355 lines
17 KiB
C++
355 lines
17 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2014-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/point_types.h>
|
|
#include <pcl/point_cloud.h>
|
|
#include <pcl/segmentation/supervoxel_clustering.h>
|
|
|
|
#define PCL_INSTANTIATE_LCCPSegmentation(T) template class PCL_EXPORTS pcl::LCCPSegmentation<T>;
|
|
|
|
namespace pcl
|
|
{
|
|
/** \brief 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 (mschoeler@gwdg.de)
|
|
* \ingroup segmentation
|
|
*/
|
|
template <typename PointT>
|
|
class LCCPSegmentation
|
|
{
|
|
/** \brief Edge Properties stored in the adjacency graph.*/
|
|
struct EdgeProperties
|
|
{
|
|
/** \brief Describes the difference of normals of the two supervoxels being connected*/
|
|
float normal_difference;
|
|
|
|
/** \brief Describes if a connection is convex or concave*/
|
|
bool is_convex;
|
|
|
|
/** \brief Describes if a connection is valid for the segment growing. Usually convex connections are and concave connection are not. Due to k-concavity a convex connection can be invalidated*/
|
|
bool is_valid;
|
|
|
|
/** \brief Additional member used for the CPC algorithm. If edge has already induced a cut, it should be ignored for further cutting.*/
|
|
bool used_for_cutting;
|
|
|
|
EdgeProperties () :
|
|
normal_difference (0), is_convex (false), is_valid (false), used_for_cutting (false)
|
|
{
|
|
}
|
|
};
|
|
|
|
public:
|
|
|
|
// Adjacency list with nodes holding labels (std::uint32_t) and edges holding EdgeProperties.
|
|
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;
|
|
|
|
LCCPSegmentation ();
|
|
virtual
|
|
~LCCPSegmentation ();
|
|
|
|
/** \brief Reset internal memory. */
|
|
void
|
|
reset ();
|
|
|
|
|
|
/** \brief Set the supervoxel clusters as well as the adjacency graph for the segmentation.Those parameters are generated by using the \ref SupervoxelClustering class. To retrieve the output use the \ref segment method.
|
|
* \param[in] supervoxel_clusters_arg Map of < supervoxel labels, supervoxels >
|
|
* \param[in] label_adjacency_arg The graph defining the supervoxel adjacency relations
|
|
* \note Implicitly calls \ref reset */
|
|
inline 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)
|
|
{
|
|
// Initialization
|
|
prepareSegmentation (supervoxel_clusters_arg, label_adjacency_arg); // after this, sv_adjacency_list_ can be used to access adjacency list
|
|
supervoxels_set_ = true;
|
|
}
|
|
|
|
/** \brief Merge supervoxels using local convexity. The input parameters are generated by using the \ref SupervoxelClustering class. To retrieve the output use the \ref relabelCloud method.
|
|
* \note There are three ways to retrieve the segmentation afterwards: \ref relabelCloud, \ref getSegmentToSupervoxelMap and \ref getSupervoxelToSegmentMap. */
|
|
void
|
|
segment ();
|
|
|
|
/** \brief Relabels cloud with supervoxel labels with the computed segment labels. labeled_cloud_arg should be created using SupervoxelClustering::getLabeledCloud.
|
|
* \param[in,out] labeled_cloud_arg Cloud to relabel */
|
|
void
|
|
relabelCloud (pcl::PointCloud<pcl::PointXYZL> &labeled_cloud_arg);
|
|
|
|
/** \brief Get map<SegmentID, std::set<SuperVoxel IDs> >
|
|
* \param[out] segment_supervoxel_map_arg The output container. On error the map is empty. */
|
|
inline void
|
|
getSegmentToSupervoxelMap (std::map<std::uint32_t, std::set<std::uint32_t> >& segment_supervoxel_map_arg) const
|
|
{
|
|
if (grouping_data_valid_)
|
|
{
|
|
segment_supervoxel_map_arg = seg_label_to_sv_list_map_;
|
|
}
|
|
else
|
|
{
|
|
PCL_WARN ("[pcl::LCCPSegmentation::getSegmentMap] WARNING: Call function segment first. Nothing has been done. \n");
|
|
segment_supervoxel_map_arg = std::map<std::uint32_t, std::set<std::uint32_t> > ();
|
|
}
|
|
}
|
|
|
|
/** \brief Get map<Supervoxel_ID, Segment_ID>
|
|
* \param[out] supervoxel_segment_map_arg The output container. On error the map is empty. */
|
|
inline void
|
|
getSupervoxelToSegmentMap (std::map<std::uint32_t, std::uint32_t>& supervoxel_segment_map_arg) const
|
|
{
|
|
if (grouping_data_valid_)
|
|
{
|
|
supervoxel_segment_map_arg = sv_label_to_seg_label_map_;
|
|
}
|
|
else
|
|
{
|
|
PCL_WARN ("[pcl::LCCPSegmentation::getSegmentMap] WARNING: Call function segment first. Nothing has been done. \n");
|
|
supervoxel_segment_map_arg = std::map<std::uint32_t, std::uint32_t> ();
|
|
}
|
|
}
|
|
|
|
/** \brief Get map <SegmentID, std::set<Neighboring SegmentIDs> >
|
|
* \param[out] segment_adjacency_map_arg map < SegmentID, std::set< Neighboring SegmentIDs> >. On error the map is empty. */
|
|
inline void
|
|
getSegmentAdjacencyMap (std::map<std::uint32_t, std::set<std::uint32_t> >& segment_adjacency_map_arg)
|
|
{
|
|
if (grouping_data_valid_)
|
|
{
|
|
if (seg_label_to_neighbor_set_map_.empty ())
|
|
computeSegmentAdjacency ();
|
|
segment_adjacency_map_arg = seg_label_to_neighbor_set_map_;
|
|
}
|
|
else
|
|
{
|
|
PCL_WARN ("[pcl::LCCPSegmentation::getSegmentAdjacencyMap] WARNING: Call function segment first. Nothing has been done. \n");
|
|
segment_adjacency_map_arg = std::map<std::uint32_t, std::set<std::uint32_t> > ();
|
|
}
|
|
}
|
|
|
|
/** \brief Get normal threshold
|
|
* \return The concavity tolerance angle in [deg] that is currently set */
|
|
inline float
|
|
getConcavityToleranceThreshold () const
|
|
{
|
|
return (concavity_tolerance_threshold_);
|
|
}
|
|
|
|
/** \brief Get the supervoxel adjacency graph with classified edges (boost::adjacency_list).
|
|
* \param[out] adjacency_list_arg The supervoxel adjacency list with classified (convex/concave) edges. On error the list is empty. */
|
|
inline void
|
|
getSVAdjacencyList (SupervoxelAdjacencyList& adjacency_list_arg) const
|
|
{
|
|
if (grouping_data_valid_)
|
|
{
|
|
adjacency_list_arg = sv_adjacency_list_;
|
|
}
|
|
else
|
|
{
|
|
PCL_WARN ("[pcl::LCCPSegmentation::getSVAdjacencyList] WARNING: Call function segment first. Nothing has been done. \n");
|
|
adjacency_list_arg = pcl::LCCPSegmentation<PointT>::SupervoxelAdjacencyList ();
|
|
}
|
|
}
|
|
|
|
/** \brief Set normal threshold
|
|
* \param[in] concavity_tolerance_threshold_arg the concavity tolerance angle in [deg] to set */
|
|
inline void
|
|
setConcavityToleranceThreshold (float concavity_tolerance_threshold_arg)
|
|
{
|
|
concavity_tolerance_threshold_ = concavity_tolerance_threshold_arg;
|
|
}
|
|
|
|
/** \brief 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.
|
|
* \param[in] use_smoothness_check_arg Determines if the smoothness check is used
|
|
* \param[in] voxel_res_arg The voxel resolution used for the supervoxels that are segmented
|
|
* \param[in] seed_res_arg The seed resolution used for the supervoxels that are segmented
|
|
* \param[in] smoothness_threshold_arg Threshold (/fudging factor) for smoothness constraint according to the above formula. */
|
|
inline void
|
|
setSmoothnessCheck (bool use_smoothness_check_arg,
|
|
float voxel_res_arg,
|
|
float seed_res_arg,
|
|
float smoothness_threshold_arg = 0.1)
|
|
{
|
|
use_smoothness_check_ = use_smoothness_check_arg;
|
|
voxel_resolution_ = voxel_res_arg;
|
|
seed_resolution_ = seed_res_arg;
|
|
smoothness_threshold_ = smoothness_threshold_arg;
|
|
}
|
|
|
|
/** \brief Determines if we want to use the sanity criterion to invalidate singular connected patches
|
|
* \param[in] use_sanity_criterion_arg Determines if the sanity check is performed */
|
|
inline void
|
|
setSanityCheck (const bool use_sanity_criterion_arg)
|
|
{
|
|
use_sanity_check_ = use_sanity_criterion_arg;
|
|
}
|
|
|
|
/** \brief 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.
|
|
* \param[in] k_factor_arg factor used for extended convexity check */
|
|
inline void
|
|
setKFactor (const std::uint32_t k_factor_arg)
|
|
{
|
|
k_factor_ = k_factor_arg;
|
|
}
|
|
|
|
/** \brief Set the value \ref min_segment_size_ used in \ref mergeSmallSegments
|
|
* \param[in] min_segment_size_arg Segments smaller than this size will be merged */
|
|
inline void
|
|
setMinSegmentSize (const std::uint32_t min_segment_size_arg)
|
|
{
|
|
min_segment_size_ = min_segment_size_arg;
|
|
}
|
|
|
|
protected:
|
|
|
|
/** \brief Segments smaller than \ref min_segment_size_ are merged to the label of largest neighbor */
|
|
void
|
|
mergeSmallSegments ();
|
|
|
|
/** \brief Compute the adjacency of the segments */
|
|
void
|
|
computeSegmentAdjacency ();
|
|
|
|
/** \brief Is called within \ref setInputSupervoxels mainly to reserve required memory.
|
|
* \param[in] supervoxel_clusters_arg map of < supervoxel labels, supervoxels >
|
|
* \param[in] label_adjacency_arg The graph defining the supervoxel adjacency relations */
|
|
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);
|
|
|
|
|
|
/** 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 */
|
|
void
|
|
doGrouping ();
|
|
|
|
/** \brief Assigns neighbors of the query point to the same group as the query point. Recursive part of \ref doGrouping. Grouping is done by a depth-search of nodes in the adjacency-graph.
|
|
* \param[in] queryPointID ID of point whose neighbors will be considered for grouping
|
|
* \param[in] group_label ID of the group/segment the queried point belongs to */
|
|
void
|
|
recursiveSegmentGrowing (const VertexID &queryPointID,
|
|
const unsigned int group_label);
|
|
|
|
/** \brief Calculates convexity of edges and saves this to the adjacency graph.
|
|
* \param[in,out] adjacency_list_arg The supervoxel adjacency list*/
|
|
void
|
|
calculateConvexConnections (SupervoxelAdjacencyList& adjacency_list_arg);
|
|
|
|
/** \brief Connections are only convex if this is true for at least k_arg common neighbors of the two patches. Call \ref setKFactor before \ref segment to use this.
|
|
* \param[in] k_arg Factor used for extended convexity check */
|
|
void
|
|
applyKconvexity (const unsigned int k_arg);
|
|
|
|
/** \brief Returns true if the connection between source and target is convex.
|
|
* \param[in] source_label_arg Label of one supervoxel connected to the edge that should be checked
|
|
* \param[in] target_label_arg Label of the other supervoxel connected to the edge that should be checked
|
|
* \param[out] normal_angle The angle between source and target
|
|
* \return True if connection is convex */
|
|
bool
|
|
connIsConvex (const std::uint32_t source_label_arg,
|
|
const std::uint32_t target_label_arg,
|
|
float &normal_angle);
|
|
|
|
/// *** Parameters *** ///
|
|
|
|
/** \brief Normal Threshold in degrees [0,180] used for merging */
|
|
float concavity_tolerance_threshold_;
|
|
|
|
/** \brief Marks if valid grouping data (\ref sv_adjacency_list_, \ref sv_label_to_seg_label_map_, \ref processed_) is available */
|
|
bool grouping_data_valid_;
|
|
|
|
/** \brief Marks if supervoxels have been set by calling \ref setInputSupervoxels */
|
|
bool supervoxels_set_;
|
|
|
|
/** \brief Determines if the smoothness check is used during segmentation*/
|
|
bool use_smoothness_check_;
|
|
|
|
/** \brief 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. */
|
|
float smoothness_threshold_;
|
|
|
|
/** \brief Determines if we use the sanity check which tries to find and invalidate singular connected patches*/
|
|
bool use_sanity_check_;
|
|
|
|
/** \brief Seed resolution of the supervoxels (used only for smoothness check) */
|
|
float seed_resolution_;
|
|
|
|
/** \brief Voxel resolution used to build the supervoxels (used only for smoothness check)*/
|
|
float voxel_resolution_;
|
|
|
|
/** \brief Factor used for k-convexity */
|
|
std::uint32_t k_factor_;
|
|
|
|
/** \brief Minimum segment size */
|
|
std::uint32_t min_segment_size_;
|
|
|
|
/** \brief Stores which supervoxel labels were already visited during recursive grouping.
|
|
* \note processed_[sv_Label] = false (default)/true (already processed) */
|
|
std::map<std::uint32_t, bool> processed_;
|
|
|
|
/** \brief Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels */
|
|
SupervoxelAdjacencyList sv_adjacency_list_;
|
|
|
|
/** \brief map from the supervoxel labels to the supervoxel objects */
|
|
std::map<std::uint32_t, typename pcl::Supervoxel<PointT>::Ptr> sv_label_to_supervoxel_map_;
|
|
|
|
/** \brief Storing relation between original SuperVoxel Labels and new segmantion labels.
|
|
* \note sv_label_to_seg_label_map_[old_labelID] = new_labelID */
|
|
std::map<std::uint32_t, std::uint32_t> sv_label_to_seg_label_map_;
|
|
|
|
/** \brief map Segment Label to a set of Supervoxel Labels */
|
|
std::map<std::uint32_t, std::set<std::uint32_t> > seg_label_to_sv_list_map_;
|
|
|
|
/** \brief map < SegmentID, std::set< Neighboring segment labels> > */
|
|
std::map<std::uint32_t, std::set<std::uint32_t> > seg_label_to_neighbor_set_map_;
|
|
|
|
};
|
|
}
|
|
|
|
#ifdef PCL_NO_PRECOMPILE
|
|
#include <pcl/segmentation/impl/lccp_segmentation.hpp>
|
|
#endif
|