Multilabel graph segmentation using random walks. More...

#include <pcl/segmentation/impl/random_walker.hpp>

Public Types
using	Color = typename boost::property_traits< VertexColorMap >::value_type

using	Weight = typename boost::property_traits< EdgeWeightMap >::value_type

using	GraphTraits = boost::graph_traits< Graph >

using	EdgeDescriptor = typename GraphTraits::edge_descriptor

using	VertexDescriptor = typename GraphTraits::vertex_descriptor

using	EdgeIterator = typename GraphTraits::edge_iterator

using	OutEdgeIterator = typename GraphTraits::out_edge_iterator

using	VertexIterator = typename GraphTraits::vertex_iterator

using	VertexIndexMap = typename boost::property_map< Graph, boost::vertex_index_t >::type

using	VertexDegreeMap = boost::iterator_property_map< typename std::vector< Weight >::iterator, VertexIndexMap >

using	SparseMatrix = Eigen::SparseMatrix< Weight >

using	Matrix = Eigen::Matrix< Weight, Eigen::Dynamic, Eigen::Dynamic >

using	Vector = Eigen::Matrix< Weight, Eigen::Dynamic, 1 >

Public Member Functions
	RandomWalker (Graph &g, EdgeWeightMap weights, VertexColorMap colors)

bool	segment ()

void	computeVertexDegrees ()

void	buildLinearSystem ()

bool	solveLinearSystem ()

void	assignColors ()

void	getPotentials (Matrix &potentials, std::map< Color, std::size_t > &color_to_column_map)

Static Public Member Functions
template<typename T >
static std::size_t	insertInBimap (boost::bimap< std::size_t, T > &bimap, T value)

Public Attributes
Graph &	g_

EdgeWeightMap	weight_map_

VertexColorMap	color_map_

VertexIndexMap	index_map_

std::vector< VertexDescriptor >	seeds_

std::set< Color >	colors_

std::vector< Weight >	degree_storage_

VertexDegreeMap	degree_map_

SparseMatrix	L

SparseMatrix	B

Matrix	X

boost::bimap< std::size_t, VertexDescriptor >	L_vertex_bimap

boost::bimap< std::size_t, Color >	B_color_bimap

Detailed Description

template<class Graph, class EdgeWeightMap, class VertexColorMap>
class pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >

Multilabel graph segmentation using random walks.

This is an implementation of the algorithm described in "Random Walks for Image Segmentation" by Leo Grady.

See the documentation of the randomWalker() function for details.

Author: Sergey Alexandrov

Definition at line 65 of file random_walker.hpp.

Member Typedef Documentation

◆ Color

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::Color = typename boost::property_traits<VertexColorMap>::value_type

Definition at line 70 of file random_walker.hpp.

◆ EdgeDescriptor

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::EdgeDescriptor = typename GraphTraits::edge_descriptor

Definition at line 73 of file random_walker.hpp.

◆ EdgeIterator

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::EdgeIterator = typename GraphTraits::edge_iterator

Definition at line 75 of file random_walker.hpp.

◆ GraphTraits

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::GraphTraits = boost::graph_traits<Graph>

Definition at line 72 of file random_walker.hpp.

◆ Matrix

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::Matrix = Eigen::Matrix<Weight, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 81 of file random_walker.hpp.

◆ OutEdgeIterator

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::OutEdgeIterator = typename GraphTraits::out_edge_iterator

Definition at line 76 of file random_walker.hpp.

◆ SparseMatrix

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::SparseMatrix = Eigen::SparseMatrix<Weight>

Definition at line 80 of file random_walker.hpp.

◆ Vector

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::Vector = Eigen::Matrix<Weight, Eigen::Dynamic, 1>

Definition at line 82 of file random_walker.hpp.

◆ VertexDegreeMap

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::VertexDegreeMap = boost::iterator_property_map<typename std::vector<Weight>::iterator, VertexIndexMap>

Definition at line 79 of file random_walker.hpp.

◆ VertexDescriptor

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::VertexDescriptor = typename GraphTraits::vertex_descriptor

Definition at line 74 of file random_walker.hpp.

◆ VertexIndexMap

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::VertexIndexMap = typename boost::property_map<Graph, boost::vertex_index_t>::type

Definition at line 78 of file random_walker.hpp.

◆ VertexIterator

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::VertexIterator = typename GraphTraits::vertex_iterator

Definition at line 77 of file random_walker.hpp.

◆ Weight

template<class Graph , class EdgeWeightMap , class VertexColorMap >

using pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::Weight = typename boost::property_traits<EdgeWeightMap>::value_type

Definition at line 71 of file random_walker.hpp.

Constructor & Destructor Documentation

◆ RandomWalker()

template<class Graph , class EdgeWeightMap , class VertexColorMap >

pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::RandomWalker	(	Graph &	g,
		EdgeWeightMap	weights,
		VertexColorMap	colors
	)

inline

Definition at line 84 of file random_walker.hpp.

Member Function Documentation

◆ assignColors()

template<class Graph , class EdgeWeightMap , class VertexColorMap >

void pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::assignColors ( )

inline

Definition at line 209 of file random_walker.hpp.

References pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::B_color_bimap, pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::color_map_, pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::L_vertex_bimap, and pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::X.

Referenced by pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::solveLinearSystem().

◆ buildLinearSystem()

template<class Graph , class EdgeWeightMap , class VertexColorMap >

void pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::buildLinearSystem ( )

inline

Definition at line 116 of file random_walker.hpp.

Referenced by pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::segment().

◆ computeVertexDegrees()

template<class Graph , class EdgeWeightMap , class VertexColorMap >

void pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::computeVertexDegrees ( )

inline

Definition at line 103 of file random_walker.hpp.

References pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::degree_map_, pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::g_, and pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::weight_map_.

Referenced by pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::segment().

◆ getPotentials()

template<class Graph , class EdgeWeightMap , class VertexColorMap >

void pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::getPotentials	(	Matrix &	potentials,
		std::map< Color, std::size_t > &	color_to_column_map
	)

inline

Definition at line 224 of file random_walker.hpp.

◆ insertInBimap()

template<class Graph , class EdgeWeightMap , class VertexColorMap >

template<typename T >

static std::size_t pcl::segmentation::detail::RandomWalker< Graph, EdgeWeightMap, VertexColorMap >::insertInBimap	(	boost::bimap< std::size_t, T > &	bimap,
		T	value
	)