 Implements a supervoxel algorithm based on voxel structure, normals, and rgb values. More... #include <pcl/segmentation/supervoxel_clustering.h>         
  
 Classes 
class 
VoxelData
 
 

VoxelData is a structure used for storing data within a pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudAdjacencyContainer. More...

   
 
 Public Types 
using 

LeafContainerT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudAdjacencyContainer< PointT, VoxelData >
   
using 

LeafVectorT = st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< LeafContainerT * >
   
using 

PointCloudT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >
   
using 

NormalCloudT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< Normal >
   
using 

OctreeAdjacencyT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudAdjacency< PointT, LeafContainerT >
   
using 

OctreeSearchT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudSearch< PointT >
   
using 

KdTreeT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069search8b7c:f320:99b9:690f:4595:cd17:293a:c069KdTree< PointT >
   
using 

IndicesPtr = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069IndicesPtr

   
using 

VoxelAdjacencyList = boost8b7c:f320:99b9:690f:4595:cd17:293a:c069jacency_list< boost8b7c:f320:99b9:690f:4595:cd17:293a:c069setS, boost8b7c:f320:99b9:690f:4595:cd17:293a:c069setS, boost8b7c:f320:99b9:690f:4595:cd17:293a:c069undirectedS, st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, float >
   
using 

VoxelID = VoxelAdjacencyList8b7c:f320:99b9:690f:4595:cd17:293a:c069vertex_descriptor
   
using 

EdgeID = VoxelAdjacencyList8b7c:f320:99b9:690f:4595:cd17:293a:c069ge_descriptor
   
 Public Types inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PCLBase< PointT >
 
using 

PointCloud = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >
   
using 

PointCloudPtr = typename PointClou8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr

   
using 

PointCloudConstPtr = typename PointClou8b7c:f320:99b9:690f:4595:cd17:293a:c069ConstPtr

   
using 

PointIndicesPtr = PointIndices8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr

   
using 

PointIndicesConstPtr = PointIndices8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr

   
 
 Public Member Functions 
 

SupervoxelClustering (float voxel_resolution, float seed_resolution)
 
 
Constructor that sets default values for member variables. More...

   
 

~SupervoxelClustering ()
 
 
This destructor destroys the cloud, normals and search method used for finding neighbors. More...

   
void 

setVoxelResolution (float resolution)
 
 
Set the resolution of the octree voxels. More...

   
float 

getVoxelResolution () const
 
 
Get the resolution of the octree voxels. More...

   
void 

setSeedResolution (float seed_resolution)
 
 
Set the resolution of the octree seed voxels. More...

   
float 

getSeedResolution () const
 
 
Get the resolution of the octree seed voxels. More...

   
void 

setColorImportance (float val)
 
 
Set the importance of color for supervoxels. More...

   
void 

setSpatialImportance (float val)
 
 
Set the importance of spatial distance for supervoxels. More...

   
void 

setNormalImportance (float val)
 
 
Set the importance of scalar normal product for supervoxels. More...

   
void 

setUseSingleCameraTransform (bool val)
 
 
Set whether or not to use the single camera transform. More...

   
virtual void 

extract (st8b7c:f320:99b9:690f:4595:cd17:293a:c069map< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, typename Supervoxel< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr > &supervoxel_clusters)
 
 
This method launches the segmentation algorithm and returns the supervoxels that were obtained during the segmentation. More...

   
void 

setInputCloud (const typename pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr &cloud) override
 
 
This method sets the cloud to be supervoxelized. More...

   
virtual void 

setNormalCloud (typename NormalCloudT8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr normal_cloud)
 
 
This method sets the normals to be used for supervoxels (should be same size as input cloud) More...

   
virtual void 

refineSupervoxels (int num_itr, st8b7c:f320:99b9:690f:4595:cd17:293a:c069map< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, typename Supervoxel< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr > &supervoxel_clusters)
 
 
This method refines the calculated supervoxels - may only be called after extract. More...

   

pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr 

getVoxelCentroidCloud () const
 
 
Returns a deep copy of the voxel centroid cloud. More...

   

pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointXYZL >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr 

getLabeledCloud () const
 
 
Returns labeled cloud Points that belong to the same supervoxel have the same label. More...

   

pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointXYZL >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr 

getLabeledVoxelCloud () const
 
 
Returns labeled voxelized cloud Points that belong to the same supervoxel have the same label. More...

   
void 

getSupervoxelAdjacencyList (VoxelAdjacencyList &adjacency_list_arg) const
 
 
Gets the adjacency list (Boost Graph library) which gives connections between supervoxels. More...

   
void 

getSupervoxelAdjacency (st8b7c:f320:99b9:690f:4595:cd17:293a:c069multimap< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t > &label_adjacency) const
 
 
Get a multimap which gives supervoxel adjacency. More...

   
int 

getMaxLabel () const
 
 
Returns the current maximum (highest) label. More...

   
 Public Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PCLBase< PointT >
 
 

PCLBase ()
 
 
Empty constructor. More...

   
 

PCLBase (const PCLBase &base)
 
 
Copy constructor. More...

   
virtual 

~PCLBase ()=default
 
 
Destructor. More...

   
virtual void 

setInputCloud (const PointCloudConstPtr &cloud)
 
 
Provide a pointer to the input dataset. More...

   
const PointCloudConstPtr 

getInputCloud () const
 
 
Get a pointer to the input point cloud dataset. More...

   
virtual void 

setIndices (const IndicesPtr &indices)
 
 
Provide a pointer to the vector of indices that represents the input data. More...

   
virtual void 

setIndices (const IndicesConstPtr &indices)
 
 
Provide a pointer to the vector of indices that represents the input data. More...

   
virtual void 

setIndices (const PointIndicesConstPtr &indices)
 
 
Provide a pointer to the vector of indices that represents the input data. More...

   
virtual void 

setIndices (st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t row_start, st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t col_start, st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t nb_rows, st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t nb_cols)
 
 
Set the indices for the points laying within an interest region of the point cloud. More...

   

IndicesPtr 

getIndices ()
 
 
Get a pointer to the vector of indices used. More...

   
const IndicesConstPtr 

getIndices () const
 
 
Get a pointer to the vector of indices used. More...

   
const PointT & 

operator[] (st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t pos) const
 
 
Override PointCloud operator[] to shorten code. More...

   
 
 Static Public Member Functions 
static pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointNormal >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr 

makeSupervoxelNormalCloud (st8b7c:f320:99b9:690f:4595:cd17:293a:c069map< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, typename Supervoxel< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr > &supervoxel_clusters)
 
 
Static helper function which returns a pointcloud of normals for the input supervoxels. More...

   
 
 Friends 
class 
SupervoxelHelper
   
void 

boost8b7c:f320:99b9:690f:4595:cd17:293a:c069hecked_delete (const typename pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelHelper *)
   
 
 Additional Inherited Members 
 Protected Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PCLBase< PointT >
 
bool 

initCompute ()
 
 
This method should get called before starting the actual computation. More...

   
bool 

deinitCompute ()
 
 
This method should get called after finishing the actual computation. More...

   
 Protected Attributes inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PCLBase< PointT >
 

PointCloudConstPtr 
input_
 
 
The input point cloud dataset. More...

   

IndicesPtr 
indices_
 
 
A pointer to the vector of point indices to use. More...

   
bool 
use_indices_
 
 
Set to true if point indices are used. More...

   
bool 
fake_indices_
 
 
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

    Detailed Description 
template<typename PointT> class pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT > Implements a supervoxel algorithm based on voxel structure, normals, and rgb values.  
Note
Supervoxels are oversegmented volumetric patches (usually surfaces)   Usually, color isn't needed (and can be detrimental)- spatial structure is mainly used J. Papon, A. Abramov, M. Schoeler, F. Woergoetter Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013  
 
Author
Jeremie Papon (donaldbest@example.net@donaldbest@example.net@m.om) 
 Definition at line 126 of file supervoxel_clustering.h. 
Member Typedef Documentation  EdgeID    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069geID = VoxelAdjacencyList8b7c:f320:99b9:690f:4595:cd17:293a:c069ge_descriptor   
 Definition at line 188 of file supervoxel_clustering.h.    IndicesPtr    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069IndicesPtr = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069IndicesPtr
   
 Definition at line 180 of file supervoxel_clustering.h.    KdTreeT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069KdTreeT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069search8b7c:f320:99b9:690f:4595:cd17:293a:c069KdTree<PointT>   
 Definition at line 179 of file supervoxel_clustering.h.    LeafContainerT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069LeafContainerT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudAdjacencyContainer<PointT, VoxelData>   
 Definition at line 172 of file supervoxel_clustering.h.    LeafVectorT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069LeafVectorT = st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector<LeafContainerT *>   
 Definition at line 173 of file supervoxel_clustering.h.    NormalCloudT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069NormalCloudT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud<Normal>   
 Definition at line 176 of file supervoxel_clustering.h.    OctreeAdjacencyT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreeAdjacencyT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudAdjacency<PointT, LeafContainerT>   
 Definition at line 177 of file supervoxel_clustering.h.    OctreeSearchT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreeSearchT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudSearch<PointT>   
 Definition at line 178 of file supervoxel_clustering.h.    PointCloudT    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudT = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud<PointT>   
 Definition at line 175 of file supervoxel_clustering.h.    VoxelAdjacencyList    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069VoxelAdjacencyList = boost8b7c:f320:99b9:690f:4595:cd17:293a:c069jacency_list<boost8b7c:f320:99b9:690f:4595:cd17:293a:c069setS, boost8b7c:f320:99b9:690f:4595:cd17:293a:c069setS, boost8b7c:f320:99b9:690f:4595:cd17:293a:c069undirectedS, st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, float>   
 Definition at line 186 of file supervoxel_clustering.h.    VoxelID    template<typename PointT >    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069VoxelID = VoxelAdjacencyList8b7c:f320:99b9:690f:4595:cd17:293a:c069vertex_descriptor   
 Definition at line 187 of file supervoxel_clustering.h.   Constructor & Destructor Documentation  SupervoxelClustering()    template<typename PointT >    
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering  ( float  
voxel_resolution,      float  
seed_resolution     ) 
   
 Constructor that sets default values for member variables.  
Parameters
  
[in]
voxel_resolution
The resolution (in meters) of voxels used 
 
[in]
seed_resolution
The average size (in meters) of resulting supervoxels 
    Definition at line 48 of file supervoxel_clustering.hpp.    ~SupervoxelClustering()    template<typename PointT >    
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069~SupervoxelClustering
   
 This destructor destroys the cloud, normals and search method used for finding neighbors.  In other words it frees memory.  Definition at line 63 of file supervoxel_clustering.hpp.   Member Function Documentation  extract()    template<typename PointT >       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069xtract  ( st8b7c:f320:99b9:690f:4595:cd17:293a:c069map< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, typename Supervoxel< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr > &  supervoxel_clusters
)      virtual    
 This method launches the segmentation algorithm and returns the supervoxels that were obtained during the segmentation.  
Parameters
  
[out]
supervoxel_clusters
A map of labels to pointers to supervoxel structures 
    Definition at line 97 of file supervoxel_clustering.hpp.    getLabeledCloud()    template<typename PointT >    
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointXYZL >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getLabeledCloud   
 Returns labeled cloud Points that belong to the same supervoxel have the same label.  Labels for segments start from 1, unlabled points have label 0  Definition at line 582 of file supervoxel_clustering.hpp. References pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069gin(), pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069opyPointCloud(), pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069nd(), pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudAdjacencyContainer< PointInT, DataT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getData(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069VoxelDat8b7c:f320:99b9:690f:4595:cd17:293a:c069owner_.    getLabeledVoxelCloud()    template<typename PointT >    
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointXYZL >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getLabeledVoxelCloud   
 Returns labeled voxelized cloud Points that belong to the same supervoxel have the same label.  Labels for segments start from 1, unlabled points have label 0  Definition at line 560 of file supervoxel_clustering.hpp. References pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069gin(), pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069opyPointCloud(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069nd().    getMaxLabel()    template<typename PointT >    int pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getMaxLabel   
 Returns the current maximum (highest) label.  Definition at line 683 of file supervoxel_clustering.hpp.    getSeedResolution()    template<typename PointT >    float pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getSeedResolution   
 Get the resolution of the octree seed voxels.  Definition at line 639 of file supervoxel_clustering.hpp.    getSupervoxelAdjacency()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getSupervoxelAdjacency  ( st8b7c:f320:99b9:690f:4595:cd17:293a:c069multimap< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t > &  label_adjacency
)  const   
 Get a multimap which gives supervoxel adjacency.  
Parameters
  
[out]
label_adjacency
Multi-Map which maps a supervoxel label to all adjacent supervoxel labels 
    Definition at line 534 of file supervoxel_clustering.hpp.    getSupervoxelAdjacencyList()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getSupervoxelAdjacencyList  ( 
VoxelAdjacencyList &  adjacency_list_arg
)  const   
 Gets the adjacency list (Boost Graph library) which gives connections between supervoxels.  
Parameters
  
[out]
adjacency_list_arg
BGL graph where supervoxel labels are vertices, edges are touching relationships 
    Definition at line 483 of file supervoxel_clustering.hpp.    getVoxelCentroidCloud()    template<typename PointT >    
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getVoxelCentroidCloud   
 Returns a deep copy of the voxel centroid cloud.  Definition at line 551 of file supervoxel_clustering.hpp. References pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069opyPointCloud().    getVoxelResolution()    template<typename PointT >    float pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getVoxelResolution   
 Get the resolution of the octree voxels.  Definition at line 624 of file supervoxel_clustering.hpp.    makeSupervoxelNormalCloud()    template<typename PointT >       
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointNormal >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069makeSupervoxelNormalCloud  ( st8b7c:f320:99b9:690f:4595:cd17:293a:c069map< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, typename Supervoxel< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr > &  supervoxel_clusters
)      static    
 Static helper function which returns a pointcloud of normals for the input supervoxels.  
Parameters
  
[in]
supervoxel_clusters

Supervoxel cluster map coming from this class 
    
Returns
Cloud of PointNormals of the supervoxels 
 Definition at line 609 of file supervoxel_clustering.hpp. References pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069gin(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069resize().    refineSupervoxels()    template<typename PointT >       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069refineSupervoxels  ( int  
num_itr,      st8b7c:f320:99b9:690f:4595:cd17:293a:c069map< st8b7c:f320:99b9:690f:4595:cd17:293a:c069uint32_t, typename Supervoxel< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr > &  
supervoxel_clusters     ) 
     virtual    
 This method refines the calculated supervoxels - may only be called after extract.  
Parameters
  
[in]
num_itr
The number of iterations of refinement to be done (2 or 3 is usually sufficient) 
 
[out]
supervoxel_clusters
The resulting refined supervoxels 
    Definition at line 149 of file supervoxel_clustering.hpp.    setColorImportance()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setColorImportance  ( float  val
)    
 Set the importance of color for supervoxels.  Definition at line 654 of file supervoxel_clustering.hpp.    setInputCloud()    template<typename PointT >       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setInputCloud  ( const typename pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr &  cloud
)      override    
 This method sets the cloud to be supervoxelized.  
Parameters
  
[in]
cloud
The cloud to be supervoxelize 
    Definition at line 70 of file supervoxel_clustering.hpp. References pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069mpty().    setNormalCloud()    template<typename PointT >       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setNormalCloud  ( typename NormalCloudT8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr  normal_cloud
)      virtual    
 This method sets the normals to be used for supervoxels (should be same size as input cloud)  
Parameters
  
[in]
normal_cloud
The input normals 
    Definition at line 84 of file supervoxel_clustering.hpp.    setNormalImportance()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setNormalImportance  ( float  val
)    
 Set the importance of scalar normal product for supervoxels.  Definition at line 668 of file supervoxel_clustering.hpp.    setSeedResolution()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setSeedResolution  ( float  seed_resolution
)    
 Set the resolution of the octree seed voxels.  Definition at line 646 of file supervoxel_clustering.hpp.    setSpatialImportance()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setSpatialImportance  ( float  val
)    
 Set the importance of spatial distance for supervoxels.  Definition at line 661 of file supervoxel_clustering.hpp.    setUseSingleCameraTransform()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setUseSingleCameraTransform  ( bool  val
)    
 Set whether or not to use the single camera transform.  
Note
By default it will be used for organized clouds, but not for unorganized - this parameter will override that behavior The single camera transform scales bin size so that it increases exponentially with depth (z dimension). This is done to account for the decreasing point density found with depth when using an RGB-D camera. Without the transform, beyond a certain depth adjacency of voxels breaks down unless the voxel size is set to a large value. Using the transform allows preserving detail up close, while allowing donaldbest@example.net. The specific transform used here is: x /= z; y /= z; z = ln(z); This transform is applied when calculating the octree bins in OctreePointCloudAdjacency 
 Definition at line 675 of file supervoxel_clustering.hpp.    setVoxelResolution()    template<typename PointT >    void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069setVoxelResolution  ( float  resolution
)    
 Set the resolution of the octree voxels.  Definition at line 631 of file supervoxel_clustering.hpp.   Friends And Related Function Documentation  boost8b7c:f320:99b9:690f:4595:cd17:293a:c069hecked_delete    template<typename PointT >       void boost8b7c:f320:99b9:690f:4595:cd17:293a:c069hecked_delete  ( const typename pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelClustering< PointT >8b7c:f320:99b9:690f:4595:cd17:293a:c069SupervoxelHelper *  
)      friend    
    SupervoxelHelper    template<typename PointT >       friend class SupervoxelHelper     friend    
 Definition at line 129 of file supervoxel_clustering.h.   The documentation for this class was generated from the following files: pcl/segmentation/supervoxel_clustering.h
 pcl/segmentation/impl/supervoxel_clustering.hpp
  

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