Point Cloud Library (PCL)
1.7.0
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Implements a supervoxel algorithm based on voxel structure, normals, and rgb values. More...
#include <pcl/segmentation/supervoxel_clustering.h>
Classes | |
class | VoxelData |
VoxelData is a structure used for storing data within a pcl::octree::OctreePointCloudAdjacencyContainer. More... | |
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... | |
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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 PointT & | operator[] (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 | |
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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... | |
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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... | |
Implements a supervoxel algorithm based on voxel structure, normals, and rgb values.
Definition at line 119 of file supervoxel_clustering.h.
typedef VoxelAdjacencyList::edge_descriptor pcl::SupervoxelClustering< PointT >::EdgeID |
Definition at line 177 of file supervoxel_clustering.h.
typedef boost::shared_ptr<std::vector<int> > pcl::SupervoxelClustering< PointT >::IndicesPtr |
Definition at line 169 of file supervoxel_clustering.h.
typedef pcl::search::KdTree<PointT> pcl::SupervoxelClustering< PointT >::KdTreeT |
Definition at line 168 of file supervoxel_clustering.h.
typedef pcl::octree::OctreePointCloudAdjacencyContainer<PointT, VoxelData> pcl::SupervoxelClustering< PointT >::LeafContainerT |
Definition at line 161 of file supervoxel_clustering.h.
typedef std::vector<LeafContainerT*> pcl::SupervoxelClustering< PointT >::LeafVectorT |
Definition at line 162 of file supervoxel_clustering.h.
typedef pcl::PointCloud<Normal> pcl::SupervoxelClustering< PointT >::NormalCloudT |
Definition at line 165 of file supervoxel_clustering.h.
typedef pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT> pcl::SupervoxelClustering< PointT >::OctreeAdjacencyT |
Definition at line 166 of file supervoxel_clustering.h.
typedef pcl::octree::OctreePointCloudSearch<PointT> pcl::SupervoxelClustering< PointT >::OctreeSearchT |
Definition at line 167 of file supervoxel_clustering.h.
typedef pcl::PointCloud<PointT> pcl::SupervoxelClustering< PointT >::PointCloudT |
Definition at line 164 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 175 of file supervoxel_clustering.h.
typedef VoxelAdjacencyList::vertex_descriptor pcl::SupervoxelClustering< PointT >::VoxelID |
Definition at line 176 of file supervoxel_clustering.h.
pcl::SupervoxelClustering< PointT >::SupervoxelClustering | ( | float | voxel_resolution, |
float | seed_resolution, | ||
bool | use_single_camera_transform = true |
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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.
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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.
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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.
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_.
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().
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_.
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().
float pcl::SupervoxelClustering< PointT >::getSeedResolution | ( | ) | const |
Get the resolution of the octree seed voxels.
Definition at line 660 of file supervoxel_clustering.hpp.
void pcl::SupervoxelClustering< PointT >::getSupervoxelAdjacency | ( | std::multimap< uint32_t, uint32_t > & | label_adjacency | ) | const |
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 495 of file supervoxel_clustering.hpp.
void pcl::SupervoxelClustering< PointT >::getSupervoxelAdjacencyList | ( | VoxelAdjacencyList & | adjacency_list_arg | ) | const |
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 444 of file supervoxel_clustering.hpp.
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().
float pcl::SupervoxelClustering< PointT >::getVoxelResolution | ( | ) | const |
Get the resolution of the octree voxels.
Definition at line 645 of file supervoxel_clustering.hpp.
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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 628 of file supervoxel_clustering.hpp.
References pcl::PointCloud< T >::begin(), and pcl::PointCloud< T >::resize().
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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 | ) |
Set the importance of color for supervoxels.
Definition at line 675 of file supervoxel_clustering.hpp.
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This method sets the cloud to be supervoxelized.
[in] | cloud | The cloud to be supervoxelize |
Definition at line 83 of file supervoxel_clustering.hpp.
References pcl::PointCloud< T >::size().
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.
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.
void pcl::SupervoxelClustering< PointT >::setSpatialImportance | ( | float | val | ) |
Set the importance of spatial distance for supervoxels.
Definition at line 682 of file supervoxel_clustering.hpp.
void pcl::SupervoxelClustering< PointT >::setVoxelResolution | ( | float | resolution | ) |
Set the resolution of the octree voxels.
Definition at line 652 of file supervoxel_clustering.hpp.
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Definition at line 122 of file supervoxel_clustering.h.