PCL_超体聚类实现

1.超体聚类——一种来自图像的分割方法

　　超体（supervoxel）是一种集合，集合的元素是“体”。与体素滤波器中的体类似，其本质是一个个的小方块。与之前提到的所有分割手段不同，超体聚类的目的并不是分割出某种特定物体，其对点云实施过分割(over segmentation)，将场景点云化成很多小块，并研究每个小块之间的关系。这种将更小单元合并的分割思路已经出现了有些年份了，在图像分割中，像素聚类形成超像素，以超像素关系来理解图像已经广为研究。本质上这种方法是对局部的一种总结，纹理，材质，颜色类似的部分会被自动的分割成一块，有利于后续识别工作。比如对人的识别，如果能将头发，面部，四肢，躯干分开，则能更好的对各种姿态，性别的人进行识别。

　　点云和图像不一样，其不存在像素邻接关系。所以，超体聚类之前，必须以八叉树对点云进行划分，获得不同点团之间的邻接关系。与图像相似点云的邻接关系也有很多，如面邻接，线邻接，点邻接。其具体解释如下图：

　　基于超体聚类的点云分割，使用点邻接（蓝色）作为相邻判据。

2.超体聚类的实现步骤

　举个简单的例子来体会下超体聚类，其过程和结晶类似。但不是水结晶成冰，而是盐溶液过饱和状态下的多晶核结晶。所有的晶核(seed)同时开始生长，最终填满整个空间，使物质具有晶体结构。　超体聚类实际上是一种特殊的区域生长算法，和无限制的生长不同，超体聚类首先需要规律的布置区域生长“晶核”。晶核在空间中实际上是均匀分布的,并指定晶核距离（Rseed)。再指定粒子距离(Rvoxel)。再指定最小晶粒(MOV)，过小的晶粒需要融入最近的大晶粒。关系如图所示：

　　有了晶粒和结晶范围之后，我们只需要控制结晶过程，就能将整个空间划分开了。结晶过程的本质就是不断吸纳类似的粒子（八分空间）。类似是一个比较模糊的概念，关于类似的定义有以下公式：

 

　　公式中的Dc,表示颜色上的差异，Dn表示法线上的差异，Ds代表点距离上的差异。w_*表示一系列权重。用于控制结晶形状。在晶核周围寻找一圈，D最小的体素被认为是下一个“被发展的党员”。需要注意的是，结晶过程并不是长完一个晶核再长下一个，二是所有的晶核同时开始生长（虽然计算机计算时必然有先后，但从层次上来说是同时的）。其生长顺序如下图所示：

　　接下来所有晶核继续公平竞争，发展第二个“党员”，以此循环，最终所有晶体应该几乎同时完成生长。整个点云也被晶格所分割开来。并且保证了一个晶包里的粒子都是类似的。

#include <pcl/console/parse.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/segmentation/supervoxel_clustering.h>

//VTK include needed for drawing graph lines
#include <vtkPolyLine.h>

// 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;

void addSupervoxelConnectionsToViewer(PointT &supervoxel_center,
	PointCloudT &adjacent_supervoxel_centers,
	std::string supervoxel_name,
	boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);


int
main(int argc, char ** argv)
{
	if (argc < 2)
	{
		pcl::console::print_error("Syntax is: %s <pcd-file> \n "
			"--NT Dsables the single cloud transform \n"
			"-v <voxel resolution>\n-s <seed resolution>\n"
			"-c <color weight> \n-z <spatial weight> \n"
			"-n <normal_weight>\n", argv[0]);
		return (1);
	}


	PointCloudT::Ptr cloud = boost::shared_ptr <PointCloudT>(new PointCloudT());
	pcl::console::print_highlight("Loading point cloud...\n");
	if (pcl::io::loadPCDFile<PointT>(argv[1], *cloud))
	{
		pcl::console::print_error("Error loading cloud file!\n");
		return (1);
	}

	//设定结晶参数
	bool disable_transform = pcl::console::find_switch(argc, argv, "--NT");

	float voxel_resolution = 0.008f;
	bool voxel_res_specified = pcl::console::find_switch(argc, argv, "-v");
	if (voxel_res_specified)
		pcl::console::parse(argc, argv, "-v", voxel_resolution);

	float seed_resolution = 0.1f;
	bool seed_res_specified = pcl::console::find_switch(argc, argv, "-s");
	if (seed_res_specified)
		pcl::console::parse(argc, argv, "-s", seed_resolution);

	float color_importance = 0.2f;
	if (pcl::console::find_switch(argc, argv, "-c"))
		pcl::console::parse(argc, argv, "-c", color_importance);

	float spatial_importance = 0.4f;
	if (pcl::console::find_switch(argc, argv, "-z"))
		pcl::console::parse(argc, argv, "-z", spatial_importance);

	float normal_importance = 1.0f;
	if (pcl::console::find_switch(argc, argv, "-n"))
		pcl::console::parse(argc, argv, "-n", normal_importance);

	//  //
	// This is how to use supervoxels
	//  //

	//输入点云及结晶参数
	pcl::SupervoxelClustering<PointT> super(voxel_resolution, seed_resolution);
	if (disable_transform)
		super.setUseSingleCameraTransform(false);
	super.setInputCloud(cloud);
	super.setColorImportance(color_importance);
	super.setSpatialImportance(spatial_importance);
	super.setNormalImportance(normal_importance);
	//输出结晶分割结果：结果是一个映射表
	std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr > supervoxel_clusters;

	pcl::console::print_highlight("Extracting supervoxels!\n");
	super.extract(supervoxel_clusters);
	pcl::console::print_info("Found %d supervoxels\n", supervoxel_clusters.size());

	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	//获得晶体中心
	PointCloudT::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud();
	viewer->addPointCloud(voxel_centroid_cloud, "voxel centroids");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, "voxel centroids");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.95, "voxel centroids");
	//获得晶体
	PointLCloudT::Ptr labeled_voxel_cloud = super.getLabeledVoxelCloud();
	viewer->addPointCloud(labeled_voxel_cloud, "labeled voxels");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 1, "labeled voxels");

	PointNCloudT::Ptr sv_normal_cloud = super.makeSupervoxelNormalCloud(supervoxel_clusters);
	//We have this disabled so graph is easy to see, uncomment to see supervoxel normals
	//viewer->addPointCloudNormals<PointNT> (sv_normal_cloud,1,0.05f, "supervoxel_normals");
	//将相连的晶体中心连起来并显示 
	pcl::console::print_highlight("Getting supervoxel adjacency\n");
	std::multimap<uint32_t, uint32_t> supervoxel_adjacency;
	super.getSupervoxelAdjacency(supervoxel_adjacency);
	//To make a graph of the supervoxel adjacency, we need to iterate through the supervoxel adjacency multimap
	std::multimap<uint32_t, uint32_t>::iterator label_itr = supervoxel_adjacency.begin();
	for (; label_itr != supervoxel_adjacency.end(); )
	{
		//First get the label
		uint32_t supervoxel_label = label_itr->first;
		//Now get the supervoxel corresponding to the label
		pcl::Supervoxel<PointT>::Ptr supervoxel = supervoxel_clusters.at(supervoxel_label);

		//Now we need to iterate through the adjacent supervoxels and make a point cloud of them
		PointCloudT adjacent_supervoxel_centers;
		std::multimap<uint32_t, uint32_t>::iterator adjacent_itr = supervoxel_adjacency.equal_range(supervoxel_label).first;
		for (; adjacent_itr != supervoxel_adjacency.equal_range(supervoxel_label).second; ++adjacent_itr)
		{
			pcl::Supervoxel<PointT>::Ptr neighbor_supervoxel = supervoxel_clusters.at(adjacent_itr->second);
			adjacent_supervoxel_centers.push_back(neighbor_supervoxel->centroid_);
		}
		//Now we make a name for this polygon
		std::stringstream ss;
		ss << "supervoxel_" << supervoxel_label;
		//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a "star" polygon mesh from the points given
		addSupervoxelConnectionsToViewer(supervoxel->centroid_, adjacent_supervoxel_centers, ss.str(), viewer);
		//Move iterator forward to next label
		label_itr = supervoxel_adjacency.upper_bound(supervoxel_label);
	}

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
	}
	return (0);
}

void
addSupervoxelConnectionsToViewer(PointT &supervoxel_center,
	PointCloudT &adjacent_supervoxel_centers,
	std::string supervoxel_name,
	boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)
{
	vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
	vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
	vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New();

	//Iterate through all adjacent points, and add a center point to adjacent point pair
	PointCloudT::iterator adjacent_itr = adjacent_supervoxel_centers.begin();
	for (; adjacent_itr != adjacent_supervoxel_centers.end(); ++adjacent_itr)
	{
		points->InsertNextPoint(supervoxel_center.data);
		points->InsertNextPoint(adjacent_itr->data);
	}
	// Create a polydata to store everything in
	vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
	// Add the points to the dataset
	polyData->SetPoints(points);
	polyLine->GetPointIds()->SetNumberOfIds(points->GetNumberOfPoints());
	for (unsigned int i = 0; i < points->GetNumberOfPoints(); i++)
		polyLine->GetPointIds()->SetId(i, i);
	cells->InsertNextCell(polyLine);
	// Add the lines to the dataset
	polyData->SetLines(cells);
	viewer->addModelFromPolyData(polyData, supervoxel_name);
}