template<typename PointT, typename LeafContainerT, typename BranchContainerT> void
pcl::octree::OctreePointCloudSuperVoxel<PointT, LeafContainerT, BranchContainerT>::computeSuperVoxelAdjacencyGraph (const std::map<uint32_t,PointSuperVoxel> &supervoxel_centers, VoxelAdjacencyList &supervoxel_adjacency_graph)
{
supervoxel_adjacency_graph.clear ();
std::map<uint32_t,PointSuperVoxel>::const_iterator it_labels, it_labels_end;
it_labels_end = supervoxel_centers.end ();
//Add a vertex for each label, store ids in map
std::map <uint32_t, VoxelID> label_ID_map;
for (it_labels = supervoxel_centers.begin (); it_labels!=it_labels_end; ++it_labels)
{
VoxelID node_id = add_vertex (supervoxel_adjacency_graph);
supervoxel_adjacency_graph[node_id] = (it_labels->second);
label_ID_map.insert (std::make_pair (it_labels->first, node_id));
}
typename OctreeSuperVoxelT::LeafNodeIterator leaf_itr;
LeafContainerT *leaf_container;
//Iterate through and add edges to adjacency graph
for ( leaf_itr = this->leaf_begin () ; leaf_itr != this->leaf_end (); ++leaf_itr)
{
leaf_container = dynamic_cast<LeafContainerT*> (*leaf_itr);
uint32_t leaf_label = leaf_container->getLabel ();
if (leaf_label != 0)
{
typename std::set<LeafContainerT*>::iterator neighbor_itr;
typename std::set<LeafContainerT*>::iterator neighbor_end;
boost::tie (neighbor_itr, neighbor_end) = leaf_container->getAdjacentVoxels ();
LeafContainerT* neighbor_container;
for ( ; neighbor_itr != neighbor_end; ++neighbor_itr)
{
neighbor_container = *neighbor_itr;
uint32_t neighbor_label = neighbor_container->getLabel ();
if ( neighbor_label != 0 && neighbor_label != leaf_label)
{
//Labels are different for neighboring voxels, add an edge!
bool edge_added;
EdgeID edge;
VoxelID u = (label_ID_map.find (leaf_label))->second;
VoxelID v = (label_ID_map.find (neighbor_label))->second;
boost::tie (edge, edge_added) = add_edge (u,v,supervoxel_adjacency_graph);
//Calc distance between centers, set as edge weight
if (edge_added)
{
float length = supervoxelDistance (supervoxel_centers.find (leaf_label)->second
,supervoxel_centers.find (neighbor_label)->second);
supervoxel_adjacency_graph[edge].length = length;
}
}
}
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////// GETTER FUNCTIONS
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SupervoxelClustering<PointT>::getSupervoxelAdjacencyList (VoxelAdjacencyList &adjacency_list_arg) const
{
adjacency_list_arg.clear ();
//Add a vertex for each label, store ids in map
std::map <uint32_t, VoxelID> label_ID_map;
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
VoxelID node_id = add_vertex (adjacency_list_arg);
adjacency_list_arg[node_id] = (sv_itr->getLabel ());
label_ID_map.insert (std::make_pair (sv_itr->getLabel (), node_id));
}
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
uint32_t label = sv_itr->getLabel ();
std::set<uint32_t> neighbor_labels;
sv_itr->getNeighborLabels (neighbor_labels);
for (std::set<uint32_t>::iterator label_itr = neighbor_labels.begin (); label_itr != neighbor_labels.end (); ++label_itr)
{
bool edge_added;
EdgeID edge;
VoxelID u = (label_ID_map.find (label))->second;
VoxelID v = (label_ID_map.find (*label_itr))->second;
boost::tie (edge, edge_added) = add_edge (u,v,adjacency_list_arg);
//Calc distance between centers, set as edge weight
if (edge_added)
{
VoxelData centroid_data = (sv_itr)->getCentroid ();
//Find the neighbhor with this label
VoxelData neighb_centroid_data;
for (typename HelperListT::const_iterator neighb_itr = supervoxel_helpers_.cbegin (); neighb_itr != supervoxel_helpers_.cend (); ++neighb_itr)
{
if (neighb_itr->getLabel () == (*label_itr))
{
neighb_centroid_data = neighb_itr->getCentroid ();
break;
}
}
float length = voxelDataDistance (centroid_data, neighb_centroid_data);
adjacency_list_arg[edge] = length;
}
}
}
}
