Segmentation3D.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/Segmentation3D.h                   **
** Module : ICLGeom                                                **
** Authors: Andre Ueckermann                                       **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLGeom/GeomDefs.h>
#include <ICLCore/Img.h>
#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLCV/RegionDetector.h>

#ifdef HAVE_OPENCL    
#include <CL/cl.hpp>
#endif

namespace icl{
  namespace geom{
    class Segmentation3D{
        
     public:

      Segmentation3D(utils::Size size); 
        
      ~Segmentation3D();
        

      core::Img8u segmentation(DataSegment<float,4> xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg);
      

      core::Img8u segmentationBlobs(DataSegment<float,4> xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg);
                        

      void setUseCL(bool use);
                

                void setUseROI(bool use);
      

      void setROI(float xMin, float xMax, float yMin, float yMax);
                

      void setMinClusterSize(unsigned int size);
      

      void setUseFastGrowing(bool use);
      

      void setAssignmentRadius(int radius);
      

      void setAssignmentMaxDistance(float maxDistance);
      

      void setRANSACeuclDistance(int distance);
      

      void setRANSACpasses(int passes); 
      

      void setRANSACtolerance(int tolerance); 
      

      void setRANSACsubset(int subset);
                

      void setBLOBSeuclDistance(int distance);
      

      bool isCLReady();
        

      bool isCLActive();
      

      core::Img8u getSegmentColorImage();
      

      std::vector<std::vector<int> > getCluster();
      

      std::vector<std::vector<int> > getBlobs();
      

      math::DynMatrix<bool> getNeigboursMatrix();
      

      math::DynMatrix<float> getProbabilityMatrix();
      

      void setXYZH(DataSegment<float,4> xyz);
      

      void setEdgeImage(const core::Img8u &edgeImage);
      

      void setDepthImage(const core::Img32f &depth);
      
      void clearData();
                
      void regionGrow();
                
      void calculatePointAssignmentAndAdjacency();
                
      void calculateCutfreeMatrix();
                
      void greedyComposition();
                
      void calculateRemainingPoints();
                
      void blobSegmentation();
                
      void colorPointcloud();
      
     private:
     
      int w,h,dim;
      utils::Size s;
      
      float xMinROI, xMaxROI, yMinROI, yMaxROI;
      bool useROI;
      
      bool* elements;
                  int* assignment;
                  int* assignmentRemaining;
                  bool* elementsBlobs;
                  int* assignmentBlobs;
      
      DataSegment<float,4> xyzData;
      core::Img8u normalEdgeImage;
      core::Img32f depthImage;
      
      core::Img8u segmentColorImage;
      
      std::vector<std::vector<int> > cluster;
      std::vector<std::vector<int> > blobs;
      unsigned int minClusterSize;
      bool useFastGrowing;
      int assignmentRadius;
      float assignmentMaxDistance;
      int RANSACeuclDistance; 
      int RANSACpasses; 
      int RANSACtolerance; 
      int RANSACsubset;
      int BLOBSeuclDistance;
      
      math::DynMatrix<bool> neighbours;
      math::DynMatrix<bool> cutfree;
      math::DynMatrix<float> probabilities;
      
      cv::RegionDetector* region;
   
      bool clReady;
      bool useCL;
      
      void checkNeighbourGrayThreshold(int x, int y, int zuw, int threshold, std::vector<int> *data);
      
      void checkNeighbourDistanceRemaining(int x, int y, int zuw, std::vector<int> *data);
      
      void regionGrowBlobs();
      
      void checkNeighbourDistance(int x, int y, int zuw, std::vector<int> *data);
      
      bool checkNotExist(int zw, std::vector<int> &nb);
      
      float dist3(const Vec &a, const Vec &b);
      
    #ifdef HAVE_OPENCL
      //OpenCL data
      cl_uchar* segmentColorImageRArray;
      cl_uchar* segmentColorImageGArray;
      cl_uchar* segmentColorImageBArray;
      
      //OpenCL    
      cl::Context context;
      std::vector<cl::Device> devices;
      cl::Program program;
      cl::CommandQueue queue;
      
      cl::Kernel kernelSegmentColoring; 
      cl::Kernel kernelPointAssignment; 
      cl::Kernel kernelCheckRANSAC; 
      cl::Kernel kernelAssignRANSAC; 

      //OpenCL buffer
      cl::Buffer segmentColorImageRBuffer;
      cl::Buffer segmentColorImageGBuffer;
      cl::Buffer segmentColorImageBBuffer;
      cl::Buffer assignmentBuffer;      
      cl::Buffer neighboursBuffer;
      cl::Buffer elementsBuffer;
      cl::Buffer assignmentOutBuffer;
      cl::Buffer xyzBuffer;
      cl::Buffer assignmentBlobsBuffer;
      cl::Buffer elementsBlobsBuffer;
    #endif
    };
  } // namespace geom
}