Implements a supervoxel algorithm based on voxel structure, normals, and rgb values. More...
#include <pcl/segmentation/supervoxel_clustering.h>
Classes | |
| class | SupervoxelHelper |
| Internal storage class for supervoxels. | |
| 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< PointT > | PointCloudT |
| typedef pcl::PointCloud< Normal > | NormalCloudT |
| 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 Member Functions | |
| SupervoxelClustering (float voxel_resolution, float seed_resolution, bool use_single_camera_transform=true) | |
| Constructor that sets default values for member variables. | |
| virtual | ~SupervoxelClustering () |
| 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. | |
| 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. | |
| virtual void | setInputCloud (typename pcl::PointCloud< PointT >::ConstPtr cloud) |
| 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< uint32_t, typename Supervoxel< PointT >::Ptr > &supervoxel_clusters) |
| This method refines the calculated supervoxels - may only be called after extract. | |
| pcl::PointCloud< PointXYZRGBA > ::Ptr | getColoredCloud () const |
| Returns an RGB colorized cloud showing superpixels Otherwise it returns an empty pointer. | |
| 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::PointXYZRGBA >::Ptr | getColoredVoxelCloud () const |
| Returns an RGB colorized voxelized cloud showing superpixels Otherwise it returns an empty pointer. | |
| 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< uint32_t, uint32_t > &label_adjacency) const |
| Get a multimap which gives supervoxel adjacency. | |
| int | getMaxLabel () const |
| Returns the current maximum (highest) label. | |
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. | |
Friends | |
| class | SupervoxelHelper |
Implements a supervoxel algorithm based on voxel structure, normals, and rgb values.
Definition at line 122 of file supervoxel_clustering.h.
| typedef VoxelAdjacencyList::edge_descriptor pcl::SupervoxelClustering< PointT >::EdgeID |
Definition at line 182 of file supervoxel_clustering.h.
| typedef boost::shared_ptr<std::vector<int> > pcl::SupervoxelClustering< PointT >::IndicesPtr |
Definition at line 174 of file supervoxel_clustering.h.
| typedef pcl::search::KdTree<PointT> pcl::SupervoxelClustering< PointT >::KdTreeT |
Definition at line 173 of file supervoxel_clustering.h.
| typedef pcl::octree::OctreePointCloudAdjacencyContainer<PointT, VoxelData> pcl::SupervoxelClustering< PointT >::LeafContainerT |
Definition at line 166 of file supervoxel_clustering.h.
| typedef std::vector<LeafContainerT*> pcl::SupervoxelClustering< PointT >::LeafVectorT |
Definition at line 167 of file supervoxel_clustering.h.
| typedef pcl::PointCloud<Normal> pcl::SupervoxelClustering< PointT >::NormalCloudT |
Definition at line 170 of file supervoxel_clustering.h.
| typedef pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT> pcl::SupervoxelClustering< PointT >::OctreeAdjacencyT |
Definition at line 171 of file supervoxel_clustering.h.
| typedef pcl::octree::OctreePointCloudSearch<PointT> pcl::SupervoxelClustering< PointT >::OctreeSearchT |
Definition at line 172 of file supervoxel_clustering.h.
| typedef pcl::PointCloud<PointT> pcl::SupervoxelClustering< PointT >::PointCloudT |
Definition at line 169 of file supervoxel_clustering.h.
| typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, float> pcl::SupervoxelClustering< PointT >::VoxelAdjacencyList |
Definition at line 180 of file supervoxel_clustering.h.
| typedef VoxelAdjacencyList::vertex_descriptor pcl::SupervoxelClustering< PointT >::VoxelID |
Definition at line 181 of file supervoxel_clustering.h.
| pcl::SupervoxelClustering< PointT >::SupervoxelClustering | ( | float | voxel_resolution, | |
| float | seed_resolution, | |||
| bool | use_single_camera_transform = true | |||
| ) | [inline] |
Constructor that sets default values for member variables.
| [in] | voxel_resolution | The resolution (in meters) of voxels used |
| [in] | seed_resolution | The average size (in meters) of resulting supervoxels |
| [in] | use_single_camera_transform | Set 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.
| pcl::SupervoxelClustering< PointT >::~SupervoxelClustering | ( | ) | [inline, virtual] |
This destructor destroys the cloud, normals and search method used for finding neighbors.
In other words it frees memory.
Definition at line 64 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::extract | ( | std::map< uint32_t, typename Supervoxel< PointT >::Ptr > & | supervoxel_clusters | ) | [inline, virtual] |
This method launches the segmentation algorithm and returns the supervoxels that were obtained during the segmentation.
| [out] | supervoxel_clusters | A map of labels to pointers to supervoxel structures |
Definition at line 98 of file supervoxel_clustering.hpp.
References pcl::PCLBase< PointT >::deinitCompute(), and pcl::PCLBase< PointT >::initCompute().
| pcl::PointCloud< pcl::PointXYZRGBA >::Ptr pcl::SupervoxelClustering< PointT >::getColoredCloud | ( | ) | const [inline] |
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 549 of file supervoxel_clustering.hpp.
References pcl::PointCloud< PointT >::begin(), pcl::copyPointCloud(), pcl::PointCloud< PointT >::end(), pcl::PCLBase< PointT >::input_, and pcl::SupervoxelClustering< PointT >::VoxelData::owner_.
| pcl::PointCloud< pcl::PointXYZRGBA >::Ptr pcl::SupervoxelClustering< PointT >::getColoredVoxelCloud | ( | ) | const [inline] |
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 579 of file supervoxel_clustering.hpp.
References pcl::PointCloud< PointT >::begin(), pcl::copyPointCloud(), and pcl::PointCloud< PointT >::end().
| pcl::PointCloud< pcl::PointXYZL >::Ptr pcl::SupervoxelClustering< PointT >::getLabeledCloud | ( | ) | const [inline] |
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 632 of file supervoxel_clustering.hpp.
References pcl::PointCloud< PointT >::begin(), pcl::copyPointCloud(), pcl::PointCloud< PointT >::end(), pcl::PCLBase< PointT >::input_, and pcl::SupervoxelClustering< PointT >::VoxelData::owner_.
| pcl::PointCloud< pcl::PointXYZL >::Ptr pcl::SupervoxelClustering< PointT >::getLabeledVoxelCloud | ( | ) | const [inline] |
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 610 of file supervoxel_clustering.hpp.
References pcl::PointCloud< PointT >::begin(), pcl::copyPointCloud(), and pcl::PointCloud< PointT >::end().
| int pcl::SupervoxelClustering< PointT >::getMaxLabel | ( | ) | const [inline] |
Returns the current maximum (highest) label.
Definition at line 752 of file supervoxel_clustering.hpp.
| float pcl::SupervoxelClustering< PointT >::getSeedResolution | ( | ) | const [inline] |
Get the resolution of the octree seed voxels.
Definition at line 694 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::getSupervoxelAdjacency | ( | std::multimap< uint32_t, uint32_t > & | label_adjacency | ) | const [inline] |
Get a multimap which gives supervoxel adjacency.
| [out] | label_adjacency | Multi-Map which maps a supervoxel label to all adjacent supervoxel labels |
Definition at line 530 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::getSupervoxelAdjacencyList | ( | VoxelAdjacencyList & | adjacency_list_arg | ) | const [inline] |
Gets the adjacency list (Boost Graph library) which gives connections between supervoxels.
| [out] | adjacency_list_arg | BGL graph where supervoxel labels are vertices, edges are touching relationships |
Definition at line 479 of file supervoxel_clustering.hpp.
| pcl::PointCloud< PointT >::Ptr pcl::SupervoxelClustering< PointT >::getVoxelCentroidCloud | ( | ) | const [inline] |
Returns a deep copy of the voxel centroid cloud.
Definition at line 601 of file supervoxel_clustering.hpp.
References pcl::copyPointCloud().
| float pcl::SupervoxelClustering< PointT >::getVoxelResolution | ( | ) | const [inline] |
Get the resolution of the octree voxels.
Definition at line 679 of file supervoxel_clustering.hpp.
| pcl::PointCloud< pcl::PointNormal >::Ptr pcl::SupervoxelClustering< PointT >::makeSupervoxelNormalCloud | ( | std::map< uint32_t, typename Supervoxel< PointT >::Ptr > & | supervoxel_clusters | ) | [inline, static] |
Static helper function which returns a pointcloud of normals for the input supervoxels.
| [in] | supervoxel_clusters | Supervoxel cluster map coming from this class |
Definition at line 662 of file supervoxel_clustering.hpp.
References pcl::PointCloud< PointT >::begin(), and pcl::PointCloud< PointT >::resize().
| void pcl::SupervoxelClustering< PointT >::refineSupervoxels | ( | int | num_itr, | |
| std::map< uint32_t, typename Supervoxel< PointT >::Ptr > & | supervoxel_clusters | |||
| ) | [inline, virtual] |
This method refines the calculated supervoxels - may only be called after extract.
| [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 150 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::setColorImportance | ( | float | val | ) | [inline] |
Set the importance of color for supervoxels.
Definition at line 709 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::setInputCloud | ( | typename pcl::PointCloud< PointT >::ConstPtr | cloud | ) | [inline, virtual] |
This method sets the cloud to be supervoxelized.
| [in] | cloud | The cloud to be supervoxelize |
Definition at line 71 of file supervoxel_clustering.hpp.
References pcl::PCLBase< PointT >::input_, and pcl::PointCloud< PointT >::size().
| void pcl::SupervoxelClustering< PointT >::setNormalCloud | ( | typename NormalCloudT::ConstPtr | normal_cloud | ) | [inline, virtual] |
This method sets the normals to be used for supervoxels (should be same size as input cloud).
| [in] | cloud | The input normals |
Definition at line 85 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::setNormalImportance | ( | float | val | ) | [inline] |
Set the importance of scalar normal product for supervoxels.
Definition at line 723 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::setSeedResolution | ( | float | seed_resolution | ) | [inline] |
Set the resolution of the octree seed voxels.
Definition at line 701 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::setSpatialImportance | ( | float | val | ) | [inline] |
Set the importance of spatial distance for supervoxels.
Definition at line 716 of file supervoxel_clustering.hpp.
| void pcl::SupervoxelClustering< PointT >::setVoxelResolution | ( | float | resolution | ) | [inline] |
Set the resolution of the octree voxels.
Definition at line 686 of file supervoxel_clustering.hpp.
friend class SupervoxelHelper [friend] |
Definition at line 125 of file supervoxel_clustering.h.
