A simple segmentation algorithm partitioning a supervoxel graph into groups of locally convex connected supervoxels separated by concave borders. More...

#include <pcl/segmentation/lccp_segmentation.h>

Inheritance diagram for pcl::LCCPSegmentation< PointT >:

Collaboration diagram for pcl::LCCPSegmentation< PointT >:

Public Types
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

Public Member Functions
	LCCPSegmentation ()

virtual	~LCCPSegmentation ()

void	reset ()
	Reset internal memory. More...

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. More...

void	segment ()
	Merge supervoxels using local convexity. More...

void	relabelCloud (pcl::PointCloud< pcl::PointXYZL > &labeled_cloud_arg)
	Relabels cloud with supervoxel labels with the computed segment labels. More...

void	getSegmentToSupervoxelMap (std::map< std::uint32_t, std::set< std::uint32_t > > &segment_supervoxel_map_arg) const
	Get map<SegmentID, std::set<SuperVoxel IDs> > More...

void	getSupervoxelToSegmentMap (std::map< std::uint32_t, std::uint32_t > &supervoxel_segment_map_arg) const
	Get map<Supervoxel_ID, Segment_ID> More...

void	getSegmentAdjacencyMap (std::map< std::uint32_t, std::set< std::uint32_t > > &segment_adjacency_map_arg)
	Get map <SegmentID, std::set<Neighboring SegmentIDs> > More...

float	getConcavityToleranceThreshold () const
	Get normal threshold. More...

void	getSVAdjacencyList (SupervoxelAdjacencyList &adjacency_list_arg) const
	Get the supervoxel adjacency graph with classified edges (boost::adjacency_list). More...

void	setConcavityToleranceThreshold (float concavity_tolerance_threshold_arg)
	Set normal threshold. More...

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). More...

void	setSanityCheck (const bool use_sanity_criterion_arg)
	Determines if we want to use the sanity criterion to invalidate singular connected patches. More...

void	setKFactor (const std::uint32_t k_factor_arg)
	Set the value used for k convexity. More...

void	setMinSegmentSize (const std::uint32_t min_segment_size_arg)
	Set the value min_segment_size_ used in mergeSmallSegments. More...

Protected Member Functions
void	mergeSmallSegments ()
	Segments smaller than min_segment_size_ are merged to the label of largest neighbor. More...

void	computeSegmentAdjacency ()
	Compute the adjacency of the segments. More...

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. More...

void	doGrouping ()
	Perform depth search on the graph and recursively group all supervoxels with convex connections. More...

void	recursiveSegmentGrowing (const VertexID &queryPointID, const unsigned int group_label)
	Assigns neighbors of the query point to the same group as the query point. More...

void	calculateConvexConnections (SupervoxelAdjacencyList &adjacency_list_arg)
	Calculates convexity of edges and saves this to the adjacency graph. More...

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. More...

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. More...

Protected Attributes
float	concavity_tolerance_threshold_ {10}
	* Parameters * /// More...

bool	grouping_data_valid_ {false}
	Marks if valid grouping data (sv_adjacency_list_, sv_label_to_seg_label_map_, processed_) is available. More...

bool	supervoxels_set_ {false}
	Marks if supervoxels have been set by calling setInputSupervoxels. More...

bool	use_smoothness_check_ {false}
	Determines if the smoothness check is used during segmentation. More...

float	smoothness_threshold_ {0.1}
	Two supervoxels are unsmooth if their plane-to-plane distance DIST > (expected_distance + smoothness_threshold_*voxel_resolution_). More...

bool	use_sanity_check_ {false}
	Determines if we use the sanity check which tries to find and invalidate singular connected patches. More...

float	seed_resolution_ {0.0f}
	Seed resolution of the supervoxels (used only for smoothness check) More...

float	voxel_resolution_ {0.0f}
	Voxel resolution used to build the supervoxels (used only for smoothness check) More...

std::uint32_t	k_factor_ {0}
	Factor used for k-convexity. More...

std::uint32_t	min_segment_size_ {0}
	Minimum segment size. More...

std::map< std::uint32_t, bool >	processed_
	Stores which supervoxel labels were already visited during recursive grouping. More...

SupervoxelAdjacencyList	sv_adjacency_list_
	Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels. More...

std::map< std::uint32_t, typename pcl::Supervoxel< PointT >::Ptr >	sv_label_to_supervoxel_map_
	map from the supervoxel labels to the supervoxel objects More...

std::map< std::uint32_t, std::uint32_t >	sv_label_to_seg_label_map_
	Storing relation between original SuperVoxel Labels and new segmantion labels. More...

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 More...

std::map< std::uint32_t, std::set< std::uint32_t > >	seg_label_to_neighbor_set_map_
	map < SegmentID, std::set< Neighboring segment labels> > More...

Detailed Description

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

A simple segmentation algorithm partitioning a supervoxel graph into groups of locally convex connected supervoxels separated by concave borders.

Note: If you use this in a scientific work please cite the following paper: S. C. Stein, M. Schoeler, J. Papon, F. Woergoetter Object Partitioning using Local Convexity In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2014

Author: Simon Christoph Stein and Markus Schoeler (mscho.nosp@m.eler.nosp@m.@gwdg.nosp@m..de)

Definition at line 57 of file lccp_segmentation.h.

Member Typedef Documentation

◆ AdjacencyIterator

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::AdjacencyIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::adjacency_iterator

Definition at line 82 of file lccp_segmentation.h.

◆ EdgeID

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::EdgeID = typename boost::graph_traits<SupervoxelAdjacencyList>::edge_descriptor

Definition at line 87 of file lccp_segmentation.h.

◆ EdgeIterator

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::EdgeIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::edge_iterator

Definition at line 85 of file lccp_segmentation.h.

◆ OutEdgeIterator

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::OutEdgeIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::out_edge_iterator

Definition at line 86 of file lccp_segmentation.h.

◆ SupervoxelAdjacencyList

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::SupervoxelAdjacencyList = boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, std::uint32_t, EdgeProperties>

Definition at line 80 of file lccp_segmentation.h.

◆ VertexID

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::VertexID = typename boost::graph_traits<SupervoxelAdjacencyList>::vertex_descriptor

Definition at line 84 of file lccp_segmentation.h.

◆ VertexIterator

template<typename PointT >

using pcl::LCCPSegmentation< PointT >::VertexIterator = typename boost::graph_traits<SupervoxelAdjacencyList>::vertex_iterator

Definition at line 81 of file lccp_segmentation.h.

Constructor & Destructor Documentation

◆ LCCPSegmentation()

template<typename PointT >

pcl::LCCPSegmentation< PointT >::LCCPSegmentation ( )

default

◆ ~LCCPSegmentation()

template<typename PointT >

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

virtualdefault

Member Function Documentation

◆ applyKconvexity()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::applyKconvexity ( const unsigned int k_arg )

protected

Connections are only convex if this is true for at least k_arg common neighbors of the two patches.

Call setKFactor before segment to use this.

Parameters

[in] k_arg Factor used for extended convexity check

Definition at line 339 of file lccp_segmentation.hpp.

◆ calculateConvexConnections()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::calculateConvexConnections ( SupervoxelAdjacencyList & adjacency_list_arg )

protected

Calculates convexity of edges and saves this to the adjacency graph.

Parameters

[in,out] adjacency_list_arg The supervoxel adjacency list

Definition at line 396 of file lccp_segmentation.hpp.

◆ computeSegmentAdjacency()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::computeSegmentAdjacency

protected

Compute the adjacency of the segments.

Definition at line 123 of file lccp_segmentation.hpp.

Referenced by pcl::LCCPSegmentation< PointT >::getSegmentAdjacencyMap().

◆ connIsConvex()

template<typename PointT >

bool pcl::LCCPSegmentation< PointT >::connIsConvex	(	const std::uint32_t	source_label_arg,
		const std::uint32_t	target_label_arg,
		float &	normal_angle
	)

protected

Returns true if the connection between source and target is convex.

Parameters

[in]	source_label_arg	Label of one supervoxel connected to the edge that should be checked
[in]	target_label_arg	Label of the other supervoxel connected to the edge that should be checked
[out]	normal_angle	The angle between source and target

Returns: True if connection is convex

Definition at line 416 of file lccp_segmentation.hpp.

References pcl::Supervoxel< PointT >::centroid_, pcl::getAngle3D(), and pcl::Supervoxel< PointT >::normal_.

◆ doGrouping()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::doGrouping

protected

Perform depth search on the graph and recursively group all supervoxels with convex connections.

Note: The vertices in the supervoxel adjacency list are the supervoxel centroids

Definition at line 278 of file lccp_segmentation.hpp.

◆ getConcavityToleranceThreshold()

template<typename PointT >

float pcl::LCCPSegmentation< PointT >::getConcavityToleranceThreshold ( ) const

inline

Get normal threshold.

Returns: The concavity tolerance angle in [deg] that is currently set

Definition at line 174 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::concavity_tolerance_threshold_.

◆ getSegmentAdjacencyMap()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::getSegmentAdjacencyMap ( std::map< std::uint32_t, std::set< std::uint32_t > > & segment_adjacency_map_arg )

inline

Get map <SegmentID, std::set<Neighboring SegmentIDs> >

Parameters

[out] segment_adjacency_map_arg map < SegmentID, std::set< Neighboring SegmentIDs> >. On error the map is empty.

Definition at line 156 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::computeSegmentAdjacency(), pcl::LCCPSegmentation< PointT >::grouping_data_valid_, and pcl::LCCPSegmentation< PointT >::seg_label_to_neighbor_set_map_.

◆ getSegmentToSupervoxelMap()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::getSegmentToSupervoxelMap ( std::map< std::uint32_t, std::set< std::uint32_t > > & segment_supervoxel_map_arg ) const

inline

Get map<SegmentID, std::set<SuperVoxel IDs> >

Parameters

[out] segment_supervoxel_map_arg The output container. On error the map is empty.

Definition at line 124 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::grouping_data_valid_, and pcl::LCCPSegmentation< PointT >::seg_label_to_sv_list_map_.

◆ getSupervoxelToSegmentMap()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::getSupervoxelToSegmentMap ( std::map< std::uint32_t, std::uint32_t > & supervoxel_segment_map_arg ) const

inline

Get map<Supervoxel_ID, Segment_ID>

Parameters

[out] supervoxel_segment_map_arg The output container. On error the map is empty.

Definition at line 140 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::grouping_data_valid_, and pcl::LCCPSegmentation< PointT >::sv_label_to_seg_label_map_.

◆ getSVAdjacencyList()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::getSVAdjacencyList ( SupervoxelAdjacencyList & adjacency_list_arg ) const

inline

Get the supervoxel adjacency graph with classified edges (boost::adjacency_list).

Parameters

[out] adjacency_list_arg The supervoxel adjacency list with classified (convex/concave) edges. On error the list is empty.

Definition at line 182 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::grouping_data_valid_, and pcl::LCCPSegmentation< PointT >::sv_adjacency_list_.

◆ mergeSmallSegments()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::mergeSmallSegments

protected

Segments smaller than min_segment_size_ are merged to the label of largest neighbor.

Definition at line 154 of file lccp_segmentation.hpp.

◆ prepareSegmentation()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::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
	)

protected

Is called within setInputSupervoxels mainly to reserve required memory.

Parameters

[in]	supervoxel_clusters_arg	map of < supervoxel labels, supervoxels >
[in]	label_adjacency_arg	The graph defining the supervoxel adjacency relations

Definition at line 228 of file lccp_segmentation.hpp.

Referenced by pcl::LCCPSegmentation< PointT >::setInputSupervoxels().

◆ recursiveSegmentGrowing()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::recursiveSegmentGrowing	(	const VertexID &	queryPointID,
		const unsigned int	group_label
	)

protected

Assigns neighbors of the query point to the same group as the query point.

Recursive part of doGrouping. Grouping is done by a depth-search of nodes in the adjacency-graph.

Parameters

[in]	queryPointID	ID of point whose neighbors will be considered for grouping
[in]	group_label	ID of the group/segment the queried point belongs to

Definition at line 309 of file lccp_segmentation.hpp.

◆ relabelCloud()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::relabelCloud ( pcl::PointCloud< pcl::PointXYZL > & labeled_cloud_arg )

Relabels cloud with supervoxel labels with the computed segment labels.

labeled_cloud_arg should be created using SupervoxelClustering::getLabeledCloud.

Parameters

[in,out] labeled_cloud_arg Cloud to relabel

Definition at line 98 of file lccp_segmentation.hpp.

◆ reset()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::reset

Reset internal memory.

Definition at line 60 of file lccp_segmentation.hpp.

◆ segment()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::segment

Merge supervoxels using local convexity.

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: relabelCloud, getSegmentToSupervoxelMap and getSupervoxelToSegmentMap.

Definition at line 73 of file lccp_segmentation.hpp.

◆ setConcavityToleranceThreshold()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::setConcavityToleranceThreshold ( float concavity_tolerance_threshold_arg )

inline

Set normal threshold.

Parameters

[in] concavity_tolerance_threshold_arg the concavity tolerance angle in [deg] to set

Definition at line 198 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::concavity_tolerance_threshold_.

◆ setInputSupervoxels()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::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
	)

inline

Set the supervoxel clusters as well as the adjacency graph for the segmentation.Those parameters are generated by using the SupervoxelClustering class.

To retrieve the output use the segment method.

Parameters

[in]	supervoxel_clusters_arg	Map of < supervoxel labels, supervoxels >
[in]	label_adjacency_arg	The graph defining the supervoxel adjacency relations

Note: Implicitly calls reset

Definition at line 103 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::prepareSegmentation(), and pcl::LCCPSegmentation< PointT >::supervoxels_set_.

◆ setKFactor()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::setKFactor ( const std::uint32_t k_factor_arg )

inline

Set the value used for k convexity.

For k>0 convex connections between p_i and p_j require k common neighbors of these patches that have a convex connection to both.

Parameters

[in] k_factor_arg factor used for extended convexity check

Definition at line 231 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::k_factor_.

◆ setMinSegmentSize()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::setMinSegmentSize ( const std::uint32_t min_segment_size_arg )

inline

Set the value min_segment_size_ used in mergeSmallSegments.

Parameters

[in] min_segment_size_arg Segments smaller than this size will be merged

Definition at line 239 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::min_segment_size_.

◆ setSanityCheck()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::setSanityCheck ( const bool use_sanity_criterion_arg )

inline

Determines if we want to use the sanity criterion to invalidate singular connected patches.

Parameters

[in] use_sanity_criterion_arg Determines if the sanity check is performed

Definition at line 223 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::use_sanity_check_.

◆ setSmoothnessCheck()

template<typename PointT >

void pcl::LCCPSegmentation< PointT >::setSmoothnessCheck	(	bool	use_smoothness_check_arg,
		float	voxel_res_arg,
		float	seed_res_arg,
		float	smoothness_threshold_arg = `0.1`
	)

inline

Determines if a smoothness check is done during segmentation, trying to invalidate edges of non-smooth connected edges (steps).

Two supervoxels are unsmooth if their plane-to-plane distance DIST > (expected_distance + smoothness_threshold_*voxel_resolution_). For parallel supervoxels, the expected_distance is zero.

Parameters

[in]	use_smoothness_check_arg	Determines if the smoothness check is used
[in]	voxel_res_arg	The voxel resolution used for the supervoxels that are segmented
[in]	seed_res_arg	The seed resolution used for the supervoxels that are segmented
[in]	smoothness_threshold_arg	Threshold (/fudging factor) for smoothness constraint according to the above formula.

Definition at line 209 of file lccp_segmentation.h.

References pcl::LCCPSegmentation< PointT >::seed_resolution_, pcl::LCCPSegmentation< PointT >::smoothness_threshold_, pcl::LCCPSegmentation< PointT >::use_smoothness_check_, and pcl::LCCPSegmentation< PointT >::voxel_resolution_.

Member Data Documentation

◆ concavity_tolerance_threshold_

template<typename PointT >

float pcl::LCCPSegmentation< PointT >::concavity_tolerance_threshold_ {10}

protected

*** Parameters *** ///

Normal Threshold in degrees [0,180] used for merging

Definition at line 297 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::getConcavityToleranceThreshold(), and pcl::LCCPSegmentation< PointT >::setConcavityToleranceThreshold().

◆ grouping_data_valid_

template<typename PointT >

bool pcl::LCCPSegmentation< PointT >::grouping_data_valid_ {false}

protected

Marks if valid grouping data (sv_adjacency_list_, sv_label_to_seg_label_map_, processed_) is available.

Definition at line 300 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::getSegmentAdjacencyMap(), pcl::LCCPSegmentation< PointT >::getSegmentToSupervoxelMap(), pcl::LCCPSegmentation< PointT >::getSupervoxelToSegmentMap(), and pcl::LCCPSegmentation< PointT >::getSVAdjacencyList().

◆ k_factor_

template<typename PointT >

std::uint32_t pcl::LCCPSegmentation< PointT >::k_factor_ {0}

protected

Factor used for k-convexity.

Definition at line 321 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setKFactor().

◆ min_segment_size_

template<typename PointT >

std::uint32_t pcl::LCCPSegmentation< PointT >::min_segment_size_ {0}

protected

Minimum segment size.

Definition at line 324 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setMinSegmentSize().

◆ processed_

template<typename PointT >

std::map<std::uint32_t, bool> pcl::LCCPSegmentation< PointT >::processed_

protected

Stores which supervoxel labels were already visited during recursive grouping.

Note: processed_[sv_Label] = false (default)/true (already processed)

Definition at line 328 of file lccp_segmentation.h.

◆ seed_resolution_

template<typename PointT >

float pcl::LCCPSegmentation< PointT >::seed_resolution_ {0.0f}

protected

Seed resolution of the supervoxels (used only for smoothness check)

Definition at line 315 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setSmoothnessCheck().

◆ seg_label_to_neighbor_set_map_

template<typename PointT >

std::map<std::uint32_t, std::set<std::uint32_t> > pcl::LCCPSegmentation< PointT >::seg_label_to_neighbor_set_map_

protected

map < SegmentID, std::set< Neighboring segment labels> >

Definition at line 344 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::getSegmentAdjacencyMap().

◆ seg_label_to_sv_list_map_

template<typename PointT >

std::map<std::uint32_t, std::set<std::uint32_t> > pcl::LCCPSegmentation< PointT >::seg_label_to_sv_list_map_

protected

map Segment Label to a set of Supervoxel Labels

Definition at line 341 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::getSegmentToSupervoxelMap().

◆ smoothness_threshold_

template<typename PointT >

float pcl::LCCPSegmentation< PointT >::smoothness_threshold_ {0.1}

protected

Two supervoxels are unsmooth if their plane-to-plane distance DIST > (expected_distance + smoothness_threshold_*voxel_resolution_).

For parallel supervoxels, the expected_distance is zero.

Definition at line 309 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setSmoothnessCheck().

◆ supervoxels_set_

template<typename PointT >

bool pcl::LCCPSegmentation< PointT >::supervoxels_set_ {false}

protected

Marks if supervoxels have been set by calling setInputSupervoxels.

Definition at line 303 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setInputSupervoxels().

◆ sv_adjacency_list_

template<typename PointT >

SupervoxelAdjacencyList pcl::LCCPSegmentation< PointT >::sv_adjacency_list_

protected

Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels.

Definition at line 331 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::getSVAdjacencyList().

◆ sv_label_to_seg_label_map_

template<typename PointT >

std::map<std::uint32_t, std::uint32_t> pcl::LCCPSegmentation< PointT >::sv_label_to_seg_label_map_

protected

Storing relation between original SuperVoxel Labels and new segmantion labels.

Note: sv_label_to_seg_label_map_[old_labelID] = new_labelID

Definition at line 338 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::getSupervoxelToSegmentMap().

◆ sv_label_to_supervoxel_map_

template<typename PointT >

std::map<std::uint32_t, typename pcl::Supervoxel<PointT>::Ptr> pcl::LCCPSegmentation< PointT >::sv_label_to_supervoxel_map_

protected

map from the supervoxel labels to the supervoxel objects

Definition at line 334 of file lccp_segmentation.h.

◆ use_sanity_check_

template<typename PointT >

bool pcl::LCCPSegmentation< PointT >::use_sanity_check_ {false}

protected

Determines if we use the sanity check which tries to find and invalidate singular connected patches.

Definition at line 312 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setSanityCheck().

◆ use_smoothness_check_

template<typename PointT >

bool pcl::LCCPSegmentation< PointT >::use_smoothness_check_ {false}

protected

Determines if the smoothness check is used during segmentation.

Definition at line 306 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setSmoothnessCheck().

◆ voxel_resolution_

template<typename PointT >

float pcl::LCCPSegmentation< PointT >::voxel_resolution_ {0.0f}

protected

Voxel resolution used to build the supervoxels (used only for smoothness check)

Definition at line 318 of file lccp_segmentation.h.

Referenced by pcl::LCCPSegmentation< PointT >::setSmoothnessCheck().

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

pcl/segmentation/lccp_segmentation.h
pcl/segmentation/impl/lccp_segmentation.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ AdjacencyIterator

◆ EdgeID

◆ EdgeIterator

◆ OutEdgeIterator

◆ SupervoxelAdjacencyList

◆ VertexID

◆ VertexIterator

Constructor & Destructor Documentation

◆ LCCPSegmentation()

◆ ~LCCPSegmentation()

Member Function Documentation

◆ applyKconvexity()

◆ calculateConvexConnections()

◆ computeSegmentAdjacency()

◆ connIsConvex()

◆ doGrouping()

◆ getConcavityToleranceThreshold()

◆ getSegmentAdjacencyMap()

◆ getSegmentToSupervoxelMap()

◆ getSupervoxelToSegmentMap()

◆ getSVAdjacencyList()

◆ mergeSmallSegments()

◆ prepareSegmentation()

◆ recursiveSegmentGrowing()

◆ relabelCloud()

◆ reset()

◆ segment()

◆ setConcavityToleranceThreshold()

◆ setInputSupervoxels()

◆ setKFactor()

◆ setMinSegmentSize()

◆ setSanityCheck()

◆ setSmoothnessCheck()

Member Data Documentation

◆ concavity_tolerance_threshold_

◆ grouping_data_valid_

◆ k_factor_

◆ min_segment_size_

◆ processed_

◆ seed_resolution_

◆ seg_label_to_neighbor_set_map_

◆ seg_label_to_sv_list_map_

◆ smoothness_threshold_

◆ supervoxels_set_

◆ sv_adjacency_list_

◆ sv_label_to_seg_label_map_

◆ sv_label_to_supervoxel_map_

◆ use_sanity_check_

◆ use_smoothness_check_

◆ voxel_resolution_

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