A segmentation algorithm partitioning a supervoxel graph. More...

#include <pcl/segmentation/cpc_segmentation.h>

Inheritance diagram for pcl::CPCSegmentation< PointT >:

Public Member Functions
	CPCSegmentation ()
	~CPCSegmentation () override
void	segment ()
	Merge supervoxels using cuts through local convexities.
void	setCutting (const std::uint32_t max_cuts=20, const std::uint32_t cutting_min_segments=0, const float cutting_min_score=0.16, const bool locally_constrained=true, const bool directed_cutting=true, const bool clean_cutting=false)
	Determines if we want to use cutting planes.
void	setRANSACIterations (const std::uint32_t ransac_iterations)
	Set the number of iterations for the weighted RANSAC step (best cut estimations).
Public Member Functions inherited from pcl::LCCPSegmentation< PointT >
	LCCPSegmentation ()
virtual	~LCCPSegmentation ()
void	reset ()
	Reset internal memory.
void	setInputSupervoxels (const std::map< std::uint32_t, typename pcl::Supervoxel< PointT >::Ptr > &supervoxel_clusters_arg, const std::multimap< std::uint32_t, std::uint32_t > &label_adjacency_arg)
	Set the supervoxel clusters as well as the adjacency graph for the segmentation.Those parameters are generated by using the SupervoxelClustering class.
void	segment ()
	Merge supervoxels using local convexity.
void	relabelCloud (pcl::PointCloud< pcl::PointXYZL > &labeled_cloud_arg)
	Relabels cloud with supervoxel labels with the computed segment labels.
void	getSegmentToSupervoxelMap (std::map< std::uint32_t, std::set< std::uint32_t > > &segment_supervoxel_map_arg) const
	Get map<SegmentID, std::set<SuperVoxel IDs> >.
void	getSupervoxelToSegmentMap (std::map< std::uint32_t, std::uint32_t > &supervoxel_segment_map_arg) const
	Get map<Supervoxel_ID, Segment_ID>.
void	getSegmentAdjacencyMap (std::map< std::uint32_t, std::set< std::uint32_t > > &segment_adjacency_map_arg)
	Get map <SegmentID, std::set<Neighboring SegmentIDs> >.
float	getConcavityToleranceThreshold () const
	Get normal threshold.
void	getSVAdjacencyList (SupervoxelAdjacencyList &adjacency_list_arg) const
	Get the supervoxel adjacency graph with classified edges (boost::adjacency_list).
void	setConcavityToleranceThreshold (float concavity_tolerance_threshold_arg)
	Set normal threshold.
void	setSmoothnessCheck (bool use_smoothness_check_arg, float voxel_res_arg, float seed_res_arg, float smoothness_threshold_arg=0.1)
	Determines if a smoothness check is done during segmentation, trying to invalidate edges of non-smooth connected edges (steps).
void	setSanityCheck (const bool use_sanity_criterion_arg)
	Determines if we want to use the sanity criterion to invalidate singular connected patches.
void	setKFactor (const std::uint32_t k_factor_arg)
	Set the value used for k convexity.
void	setMinSegmentSize (const std::uint32_t min_segment_size_arg)
	Set the value min_segment_size_ used in mergeSmallSegments.

Additional Inherited Members
Public Types inherited from pcl::LCCPSegmentation< PointT >
using	SupervoxelAdjacencyList = boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, std::uint32_t, EdgeProperties>
using	VertexIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::vertex_iterator
using	AdjacencyIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::adjacency_iterator
using	VertexID = typename boost::graph_traits<SupervoxelAdjacencyList>::vertex_descriptor
using	EdgeIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::edge_iterator
using	OutEdgeIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::out_edge_iterator
using	EdgeID = typename boost::graph_traits<SupervoxelAdjacencyList>::edge_descriptor
Protected Member Functions inherited from pcl::LCCPSegmentation< PointT >
void	mergeSmallSegments ()
	Segments smaller than min_segment_size_ are merged to the label of largest neighbor.
void	computeSegmentAdjacency ()
	Compute the adjacency of the segments.
void	prepareSegmentation (const std::map< std::uint32_t, typename pcl::Supervoxel< PointT >::Ptr > &supervoxel_clusters_arg, const std::multimap< std::uint32_t, std::uint32_t > &label_adjacency_arg)
	Is called within setInputSupervoxels mainly to reserve required memory.
void	doGrouping ()
	Perform depth search on the graph and recursively group all supervoxels with convex connections.
void	recursiveSegmentGrowing (const VertexID &queryPointID, const unsigned int group_label)
	Assigns neighbors of the query point to the same group as the query point.
void	calculateConvexConnections (SupervoxelAdjacencyList &adjacency_list_arg)
	Calculates convexity of edges and saves this to the adjacency graph.
void	applyKconvexity (const unsigned int k_arg)
	Connections are only convex if this is true for at least k_arg common neighbors of the two patches.
bool	connIsConvex (const std::uint32_t source_label_arg, const std::uint32_t target_label_arg, float &normal_angle)
	Returns true if the connection between source and target is convex.
Protected Attributes inherited from pcl::LCCPSegmentation< PointT >
float	concavity_tolerance_threshold_ {10}
	* Parameters * ///
bool	grouping_data_valid_ {false}
	Marks if valid grouping data (sv_adjacency_list_, sv_label_to_seg_label_map_, processed_) is available.
bool	supervoxels_set_ {false}
	Marks if supervoxels have been set by calling setInputSupervoxels.
bool	use_smoothness_check_ {false}
	Determines if the smoothness check is used during segmentation.
float	smoothness_threshold_ {0.1}
	Two supervoxels are unsmooth if their plane-to-plane distance DIST > (expected_distance + smoothness_threshold_*voxel_resolution_).
bool	use_sanity_check_ {false}
	Determines if we use the sanity check which tries to find and invalidate singular connected patches.
float	seed_resolution_ {0.0f}
	Seed resolution of the supervoxels (used only for smoothness check).
float	voxel_resolution_ {0.0f}
	Voxel resolution used to build the supervoxels (used only for smoothness check).
std::uint32_t	k_factor_ {0}
	Factor used for k-convexity.
std::uint32_t	min_segment_size_ {0}
	Minimum segment size.
std::map< std::uint32_t, bool >	processed_
	Stores which supervoxel labels were already visited during recursive grouping.
SupervoxelAdjacencyList	sv_adjacency_list_
	Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels.
std::map< std::uint32_t, typename pcl::Supervoxel< PointT >::Ptr >	sv_label_to_supervoxel_map_
	map from the supervoxel labels to the supervoxel objects
std::map< std::uint32_t, std::uint32_t >	sv_label_to_seg_label_map_
	Storing relation between original SuperVoxel Labels and new segmantion labels.
std::map< std::uint32_t, std::set< std::uint32_t > >	seg_label_to_sv_list_map_
	map Segment Label to a set of Supervoxel Labels
std::map< std::uint32_t, std::set< std::uint32_t > >	seg_label_to_neighbor_set_map_
	map < SegmentID, std::set< Neighboring segment labels> >

Detailed Description

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

A segmentation algorithm partitioning a supervoxel graph.

It uses planar cuts induced by local concavities for the recursive segmentation. Cuts are estimated using locally constrained directed RANSAC.

Note: If you use this in a scientific work please cite the following paper: M. Schoeler, J. Papon, F. Woergoetter Constrained Planar Cuts - Object Partitioning for Point Clouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2015 Inherits most of its functionality from LCCPSegmentation

Author: Markus Schoeler (mscho.nosp@m.eler.nosp@m.@web..nosp@m.de)

Definition at line 66 of file cpc_segmentation.h.

Constructor & Destructor Documentation

◆ CPCSegmentation()

template<typename PointT>

pcl::CPCSegmentation< PointT >::CPCSegmentation ( )

default

◆ ~CPCSegmentation()

template<typename PointT>

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

overridedefault

Member Function Documentation

◆ segment()

template<typename PointT>

void pcl::CPCSegmentation< PointT >::segment ( )

Merge supervoxels using cuts through local convexities.

The input parameters are generated by using the SupervoxelClustering class. To retrieve the output use the relabelCloud method.

Note: There are three ways to retrieve the segmentation afterwards (inherited from LCCPSegmentation): relabelCloud, getSupervoxelToSegmentMap and getSupervoxelToSegmentMap

Definition at line 51 of file cpc_segmentation.hpp.

◆ setCutting()

template<typename PointT>

void pcl::CPCSegmentation< PointT >::setCutting	(	const std::uint32_t	max_cuts = 20,
		const std::uint32_t	cutting_min_segments = 0,
		const float	cutting_min_score = 0.16,
		const bool	locally_constrained = true,
		const bool	directed_cutting = true,
		const bool	clean_cutting = false )

inline

Determines if we want to use cutting planes.

Parameters

[in]	max_cuts	Maximum number of cuts
[in]	cutting_min_segments	Minimum segment size for cutting
[in]	cutting_min_score	Minimum score a proposed cut has to achieve for being performed
[in]	locally_constrained	Decide if we constrain our cuts locally
[in]	directed_cutting	Decide if we prefer cuts perpendicular to the edge-direction
[in]	clean_cutting	Decide if we cut only edges with supervoxels on opposite sides of the plane (clean) or all edges within the seed_resolution_ distance to the plane (not clean). The later was used in the paper.

Definition at line 107 of file cpc_segmentation.h.

◆ setRANSACIterations()

template<typename PointT>

void pcl::CPCSegmentation< PointT >::setRANSACIterations ( const std::uint32_t ransac_iterations )

inline

Set the number of iterations for the weighted RANSAC step (best cut estimations).

Parameters

[in] ransac_iterations The number of iterations

Definition at line 125 of file cpc_segmentation.h.

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

pcl/segmentation/cpc_segmentation.h
pcl/segmentation/impl/cpc_segmentation.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CPCSegmentation()

◆ ~CPCSegmentation()

Member Function Documentation

◆ segment()

◆ setCutting()

◆ setRANSACIterations()