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Implementation of the GrabCut segmentation in "GrabCut — Interactive Foreground Extraction using Iterated Graph Cuts" by Carsten Rother, Vladimir Kolmogorov and Andrew Blake. More...

#include <pcl/segmentation/grabcut_segmentation.h>

Classes
struct	NLinks

Public Types
using	KdTree = pcl::search::Search< PointT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudConstPtr = typename PCLBase< PointT >::PointCloudConstPtr

using	PointCloudPtr = typename PCLBase< PointT >::PointCloudPtr

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	GrabCut (std::uint32_t K=5, float lambda=50.f)
	Constructor. More...

	~GrabCut ()
	Destructor. More...

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

void	setBackgroundPoints (const PointCloudConstPtr &background_points)
	Set background points, foreground points = points \ background points. More...

void	setBackgroundPointsIndices (int x1, int y1, int x2, int y2)
	Set background indices, foreground indices = indices \ background indices. More...

void	setBackgroundPointsIndices (const PointIndicesConstPtr &indices)
	Set background indices, foreground indices = indices \ background indices. More...

virtual void	refine ()
	Run Grabcut refinement on the hard segmentation. More...

virtual int	refineOnce ()

float	getLambda ()

void	setLambda (float lambda)
	Set lambda parameter to user given value. More...

std::uint32_t	getK ()

void	setK (std::uint32_t K)
	Set K parameter to user given value. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

void	setNumberOfNeighbours (int nb_neighbours)
	Allows to set the number of neighbours to find. More...

int	getNumberOfNeighbours () const
	Returns the number of neighbours to find. More...

void	extract (std::vector< pcl::PointIndices > &clusters)
	This method launches the segmentation algorithm and returns the clusters that were obtained during the segmentation. More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

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

virtual	~PCLBase ()=default
	Destructor. 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_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[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Types
using	vertex_descriptor = pcl::segmentation::grabcut::BoykovKolmogorov::vertex_descriptor

Protected Member Functions
bool	initCompute ()

void	computeBetaOrganized ()
	Compute beta from image. More...

void	computeBetaNonOrganized ()
	Compute beta from cloud. More...

void	computeL ()
	Compute L parameter from given lambda. More...

void	computeNLinksOrganized ()
	Compute NLinks from image. More...

void	computeNLinksNonOrganized ()
	Compute NLinks from cloud. More...

void	setTrimap (const PointIndicesConstPtr &indices, segmentation::grabcut::TrimapValue t)
	Edit Trimap. More...

int	updateHardSegmentation ()

virtual void	fitGMMs ()
	Fit Gaussian Multi Models. More...

void	initGraph ()
	Build the graph for GraphCut. More...

void	addEdge (vertex_descriptor v1, vertex_descriptor v2, float capacity, float rev_capacity)
	Add an edge to the graph, graph must be oriented so we add the edge and its reverse. More...

void	setTerminalWeights (vertex_descriptor v, float source_capacity, float sink_capacity)
	Set the weights of SOURCE --> v and v --> SINK. More...

bool	isSource (vertex_descriptor v)

Protected Member Functions inherited from pcl::PCLBase< 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
std::uint32_t	width_
	image width More...

std::uint32_t	height_
	image height More...

std::uint32_t	K_
	Number of GMM components. More...

float	lambda_
	lambda = 50. This value was suggested the GrabCut paper. More...

float	beta_
	beta = 1/2 * average of the squared color distances between all pairs of 8-neighboring pixels. More...

float	L_
	L = a large value to force a pixel to be foreground or background. More...

KdTreePtr	tree_
	Pointer to the spatial search object. More...

int	nb_neighbours_
	Number of neighbours. More...

bool	initialized_
	is segmentation initialized More...

std::vector< NLinks >	n_links_
	Precomputed N-link weights. More...

segmentation::grabcut::Image::Ptr	image_
	Converted input. More...

std::vector< segmentation::grabcut::TrimapValue >	trimap_

std::vector< std::size_t >	GMM_component_

std::vector< segmentation::grabcut::SegmentationValue >	hard_segmentation_

std::vector< float >	soft_segmentation_

segmentation::grabcut::GMM	background_GMM_

segmentation::grabcut::GMM	foreground_GMM_

pcl::segmentation::grabcut::BoykovKolmogorov	graph_
	Graph for Graphcut. More...

std::vector< vertex_descriptor >	graph_nodes_
	Graph nodes. More...

Protected Attributes inherited from pcl::PCLBase< 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 pcl::GrabCut< PointT >

Implementation of the GrabCut segmentation in "GrabCut — Interactive Foreground Extraction using Iterated Graph Cuts" by Carsten Rother, Vladimir Kolmogorov and Andrew Blake.

Author: Justin Talbot, jtalb.nosp@m.ot@s.nosp@m.tanfo.nosp@m.rd.e.nosp@m.du placed in Public Domain, 2010; Nizar Sallem port to PCL and adaptation of original code.

Definition at line 320 of file grabcut_segmentation.h.

Member Typedef Documentation

KdTree

template<typename PointT >

using pcl::GrabCut< PointT >::KdTree = pcl::search::Search<PointT>

Definition at line 323 of file grabcut_segmentation.h.

KdTreePtr

template<typename PointT >

using pcl::GrabCut< PointT >::KdTreePtr = typename KdTree::Ptr

Definition at line 324 of file grabcut_segmentation.h.

PointCloudConstPtr

template<typename PointT >

using pcl::GrabCut< PointT >::PointCloudConstPtr = typename PCLBase<PointT>::PointCloudConstPtr

Definition at line 325 of file grabcut_segmentation.h.

PointCloudPtr

template<typename PointT >

using pcl::GrabCut< PointT >::PointCloudPtr = typename PCLBase<PointT>::PointCloudPtr

Definition at line 326 of file grabcut_segmentation.h.

vertex_descriptor

template<typename PointT >

using pcl::GrabCut< PointT >::vertex_descriptor = pcl::segmentation::grabcut::BoykovKolmogorov::vertex_descriptor

protected

Definition at line 411 of file grabcut_segmentation.h.

Constructor & Destructor Documentation

GrabCut()

template<typename PointT >

pcl::GrabCut< PointT >::GrabCut	(	std::uint32_t	K = `5`,
		float	lambda = `50.f`
	)

inline

Constructor.

Definition at line 332 of file grabcut_segmentation.h.

~GrabCut()

template<typename PointT >

pcl::GrabCut< PointT >::~GrabCut ( )

inline

Destructor.

Definition at line 339 of file grabcut_segmentation.h.

Member Function Documentation

addEdge()

template<typename PointT >

void pcl::GrabCut< PointT >::addEdge	(	vertex_descriptor	v1,
		vertex_descriptor	v2,
		float	capacity,
		float	rev_capacity
	)

protected

Add an edge to the graph, graph must be oriented so we add the edge and its reverse.

Definition at line 150 of file grabcut_segmentation.hpp.

computeBetaNonOrganized()

template<typename PointT >

void pcl::GrabCut< PointT >::computeBetaNonOrganized

protected

Compute beta from cloud.

Definition at line 387 of file grabcut_segmentation.hpp.

References pcl::GrabCut< PointT >::NLinks::dists, pcl::GrabCut< PointT >::NLinks::indices, pcl::isFinite(), pcl::GrabCut< PointT >::NLinks::nb_links, pcl::squaredEuclideanDistance(), and pcl::GrabCut< PointT >::NLinks::weights.

computeBetaOrganized()

template<typename PointT >

void pcl::GrabCut< PointT >::computeBetaOrganized

protected

Compute beta from image.

Definition at line 426 of file grabcut_segmentation.hpp.

References pcl::GrabCut< PointT >::NLinks::dists, pcl::GrabCut< PointT >::NLinks::indices, pcl::GrabCut< PointT >::NLinks::nb_links, pcl::squaredEuclideanDistance(), and pcl::GrabCut< PointT >::NLinks::weights.

computeL()

template<typename PointT >

void pcl::GrabCut< PointT >::computeL

protected

Compute L parameter from given lambda.

Definition at line 496 of file grabcut_segmentation.hpp.

computeNLinksNonOrganized()

template<typename PointT >

void pcl::GrabCut< PointT >::computeNLinksNonOrganized

protected

Compute NLinks from cloud.

Definition at line 334 of file grabcut_segmentation.hpp.

References pcl::GrabCut< PointT >::NLinks::dists, pcl::GrabCut< PointT >::NLinks::indices, pcl::GrabCut< PointT >::NLinks::nb_links, and pcl::GrabCut< PointT >::NLinks::weights.

computeNLinksOrganized()

template<typename PointT >

void pcl::GrabCut< PointT >::computeNLinksOrganized

protected

Compute NLinks from image.

Definition at line 360 of file grabcut_segmentation.hpp.

References pcl::GrabCut< PointT >::NLinks::dists, and pcl::GrabCut< PointT >::NLinks::weights.

extract()

template<typename PointT >

void pcl::GrabCut< PointT >::extract ( std::vector< pcl::PointIndices > & clusters )

This method launches the segmentation algorithm and returns the clusters that were obtained during the segmentation.

The indices of points belonging to the object will be stored in the cluster with index 1, other indices will be stored in the cluster with index 0.

Parameters

[out] clusters clusters that were obtained. Each cluster is an array of point indices.

Definition at line 502 of file grabcut_segmentation.hpp.

References pcl::segmentation::grabcut::SegmentationForeground.

fitGMMs()

template<typename PointT >

void pcl::GrabCut< PointT >::fitGMMs

protectedvirtual

Fit Gaussian Multi Models.

Definition at line 185 of file grabcut_segmentation.hpp.

References pcl::segmentation::grabcut::buildGMMs().

getK()

template<typename PointT >

std::uint32_t pcl::GrabCut< PointT >::getK ( )

inline

Returns: the number of components in the GMM

Definition at line 368 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::K_.

getLambda()

template<typename PointT >

float pcl::GrabCut< PointT >::getLambda ( )

inline

Returns: lambda

Definition at line 360 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::lambda_.

getNumberOfNeighbours()

template<typename PointT >

int pcl::GrabCut< PointT >::getNumberOfNeighbours ( ) const

inline

Returns the number of neighbours to find.

Definition at line 389 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::nb_neighbours_.

getSearchMethod()

template<typename PointT >

KdTreePtr pcl::GrabCut< PointT >::getSearchMethod ( )

inline

Get a pointer to the search method used.

Definition at line 381 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::tree_.

initCompute()

template<typename PointT >

bool pcl::GrabCut< PointT >::initCompute

protected

Definition at line 87 of file grabcut_segmentation.hpp.

References pcl::segmentation::grabcut::SegmentationBackground, and pcl::segmentation::grabcut::TrimapUnknown.

initGraph()

template<typename PointT >

void pcl::GrabCut< PointT >::initGraph

protected

Build the graph for GraphCut.

Definition at line 269 of file grabcut_segmentation.hpp.

References pcl::GrabCut< PointT >::NLinks::indices, pcl::GrabCut< PointT >::NLinks::nb_links, pcl::segmentation::grabcut::TrimapBackground, pcl::segmentation::grabcut::TrimapUnknown, pcl::UNAVAILABLE, and pcl::GrabCut< PointT >::NLinks::weights.

isSource()

template<typename PointT >

bool pcl::GrabCut< PointT >::isSource ( vertex_descriptor v )

inlineprotected

Returns: true if v is in source tree

Definition at line 446 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::graph_, and pcl::segmentation::grabcut::BoykovKolmogorov::inSourceTree().

refine()

template<typename PointT >

void pcl::GrabCut< PointT >::refine

virtual

Run Grabcut refinement on the hard segmentation.

Definition at line 212 of file grabcut_segmentation.hpp.

refineOnce()

template<typename PointT >

int pcl::GrabCut< PointT >::refineOnce

virtual

Returns: the number of pixels that have changed from foreground to background or vice versa

Definition at line 195 of file grabcut_segmentation.hpp.

References pcl::segmentation::grabcut::learnGMMs().

setBackgroundPoints()

template<typename PointT >

void pcl::GrabCut< PointT >::setBackgroundPoints ( const PointCloudConstPtr & background_points )

Set background points, foreground points = points \ background points.

setBackgroundPointsIndices() [1/2]

template<typename PointT >

void pcl::GrabCut< PointT >::setBackgroundPointsIndices ( const PointIndicesConstPtr & indices )

Set background indices, foreground indices = indices \ background indices.

Definition at line 163 of file grabcut_segmentation.hpp.

References pcl::segmentation::grabcut::SegmentationBackground, pcl::segmentation::grabcut::SegmentationForeground, pcl::segmentation::grabcut::TrimapBackground, and pcl::segmentation::grabcut::TrimapUnknown.

setBackgroundPointsIndices() [2/2]

template<typename PointT >

void pcl::GrabCut< PointT >::setBackgroundPointsIndices	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)

Set background indices, foreground indices = indices \ background indices.

setInputCloud()

template<typename PointT >

void pcl::GrabCut< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

overridevirtual

Provide a pointer to the input dataset.

Parameters

[in] cloud the const boost shared pointer to a PointCloud message

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 81 of file grabcut_segmentation.hpp.

setK()

template<typename PointT >

void pcl::GrabCut< PointT >::setK ( std::uint32_t K )

inline

Set K parameter to user given value.

Suggested value by the authors is 5

Parameters

[in] K the number of components used in GMM

Definition at line 373 of file grabcut_segmentation.h.

References pcl::K, and pcl::GrabCut< PointT >::K_.

setLambda()

template<typename PointT >

void pcl::GrabCut< PointT >::setLambda ( float lambda )

inline

Set lambda parameter to user given value.

Suggested value by the authors is 50

Parameters

[in] lambda

Definition at line 365 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::lambda_.

setNumberOfNeighbours()

template<typename PointT >

void pcl::GrabCut< PointT >::setNumberOfNeighbours ( int nb_neighbours )

inline

Allows to set the number of neighbours to find.

Parameters

[in] nb_neighbours new number of neighbours

Definition at line 386 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::nb_neighbours_.

setSearchMethod()

template<typename PointT >

void pcl::GrabCut< PointT >::setSearchMethod ( const KdTreePtr & tree )

inline

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 378 of file grabcut_segmentation.h.

References pcl::GrabCut< PointT >::tree_.

setTerminalWeights()

template<typename PointT >

void pcl::GrabCut< PointT >::setTerminalWeights	(	vertex_descriptor	v,
		float	source_capacity,
		float	sink_capacity
	)

protected

Set the weights of SOURCE --> v and v --> SINK.

Definition at line 156 of file grabcut_segmentation.hpp.

setTrimap()

template<typename PointT >

void pcl::GrabCut< PointT >::setTrimap	(	const PointIndicesConstPtr &	indices,
		segmentation::grabcut::TrimapValue	t
	)

protected

Edit Trimap.

Definition at line 252 of file grabcut_segmentation.hpp.

updateHardSegmentation()

template<typename PointT >

int pcl::GrabCut< PointT >::updateHardSegmentation

protected

Definition at line 221 of file grabcut_segmentation.hpp.

Member Data Documentation

background_GMM_

template<typename PointT >

segmentation::grabcut::GMM pcl::GrabCut< PointT >::background_GMM_

protected

Definition at line 475 of file grabcut_segmentation.h.

beta_

template<typename PointT >

float pcl::GrabCut< PointT >::beta_

protected

beta = 1/2 * average of the squared color distances between all pairs of 8-neighboring pixels.

Definition at line 457 of file grabcut_segmentation.h.

foreground_GMM_

template<typename PointT >

segmentation::grabcut::GMM pcl::GrabCut< PointT >::foreground_GMM_

protected

Definition at line 475 of file grabcut_segmentation.h.

GMM_component_

template<typename PointT >

std::vector<std::size_t> pcl::GrabCut< PointT >::GMM_component_

protected

Definition at line 471 of file grabcut_segmentation.h.

graph_

template<typename PointT >

pcl::segmentation::grabcut::BoykovKolmogorov pcl::GrabCut< PointT >::graph_

protected

Graph for Graphcut.

Definition at line 478 of file grabcut_segmentation.h.

Referenced by pcl::GrabCut< PointT >::isSource().

graph_nodes_

template<typename PointT >

std::vector<vertex_descriptor> pcl::GrabCut< PointT >::graph_nodes_

protected

Graph nodes.

Definition at line 480 of file grabcut_segmentation.h.

hard_segmentation_

template<typename PointT >

std::vector<segmentation::grabcut::SegmentationValue> pcl::GrabCut< PointT >::hard_segmentation_

protected

Definition at line 472 of file grabcut_segmentation.h.

height_

template<typename PointT >

std::uint32_t pcl::GrabCut< PointT >::height_

protected

image height

Definition at line 450 of file grabcut_segmentation.h.

image_

template<typename PointT >

segmentation::grabcut::Image::Ptr pcl::GrabCut< PointT >::image_

protected

Converted input.

Definition at line 469 of file grabcut_segmentation.h.

initialized_

template<typename PointT >

bool pcl::GrabCut< PointT >::initialized_

protected

is segmentation initialized

Definition at line 465 of file grabcut_segmentation.h.

K_

template<typename PointT >

std::uint32_t pcl::GrabCut< PointT >::K_

protected

Number of GMM components.

Definition at line 453 of file grabcut_segmentation.h.

Referenced by pcl::GrabCut< PointT >::getK(), and pcl::GrabCut< PointT >::setK().

L_

template<typename PointT >

float pcl::GrabCut< PointT >::L_

protected

L = a large value to force a pixel to be foreground or background.

Definition at line 459 of file grabcut_segmentation.h.

lambda_

template<typename PointT >

float pcl::GrabCut< PointT >::lambda_

protected

lambda = 50. This value was suggested the GrabCut paper.

Definition at line 455 of file grabcut_segmentation.h.

Referenced by pcl::GrabCut< PointT >::getLambda(), and pcl::GrabCut< PointT >::setLambda().

n_links_

template<typename PointT >

std::vector<NLinks> pcl::GrabCut< PointT >::n_links_

protected

Precomputed N-link weights.

Definition at line 467 of file grabcut_segmentation.h.

nb_neighbours_

template<typename PointT >

int pcl::GrabCut< PointT >::nb_neighbours_

protected

Number of neighbours.

Definition at line 463 of file grabcut_segmentation.h.

Referenced by pcl::GrabCut< PointT >::getNumberOfNeighbours(), and pcl::GrabCut< PointT >::setNumberOfNeighbours().

soft_segmentation_

template<typename PointT >

std::vector<float> pcl::GrabCut< PointT >::soft_segmentation_

protected

Definition at line 474 of file grabcut_segmentation.h.

tree_

template<typename PointT >

KdTreePtr pcl::GrabCut< PointT >::tree_

protected

Pointer to the spatial search object.

Definition at line 461 of file grabcut_segmentation.h.

Referenced by pcl::GrabCut< PointT >::getSearchMethod(), and pcl::GrabCut< PointT >::setSearchMethod().

trimap_

template<typename PointT >

std::vector<segmentation::grabcut::TrimapValue> pcl::GrabCut< PointT >::trimap_

protected

Definition at line 470 of file grabcut_segmentation.h.

width_

template<typename PointT >

std::uint32_t pcl::GrabCut< PointT >::width_

protected

image width

Definition at line 448 of file grabcut_segmentation.h.

The documentation for this class was generated from the following files:

pcl/segmentation/grabcut_segmentation.h
pcl/segmentation/impl/grabcut_segmentation.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_grab_cut.html

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::GrabCut< PointT >

Member Typedef Documentation

KdTree

KdTreePtr

PointCloudConstPtr

PointCloudPtr

vertex_descriptor

Constructor & Destructor Documentation

GrabCut()

~GrabCut()

Member Function Documentation

addEdge()

computeBetaNonOrganized()

computeBetaOrganized()

computeL()

computeNLinksNonOrganized()

computeNLinksOrganized()

extract()

fitGMMs()

getK()

getLambda()

getNumberOfNeighbours()

getSearchMethod()

initCompute()

initGraph()

isSource()

refine()

refineOnce()

setBackgroundPoints()

setBackgroundPointsIndices() [1/2]

setBackgroundPointsIndices() [2/2]

setInputCloud()

setK()

setLambda()

setNumberOfNeighbours()

setSearchMethod()

setTerminalWeights()

setTrimap()

updateHardSegmentation()

Member Data Documentation

background_GMM_

beta_

foreground_GMM_

GMM_component_

graph_

graph_nodes_

hard_segmentation_

height_

image_

initialized_

K_

L_

lambda_

n_links_

nb_neighbours_

soft_segmentation_

tree_

trimap_

width_

template<typename PointT>
class pcl::GrabCut< PointT >