SupervoxelClustering: Improvement of Supervoxels point cloud data format processing

[chaozige]

Your Environment

• PCL Version:master branch

Context

pcl/segmentation/include/pcl/segmentation/supervoxel_clustering.h

Lines 328 to 336 in 89ce7c6

	/** \brief Static helper function which returns a pointcloud of normals for the input supervoxels
	* \param[in] supervoxel_clusters Supervoxel cluster map coming from this class
	* \returns Cloud of PointNormals of the supervoxels
	*
	*/
	static pcl::PointCloud<pcl::PointNormal>::Ptr
	makeSupervoxelNormalCloud (std::map<uint32_t,typename Supervoxel<PointT>::Ptr > &supervoxel_clusters);

Expected Behavior

Add or change a static helper function

• \ brief static helper function, return point cloud of labeled normal input voxel
• \ param [in] Supervoxel cluster map in supervoxel_clusters
• \ Back to super-voxel PointXYZLNormals cloud

Current Behavior

pcl/examples/segmentation/example_supervoxels.cpp

Lines 317 to 319 in 89ce7c6

	PointLCloudT::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();
	PointNCloudT::Ptr refined_sv_normal_cloud = pcl::SupervoxelClustering<PointT>::makeSupervoxelNormalCloud (refined_supervoxel_clusters);
	PointLCloudT::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();

In order to facilitate the processing of the above three point cloud data, the association is generated by the following three point clouds with labels.

PointLCloudT::Ptr refined_labeled_voxel_cloud
PointLNCloudT::Ptr refined_sv_l_normal_cloud
PointLCloudT::Ptr refined_full_labeled_cloud

Possible Solution

A ideas how to implement the addition or change

pcl/segmentation/include/pcl/segmentation/supervoxel_clustering.h

Lines 328 to 336 in 89ce7c6

	/** \brief Static helper function which returns a pointcloud of normals for the input supervoxels
	* \param[in] supervoxel_clusters Supervoxel cluster map coming from this class
	* \returns Cloud of PointNormals of the supervoxels
	*
	*/
	static pcl::PointCloud<pcl::PointNormal>::Ptr
	makeSupervoxelNormalCloud (std::map<uint32_t,typename Supervoxel<PointT>::Ptr > &supervoxel_clusters);

Add the following function declaration at the end of the above

static pcl::PointCloudpcl::PointXYZLNormal::Ptr
makeSupervoxelXYZLNormalCloud(std::map<uint32_t, typename Supervoxel::Ptr> &supervoxel_clusters);

pcl/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp

Lines 609 to 623 in 89ce7c6

	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	template <typename PointT> pcl::PointCloud<pcl::PointNormal>::Ptr
	pcl::SupervoxelClustering<PointT>::makeSupervoxelNormalCloud (std::map<uint32_t,typename Supervoxel<PointT>::Ptr > &supervoxel_clusters)
	{
	pcl::PointCloud<pcl::PointNormal>::Ptr normal_cloud (new pcl::PointCloud<pcl::PointNormal>);
	normal_cloud->resize (supervoxel_clusters.size ());
	pcl::PointCloud<pcl::PointNormal>::iterator normal_cloud_itr = normal_cloud->begin ();
	for (auto sv_itr = supervoxel_clusters.cbegin (), sv_itr_end = supervoxel_clusters.cend ();
	sv_itr != sv_itr_end; ++sv_itr, ++normal_cloud_itr)
	{
	(sv_itr->second)->getCentroidPointNormal (*normal_cloud_itr);
	}
	return normal_cloud;
	}

Add the following function definition at the end of the above

template pcl::PointCloudpcl::PointXYZLNormal::Ptr
pcl::SupervoxelClustering::makeSupervoxelXYZLNormalCloud(std::map<uint32_t, typename Supervoxel::Ptr > &supervoxel_clusters)
{
***
}

pcl/examples/segmentation/example_supervoxels.cpp

Lines 20 to 29 in 89ce7c6

	// Types
	typedef pcl::PointXYZRGBA PointT;
	typedef pcl::PointCloud<PointT> PointCloudT;
	typedef pcl::PointNormal PointNT;
	typedef pcl::PointCloud<PointNT> PointNCloudT;
	typedef pcl::PointXYZL PointLT;
	typedef pcl::PointCloud<PointLT> PointLCloudT;
	typedef pcl::Normal NormalT;
	typedef pcl::PointCloud<NormalT> NormalCloudT;

Add the following types at the end of the above

typedef pcl::PointXYZLNormal PointLNT;
typedef pcl::PointCloud PointLNCloudT;

pcl/examples/segmentation/example_supervoxels.cpp

Lines 317 to 320 in 89ce7c6

	PointLCloudT::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();
	PointNCloudT::Ptr refined_sv_normal_cloud = pcl::SupervoxelClustering<PointT>::makeSupervoxelNormalCloud (refined_supervoxel_clusters);
	PointLCloudT::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();

Add the following to generate a labeled normal point cloud at the end of the above

PointLNCloudT::Ptr refined_sv_l_normal_cloud = pcl::SupervoxelClustering::makeSupervoxelXYZLNormalCloud(refined_supervoxel_clusters);

There may be some other additions or changes, such as the following

pcl/segmentation/include/pcl/segmentation/supervoxel_clustering.h

Lines 89 to 100 in 89ce7c6

	void
	getCentroidPointNormal (PointNormal &normal_arg)
	{
	normal_arg.x = centroid_.x;
	normal_arg.y = centroid_.y;
	normal_arg.z = centroid_.z;
	normal_arg.normal_x = normal_.normal_x;
	normal_arg.normal_y = normal_.normal_y;
	normal_arg.normal_z = normal_.normal_z;
	normal_arg.curvature = normal_.curvature;
	}

Thanks!

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