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LCCP preparation for CPC #1287

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Jul 29, 2015
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LCCP preparation for CPC #1287

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14 changes: 7 additions & 7 deletions examples/segmentation/example_lccp_segmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ LCCPSegmentation Parameters: \n\
-st <smoothness threshold> - Invalidate steps. Value from the interval [0,1], where 0 is the strictest and 1 equals 'no smoothness check' \n\
-ec - Use extended (less local) convexity check\n\
-sc - Use sanity criterion to invalidate singular connected patches\n\
-smooth <mininmal segment size> - Remove small segments which have fewer points than minimal segment size\n\
-smooth <mininmal segment size> - Merge small segments which have fewer points than minimal segment size\n\
\n",
argv[0]);
return (1);
Expand Down Expand Up @@ -391,14 +391,14 @@ LCCPSegmentation Parameters: \n\

/// Create a cloud of the voxelcenters and map: VertexID in adjacency graph -> Point index in cloud

vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New ();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New ();
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
colors->SetNumberOfComponents (3);
colors->SetName ("Colors");

// Create a polydata to store everything in
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
for (VertexIterator itr = vertex_iterator_range.first; itr != vertex_iterator_range.second; ++itr)
{
const uint32_t sv_label = sv_adjacency_list[*itr];
Expand All @@ -417,7 +417,7 @@ LCCPSegmentation Parameters: \n\
colors->InsertNextTupleValue (color);

pcl::Supervoxel<PointT>::Ptr supervoxel = supervoxel_clusters.at (sv_label);
pcl::PointXYZRGBA vert_curr = supervoxel->centroid_;
pcl::PointXYZRGBA vert_curr = supervoxel->centroid_;


const uint32_t sv_neighbor_label = sv_adjacency_list[*itr_neighbor];
Expand All @@ -434,10 +434,10 @@ LCCPSegmentation Parameters: \n\
polyLine->GetPointIds ()->SetId (1, points->GetNumberOfPoints ()-1);
cells->InsertNextCell (polyLine);
}
}
}
polyData->SetPoints (points);
// Add the lines to the dataset
polyData->SetLines (cells);
polyData->SetLines (cells);

polyData->GetPointData ()->SetScalars (colors);

Expand Down
63 changes: 42 additions & 21 deletions segmentation/include/pcl/segmentation/impl/lccp_segmentation.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -106,14 +106,14 @@ pcl::LCCPSegmentation<PointT>::computeSegmentAdjacency ()
// For every Supervoxel..
for (VertexIterator sv_itr = vertex_iterator_range.first; sv_itr != vertex_iterator_range.second; ++sv_itr) // For all SuperVoxels
{
const uint32_t sv_label = sv_adjacency_list_[*sv_itr];
const uint32_t& sv_label = sv_adjacency_list_[*sv_itr];
current_segLabel = sv_label_to_seg_label_map_[sv_label];

// ..look at all neighbors and insert their labels into the neighbor set
std::pair<AdjacencyIterator, AdjacencyIterator> neighbors = boost::adjacent_vertices (*sv_itr, sv_adjacency_list_);
for (AdjacencyIterator itr_neighbor = neighbors.first; itr_neighbor != neighbors.second; ++itr_neighbor)
{
const uint32_t neigh_label = sv_adjacency_list_[*itr_neighbor];
const uint32_t& neigh_label = sv_adjacency_list_[*itr_neighbor];
neigh_segLabel = sv_label_to_seg_label_map_[neigh_label];

if (current_segLabel != neigh_segLabel)
Expand Down Expand Up @@ -159,12 +159,12 @@ pcl::LCCPSegmentation<PointT>::mergeSmallSegments (uint32_t min_segment_size_arg
// Iterate through all supervoxels, check if they are in a "small" segment -> change label to largest neighborID
for (VertexIterator sv_itr = vertex_iterator_range.first; sv_itr != vertex_iterator_range.second; ++sv_itr) // For all SuperVoxels
{
const uint32_t sv_label = sv_adjacency_list_[*sv_itr];
const uint32_t& sv_label = sv_adjacency_list_[*sv_itr];
current_seg_label = sv_label_to_seg_label_map_[sv_label];
largest_neigh_seg_label = current_seg_label;
largest_neigh_size = seg_label_to_sv_list_map_[current_seg_label].size ();

const uint32_t nr_neighbors = seg_label_to_neighbor_set_map_[current_seg_label].size ();
const uint32_t& nr_neighbors = seg_label_to_neighbor_set_map_[current_seg_label].size ();
if (nr_neighbors == 0)
continue;

Expand Down Expand Up @@ -240,7 +240,7 @@ pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typ
for (typename std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
svlabel_itr != sv_label_to_supervoxel_map_.end (); ++svlabel_itr)
{
const uint32_t sv_label = svlabel_itr->first;
const uint32_t& sv_label = svlabel_itr->first;
VertexID node_id = boost::add_vertex (sv_adjacency_list_);
sv_adjacency_list_[node_id] = sv_label;
label_ID_map[sv_label] = node_id;
Expand All @@ -250,8 +250,8 @@ pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typ
for (std::multimap<uint32_t, uint32_t>::const_iterator sv_neighbors_itr = label_adjaceny_arg.begin (); sv_neighbors_itr != label_adjaceny_arg.end ();
++sv_neighbors_itr)
{
const uint32_t sv_label = sv_neighbors_itr->first;
const uint32_t neighbor_label = sv_neighbors_itr->second;
const uint32_t& sv_label = sv_neighbors_itr->first;
const uint32_t& neighbor_label = sv_neighbors_itr->second;

VertexID u = label_ID_map[sv_label];
VertexID v = label_ID_map[neighbor_label];
Expand All @@ -265,7 +265,7 @@ pcl::LCCPSegmentation<PointT>::prepareSegmentation (const std::map<uint32_t, typ
for (typename std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
svlabel_itr != sv_label_to_supervoxel_map_.end (); ++svlabel_itr)
{
const uint32_t sv_label = svlabel_itr->first;
const uint32_t& sv_label = svlabel_itr->first;
processed_[sv_label] = false;
sv_label_to_seg_label_map_[sv_label] = 0;
}
Expand All @@ -285,6 +285,24 @@ pcl::LCCPSegmentation<PointT>::segment (std::map<uint32_t, typename pcl::Supervo
// Correct edge relations using extended convexity definition if k>0
applyKconvexity (k_factor_);

// Determine wether to use cutting planes
doGrouping ();
grouping_data_valid_ = true;
}

template <typename PointT> void
pcl::LCCPSegmentation<PointT>::doGrouping ()
{
// clear the processed_ map
seg_label_to_sv_list_map_.clear ();
for (typename std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr>::iterator svlabel_itr = sv_label_to_supervoxel_map_.begin ();
svlabel_itr != sv_label_to_supervoxel_map_.end (); ++svlabel_itr)
{
const uint32_t& sv_label = svlabel_itr->first;
processed_[sv_label] = false;
sv_label_to_seg_label_map_[sv_label] = 0;
}

// Perform depth search on the graph and recursively group all supervoxels with convex connections
//The vertices in the supervoxel adjacency list are the supervoxel centroids
std::pair< VertexIterator, VertexIterator> vertex_iterator_range;
Expand All @@ -295,22 +313,21 @@ pcl::LCCPSegmentation<PointT>::segment (std::map<uint32_t, typename pcl::Supervo
for (VertexIterator sv_itr = vertex_iterator_range.first; sv_itr != vertex_iterator_range.second; ++sv_itr) // For all SuperVoxels
{
const VertexID sv_vertex_id = *sv_itr;
const uint32_t sv_label = sv_adjacency_list_[sv_vertex_id];
const uint32_t& sv_label = sv_adjacency_list_[sv_vertex_id];
if (!processed_[sv_label])
{
// Add neighbors (and their neighbors etc.) to group if similarity constraint is met
recursiveGrouping (sv_vertex_id, segment_label);
recursiveSegmentGrowing (sv_vertex_id, segment_label);
++segment_label; // After recursive grouping ended (no more neighbors to consider) -> go to next group
}
}
grouping_data_valid_ = true;
}

template <typename PointT> void
pcl::LCCPSegmentation<PointT>::recursiveGrouping (VertexID const &query_point_id,
unsigned int const segment_label)
pcl::LCCPSegmentation<PointT>::recursiveSegmentGrowing (VertexID const &query_point_id,
unsigned int const segment_label)
{
const uint32_t sv_label = sv_adjacency_list_[query_point_id];
const uint32_t& sv_label = sv_adjacency_list_[query_point_id];

processed_[sv_label] = true;

Expand All @@ -324,13 +341,13 @@ pcl::LCCPSegmentation<PointT>::recursiveGrouping (VertexID const &query_point_id
for (OutEdgeIterator out_Edge_itr = out_edge_iterator_range.first; out_Edge_itr != out_edge_iterator_range.second; ++out_Edge_itr)
{
const VertexID neighbor_ID = boost::target (*out_Edge_itr, sv_adjacency_list_);
const uint32_t neighbor_label = sv_adjacency_list_[neighbor_ID];
const uint32_t& neighbor_label = sv_adjacency_list_[neighbor_ID];

if (!processed_[neighbor_label]) // If neighbor was not already processed
{
if (sv_adjacency_list_[*out_Edge_itr].is_convex)
if (sv_adjacency_list_[*out_Edge_itr].is_valid)
{
recursiveGrouping (neighbor_ID, segment_label);
recursiveSegmentGrowing (neighbor_ID, segment_label);
}
}
} // End neighbor loop
Expand Down Expand Up @@ -397,7 +414,7 @@ pcl::LCCPSegmentation<PointT>::applyKconvexity (unsigned int k_arg)

// Check k convexity
if (kcount < k_arg)
(sv_adjacency_list_)[*edge_itr].is_convex = false;
(sv_adjacency_list_)[*edge_itr].is_valid = false;
}
}
}
Expand All @@ -417,14 +434,18 @@ pcl::LCCPSegmentation<PointT>::calculateConvexConnections (SupervoxelAdjacencyLi
uint32_t source_sv_label = adjacency_list_arg[boost::source (*edge_itr, adjacency_list_arg)];
uint32_t target_sv_label = adjacency_list_arg[boost::target (*edge_itr, adjacency_list_arg)];

is_convex = connIsConvex (source_sv_label, target_sv_label);
float normal_difference;
is_convex = connIsConvex (source_sv_label, target_sv_label, normal_difference);
adjacency_list_arg[*edge_itr].is_convex = is_convex;
adjacency_list_arg[*edge_itr].is_valid = is_convex;
adjacency_list_arg[*edge_itr].normal_difference = normal_difference;
}
}

template <typename PointT> bool
pcl::LCCPSegmentation<PointT>::connIsConvex (uint32_t source_label_arg,
uint32_t target_label_arg)
uint32_t target_label_arg,
float &normal_angle)
{
typename pcl::Supervoxel<PointT>::Ptr& sv_source = sv_label_to_supervoxel_map_[source_label_arg];
typename pcl::Supervoxel<PointT>::Ptr& sv_target = sv_label_to_supervoxel_map_[target_label_arg];
Expand All @@ -444,7 +465,7 @@ pcl::LCCPSegmentation<PointT>::connIsConvex (uint32_t source_label_arg,
bool is_convex = true;
bool is_smooth = true;

float normal_angle = getAngle3D (source_normal, target_normal, true);
normal_angle = getAngle3D (source_normal, target_normal, true);
// Geometric comparisons
Eigen::Vector3f vec_t_to_s, vec_s_to_t;

Expand Down
33 changes: 26 additions & 7 deletions segmentation/include/pcl/segmentation/lccp_segmentation.h
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Expand Up @@ -61,9 +61,20 @@ namespace pcl
/** \brief Edge Properties stored in the adjacency graph.*/
struct EdgeProperties
{
/** \brief Desribes the difference of normals of the two supervoxels being connected*/
float normal_difference;

/** \brief Desribes 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;
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Missing description here. Also missing c in "Desribes" above.


EdgeProperties () :
is_convex (false)
normal_difference (0), is_convex (false), is_valid (false), used_for_cutting (false)
{
}
};
Expand Down Expand Up @@ -204,7 +215,7 @@ namespace pcl
k_factor_ = k;
}

private:
protected:

/** \brief Compute the adjacency of the segments */
void
Expand All @@ -217,12 +228,18 @@ namespace pcl
prepareSegmentation (const std::map<uint32_t, typename pcl::Supervoxel<PointT>::Ptr> &supervoxel_clusters_arg,
const std::multimap<uint32_t, 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 groupSupervoxels (..). 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
recursiveGrouping (VertexID const &queryPointID,
unsigned int const group_label);
recursiveSegmentGrowing (VertexID const &queryPointID,
unsigned int const group_label);

/** \brief Calculates convexity of edges and saves this to the adjacency graph.
* \param[in] adjacency_list_arg The supervoxel adjacency list*/
Expand All @@ -237,10 +254,12 @@ namespace pcl
/** \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 (uint32_t source_label_arg,
uint32_t target_label_arg);
uint32_t target_label_arg,
float &normal_angle);

/// *** Parameters *** ///

Expand All @@ -266,7 +285,7 @@ namespace pcl
float voxel_resolution_;

/** \brief Factor used for k-convexity */
unsigned int k_factor_;
uint32_t k_factor_;

/** \brief Stores which SuperVoxel labels were already visited during recursive grouping. processed_[sv_Label] = false (default)/true (already processed) */
std::map<uint32_t, bool> processed_;
Expand All @@ -283,7 +302,7 @@ namespace pcl
/** \brief map <Segment Label, std::set <SuperVoxel Labels> > */
std::map<uint32_t, std::set<uint32_t> > seg_label_to_sv_list_map_;

/** \brief map <SegmentID, std::vector <Neighboring segment labels> > */
/** \brief map < SegmentID, std::set< Neighboring segment labels> > */
std::map<uint32_t, std::set<uint32_t> > seg_label_to_neighbor_set_map_;

};
Expand Down