#include <Segmentation3D.h>

Public Member Functions
	Segmentation3D (utils::Size size)
	Constructor.
	~Segmentation3D ()
	Destructor.
core::Img8u	segmentation (DataSegment< float, 4 > xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg)
	One line call for the complex segmentation using probabilitstic surface composition.
core::Img8u	segmentationBlobs (DataSegment< float, 4 > xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg)
	One line call for the simple support plane and blobs segmentation.
void	setUseCL (bool use)
	Sets openCL enabled/disabled. Enabling has no effect if no openCL context is available. (default true=enabled)
void	setUseROI (bool use)
	Sets ROI enabled/disabled. (default false=disabled)
void	setROI (float xMin, float xMax, float yMin, float yMax)
	Sets the ROI in world coordinates.
void	setMinClusterSize (unsigned int size)
	Sets the minimum cluster size for region growing (default 25)
void	setUseFastGrowing (bool use)
	Sets fast growing enabled/disabled. Fast growing uses the region detector, normal growing uses classical region growing. (default false=disabled)
void	setAssignmentRadius (int radius)
	Sets the assignment radius for the edge point assignment after region growing. (default 5)
void	setAssignmentMaxDistance (float maxDistance)
	Sets the maximum distance for the edge point assignment after region growing. (default 15)
void	setRANSACeuclDistance (int distance)
	Sets the maximum euclidean distance for RANSAC. (default 15)
void	setRANSACpasses (int passes)
	Sets the RANSAC passes (default 20)
void	setRANSACtolerance (int tolerance)
	Sets the RANSAC tolerance for the cutfree neighbours calculation. (default 30)
void	setRANSACsubset (int subset)
	Sets the subset for the RANSAC check (every n-th point). (default 2)
void	setBLOBSeuclDistance (int distance)
	Sets the minimum euclidean BLOB distance for remaining points or the blob segmentation.
bool	isCLReady ()
	Returns the openCL status (true=openCL context ready, false=no openCL context available)
bool	isCLActive ()
	Returns the openCL activation status (true=openCL enabled, false=openCL disabled). The status can be set by setUseCL(bool use).
core::Img8u	getSegmentColorImage ()
	Returns the color segment image. (Use one line calls)
std::vector< std::vector< int > >	getCluster ()
	Returns the cluster.
std::vector< std::vector< int > >	getBlobs ()
	Returns the blobs of the complex segmentation.
math::DynMatrix< bool >	getNeigboursMatrix ()
	Returns the boolean neighbourhood matrix.
math::DynMatrix< float >	getProbabilityMatrix ()
	Returns the probability matrix.
void	setXYZH (DataSegment< float, 4 > xyz)
	Sets the xyzh DataSegment from the PointCloudObject class. (Use one line calls)
void	setEdgeImage (const core::Img8u &edgeImage)
	Sets the edge image from the PointNormalEstimation class. (Use one line calls)
void	setDepthImage (const core::Img32f &depth)
	Sets the depth image.
void	clearData ()
	Clears the data. Must be called before every iteration. (Use one line calls)
void	regionGrow ()
	Region growing. (Use one line calls)
void	calculatePointAssignmentAndAdjacency ()
	Calculates the edge point assignment and the neighbourhood matrix. (Use one line calls)
void	calculateCutfreeMatrix ()
	Calculates the cutfree neighbouring cluster. (Use one line calls)
void	greedyComposition ()
	Greedy composition with probability matrix. (Use one line calls)
void	calculateRemainingPoints ()
	Calculates the assignment of the remaining points. (Use one line calls)
void	blobSegmentation ()
	Calculates the blob segmentation (support plane and blobs). (Use one line calls)
void	colorPointcloud ()
	Calculates the color segment image. (Use one line calls)
Private Member Functions
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)
Private Attributes
int	w
int	h
int	dim
utils::Size	s
float	xMinROI
float	xMaxROI
float	yMinROI
float	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

Detailed Description

This class includes segmentation algorithms for depth images. It uses OpenCL for hardware parallelization if a compatible GPU is found. The input is a depth image, a binarized edge image from the PointNormalEstimation class and the xyz DataSegment from the PointCloudObject class. The output is a color image (e.g. as input for setColorsFromImage() method of the PointCloudObject class).

Constructor & Destructor Documentation

icl::geom::Segmentation3D::Segmentation3D ( utils::Size size )

Constructor.

Constructs an object of this class. All default parameters are set. Use setters for desired values.

Parameters:

size	size of the input data

icl::geom::Segmentation3D::~Segmentation3D ( )

Destructor.

Member Function Documentation

void icl::geom::Segmentation3D::blobSegmentation ( )

Calculates the blob segmentation (support plane and blobs). (Use one line calls)

void icl::geom::Segmentation3D::calculateCutfreeMatrix ( )

Calculates the cutfree neighbouring cluster. (Use one line calls)

void icl::geom::Segmentation3D::calculatePointAssignmentAndAdjacency ( )

Calculates the edge point assignment and the neighbourhood matrix. (Use one line calls)

void icl::geom::Segmentation3D::calculateRemainingPoints ( )

Calculates the assignment of the remaining points. (Use one line calls)

void icl::geom::Segmentation3D::checkNeighbourDistance	(	int	x,
		int	y,
		int	zuw,
		std::vector< int > *	data
	)		`[private]`

void icl::geom::Segmentation3D::checkNeighbourDistanceRemaining	(	int	x,
		int	y,
		int	zuw,
		std::vector< int > *	data
	)		`[private]`

void icl::geom::Segmentation3D::checkNeighbourGrayThreshold	(	int	x,
		int	y,
		int	zuw,
		int	threshold,
		std::vector< int > *	data
	)		`[private]`

bool icl::geom::Segmentation3D::checkNotExist	(	int	zw,
		std::vector< int > &	nb
	)		`[private]`

void icl::geom::Segmentation3D::clearData ( )

Clears the data. Must be called before every iteration. (Use one line calls)

void icl::geom::Segmentation3D::colorPointcloud ( )

Calculates the color segment image. (Use one line calls)

float icl::geom::Segmentation3D::dist3	(	const Vec &	a,
		const Vec &	b
	)		`[private]`

std::vector<std::vector<int> > icl::geom::Segmentation3D::getBlobs ( )

Returns the blobs of the complex segmentation.

Returns:: a vector of blobs. Every entry contains a vector with the cluster indices

std::vector<std::vector<int> > icl::geom::Segmentation3D::getCluster ( )

Returns the cluster.

Returns:: a vector of cluster. Every entry contains a vector with the point indices

math::DynMatrix<bool> icl::geom::Segmentation3D::getNeigboursMatrix ( )

Returns the boolean neighbourhood matrix.

Returns:: the neighbourhood/adjacency matrix

math::DynMatrix<float> icl::geom::Segmentation3D::getProbabilityMatrix ( )

Returns the probability matrix.

Returns:: returns the probability matrix for cluster composition

core::Img8u icl::geom::Segmentation3D::getSegmentColorImage ( )

Returns the color segment image. (Use one line calls)

Returns:: the color segment image

void icl::geom::Segmentation3D::greedyComposition ( )

Greedy composition with probability matrix. (Use one line calls)

bool icl::geom::Segmentation3D::isCLActive ( )

Returns the openCL activation status (true=openCL enabled, false=openCL disabled). The status can be set by setUseCL(bool use).

Returns:: openCL enabled/disabled

bool icl::geom::Segmentation3D::isCLReady ( )

Returns the openCL status (true=openCL context ready, false=no openCL context available)

Returns:: openCL context ready/unavailable

void icl::geom::Segmentation3D::regionGrow ( )

Region growing. (Use one line calls)

void icl::geom::Segmentation3D::regionGrowBlobs ( ) [private]

core::Img8u icl::geom::Segmentation3D::segmentation	(	DataSegment< float, 4 >	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg
	)

One line call for the complex segmentation using probabilitstic surface composition.

Parameters:

xyz	the xyzh DataSegment from the PointCloudObject class
edgeImg	the edge image from the PointNormalEstimation class
depthImg	the input depth image

Returns:: the color image of the segments

core::Img8u icl::geom::Segmentation3D::segmentationBlobs	(	DataSegment< float, 4 >	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg
	)

One line call for the simple support plane and blobs segmentation.

Parameters:

xyz	the xyzh DataSegment from the PointCloudObject class
edgeImg	the edge image from the PointNormalEstimation class
depthImg	the input depth image

Returns:: the color image of the segments

void icl::geom::Segmentation3D::setAssignmentMaxDistance ( float maxDistance )

Sets the maximum distance for the edge point assignment after region growing. (default 15)

Parameters:

maxDistance maximum distance in mm

void icl::geom::Segmentation3D::setAssignmentRadius ( int radius )

Sets the assignment radius for the edge point assignment after region growing. (default 5)

radius the assignment radius in points

void icl::geom::Segmentation3D::setBLOBSeuclDistance ( int distance )

Sets the minimum euclidean BLOB distance for remaining points or the blob segmentation.

Parameters:

distance the minimum euclidean distance for blob segmentation

void icl::geom::Segmentation3D::setDepthImage ( const core::Img32f & depth )

Sets the depth image.

Parameters:

depth the depth image

void icl::geom::Segmentation3D::setEdgeImage ( const core::Img8u & edgeImage )

Sets the edge image from the PointNormalEstimation class. (Use one line calls)

Parameters:

edgeImage the edge image

void icl::geom::Segmentation3D::setMinClusterSize ( unsigned int size )

Sets the minimum cluster size for region growing (default 25)

Parameters:

size	minimum cluster size in points

void icl::geom::Segmentation3D::setRANSACeuclDistance ( int distance )

Sets the maximum euclidean distance for RANSAC. (default 15)

Parameters:

distance the maximum euclidean distance for RANSAC in mm

void icl::geom::Segmentation3D::setRANSACpasses ( int passes )

Sets the RANSAC passes (default 20)

Parameters:

passes the RANSAC passes

void icl::geom::Segmentation3D::setRANSACsubset ( int subset )

Sets the subset for the RANSAC check (every n-th point). (default 2)

Parameters:

subset the point subset for RANSAC

void icl::geom::Segmentation3D::setRANSACtolerance ( int tolerance )

Sets the RANSAC tolerance for the cutfree neighbours calculation. (default 30)

Parameters:

tolerance the tolerance in points

void icl::geom::Segmentation3D::setROI	(	float	xMin,
		float	xMax,
		float	yMin,
		float	yMax
	)

Sets the ROI in world coordinates.

Parameters:

xMin	xMin in mm
xMax	xMax in mm
yMin	yMin in mm
yMax	yMax in mm

void icl::geom::Segmentation3D::setUseCL ( bool use )

Sets openCL enabled/disabled. Enabling has no effect if no openCL context is available. (default true=enabled)

Parameters:

use	enable/disable openCL

void icl::geom::Segmentation3D::setUseFastGrowing ( bool use )

Sets fast growing enabled/disabled. Fast growing uses the region detector, normal growing uses classical region growing. (default false=disabled)

Parameters:

use	enable/disable fast growing

void icl::geom::Segmentation3D::setUseROI ( bool use )

Sets ROI enabled/disabled. (default false=disabled)

Parameters:

use	enable/disable ROI

void icl::geom::Segmentation3D::setXYZH ( DataSegment< float, 4 > xyz )

Sets the xyzh DataSegment from the PointCloudObject class. (Use one line calls)

Parameters:

xyz	the xyz DataSegment

Member Data Documentation

int* icl::geom::Segmentation3D::assignment [private]

int* icl::geom::Segmentation3D::assignmentBlobs [private]

float icl::geom::Segmentation3D::assignmentMaxDistance [private]

int icl::geom::Segmentation3D::assignmentRadius [private]

int* icl::geom::Segmentation3D::assignmentRemaining [private]

std::vector<std::vector<int> > icl::geom::Segmentation3D::blobs [private]

int icl::geom::Segmentation3D::BLOBSeuclDistance [private]

bool icl::geom::Segmentation3D::clReady [private]

std::vector<std::vector<int> > icl::geom::Segmentation3D::cluster [private]

math::DynMatrix<bool> icl::geom::Segmentation3D::cutfree [private]

core::Img32f icl::geom::Segmentation3D::depthImage [private]

int icl::geom::Segmentation3D::dim [private]

bool* icl::geom::Segmentation3D::elements [private]

bool* icl::geom::Segmentation3D::elementsBlobs [private]

int icl::geom::Segmentation3D::h [private]

unsigned int icl::geom::Segmentation3D::minClusterSize [private]

math::DynMatrix<bool> icl::geom::Segmentation3D::neighbours [private]

core::Img8u icl::geom::Segmentation3D::normalEdgeImage [private]

math::DynMatrix<float> icl::geom::Segmentation3D::probabilities [private]

int icl::geom::Segmentation3D::RANSACeuclDistance [private]

int icl::geom::Segmentation3D::RANSACpasses [private]

int icl::geom::Segmentation3D::RANSACsubset [private]

int icl::geom::Segmentation3D::RANSACtolerance [private]

cv::RegionDetector* icl::geom::Segmentation3D::region [private]

utils::Size icl::geom::Segmentation3D::s [private]

core::Img8u icl::geom::Segmentation3D::segmentColorImage [private]

bool icl::geom::Segmentation3D::useCL [private]

bool icl::geom::Segmentation3D::useFastGrowing [private]

bool icl::geom::Segmentation3D::useROI [private]

int icl::geom::Segmentation3D::w [private]

float icl::geom::Segmentation3D::xMaxROI [private]

float icl::geom::Segmentation3D::xMinROI [private]

DataSegment<float,4> icl::geom::Segmentation3D::xyzData [private]

float icl::geom::Segmentation3D::yMaxROI [private]

float icl::geom::Segmentation3D::yMinROI [private]

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

/home/jenkins/workspace/icl-manual-8.0/icl-manual/ICLGeom/src/ICLGeom/Segmentation3D.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation