeledCloud()

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, unlabeled points have label 0

Definition at line 576 of file supervoxel_clustering.hpp.

References pcl::PointCloud< PointT >::begin(), pcl::copyPointCloud(), pcl::PointCloud< PointT >::end(), pcl::octree::OctreePointCloudAdjacencyContainer< PointInT, DataT >::getData(), pcl::PCLBase< PointT >::input_, pcl::isFinite(), and pcl::SupervoxelClustering< PointT >::VoxelData::owner_.

Referenced by ~SupervoxelClustering().

◆ getLabeledVoxelCloud()

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, unlabeled points have label 0

Definition at line 554 of file supervoxel_clustering.hpp.

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

Referenced by ~SupervoxelClustering().

◆ getMaxLabel()

template<typename PointT>

int pcl::SupervoxelClustering< PointT >::getMaxLabel ( ) const

Returns the current maximum (highest) label.

Definition at line 677 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ getSeedResolution()

template<typename PointT>

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

Get the resolution of the octree seed voxels.

Definition at line 633 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ getSupervoxelAdjacency()

template<typename PointT>

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

Get a multimap which gives supervoxel adjacency.

Parameters

[out] label_adjacency Multi-Map which maps a supervoxel label to all adjacent supervoxel labels

Definition at line 528 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ getSupervoxelAdjacencyList()

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_arg BGL graph where supervoxel labels are vertices, edges are touching relationships

Definition at line 477 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ getVoxelCentroidCloud()

template<typename PointT>

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

Returns a deep copy of the voxel centroid cloud.

Definition at line 545 of file supervoxel_clustering.hpp.

References pcl::copyPointCloud().

Referenced by ~SupervoxelClustering().

◆ getVoxelResolution()

template<typename PointT>

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

Get the resolution of the octree voxels.

Definition at line 618 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ makeSupervoxelNormalCloud()

template<typename PointT>

pcl::PointCloud< pcl::PointNormal >::Ptr pcl::SupervoxelClustering< PointT >::makeSupervoxelNormalCloud ( std::map< std::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_clusters Supervoxel cluster map coming from this class

Returns: Cloud of PointNormals of the supervoxels

Definition at line 603 of file supervoxel_clustering.hpp.

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

Referenced by ~SupervoxelClustering().

◆ refineSupervoxels()

template<typename PointT>

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

virtual

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

Parameters

[in]	num_itr	The number of iterations of refinement to be done (2 or 3 is usually sufficient)
[out]	supervoxel_clusters	The resulting refined supervoxels

Definition at line 143 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setColorImportance()

template<typename PointT>

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

Set the importance of color for supervoxels.

Definition at line 648 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setInputCloud()

template<typename PointT>

void pcl::SupervoxelClustering< PointT >::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud )

override

This method sets the cloud to be supervoxelized.

Parameters

[in] cloud The cloud to be supervoxelize

Definition at line 64 of file supervoxel_clustering.hpp.

References pcl::PointCloud< PointT >::empty(), and pcl::PCLBase< PointT >::input_.

Referenced by ~SupervoxelClustering().

◆ setNormalCloud()

template<typename PointT>

void pcl::SupervoxelClustering< PointT >::setNormalCloud ( typename NormalCloudT::ConstPtr normal_cloud )

virtual

This method sets the normals to be used for supervoxels (should be same size as input cloud)

Parameters

[in] normal_cloud The input normals

Definition at line 78 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setNormalImportance()

template<typename PointT>

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

Set the importance of scalar normal product for supervoxels.

Definition at line 662 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setSeedResolution()

template<typename PointT>

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

Set the resolution of the octree seed voxels.

Definition at line 640 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setSpatialImportance()

template<typename PointT>

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

Set the importance of spatial distance for supervoxels.

Definition at line 655 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setUseSingleCameraTransform()

template<typename PointT>

void pcl::SupervoxelClustering< PointT >::setUseSingleCameraTransform ( bool val )

Set whether or not to use the single camera transform.

Note: By default it will be used for organized clouds, but not for unorganized - this parameter will override that behavior The single camera transform scales bin size so that it increases exponentially with depth (z dimension). This is done to account for the decreasing point density found with depth when using an RGB-D camera. Without the transform, beyond a certain depth adjacency of voxels breaks down unless the voxel size is set to a large value. Using the transform allows preserving detail up close, while allowing adjacency at distance. The specific transform used here is: x /= z; y /= z; z = ln(z); This transform is applied when calculating the octree bins in OctreePointCloudAdjacency

Definition at line 669 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ setVoxelResolution()

template<typename PointT>

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

Set the resolution of the octree voxels.

Definition at line 625 of file supervoxel_clustering.hpp.

Referenced by ~SupervoxelClustering().

◆ boost::checked_delete

template<typename PointT>

void boost::checked_delete ( const typename pcl::SupervoxelClustering< PointT >::SupervoxelHelper * )

friend

References PCL_MAKE_ALIGNED_OPERATOR_NEW.

◆ SupervoxelHelper

template<typename PointT>

friend class SupervoxelHelper

friend

Definition at line 130 of file supervoxel_clustering.h.

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

pcl/segmentation/supervoxel_clustering.h
pcl/segmentation/impl/supervoxel_clustering.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EdgeID

◆ IndicesPtr

◆ KdTreeT

◆ LeafContainerT

◆ LeafVectorT

◆ NormalCloudT

◆ OctreeAdjacencyT

◆ OctreeSearchT

◆ PointCloudT

◆ VoxelAdjacencyList

◆ VoxelID

Constructor & Destructor Documentation

◆ SupervoxelClustering()

◆ ~SupervoxelClustering()

Member Function Documentation

◆ extract()

◆ getLabeledCloud()

◆ getLabeledVoxelCloud()

◆ getMaxLabel()

◆ getSeedResolution()

◆ getSupervoxelAdjacency()

◆ getSupervoxelAdjacencyList()

◆ getVoxelCentroidCloud()

◆ getVoxelResolution()

◆ makeSupervoxelNormalCloud()

◆ refineSupervoxels()

◆ setColorImportance()

◆ setInputCloud()

◆ setNormalCloud()

◆ setNormalImportance()

◆ setSeedResolution()

◆ setSpatialImportance()

◆ setUseSingleCameraTransform()

◆ setVoxelResolution()

Friends And Related Symbol Documentation

◆ boost::checked_delete

◆ SupervoxelHelper