Image Component Library (ICL)
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00001 /******************************************************************** 00002 ** Image Component Library (ICL) ** 00003 ** ** 00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld ** 00005 ** Neuroinformatics Group ** 00006 ** Website: www.iclcv.org and ** 00007 ** http://opensource.cit-ec.de/projects/icl ** 00008 ** ** 00009 ** File : ICLGeom/src/ICLGeom/ObjectEdgeDetectorCPU.h ** 00010 ** Module : ICLGeom ** 00011 ** Authors: Andre Ueckermann ** 00012 ** ** 00013 ** ** 00014 ** GNU LESSER GENERAL PUBLIC LICENSE ** 00015 ** This file may be used under the terms of the GNU Lesser General ** 00016 ** Public License version 3.0 as published by the ** 00017 ** ** 00018 ** Free Software Foundation and appearing in the file LICENSE.LGPL ** 00019 ** included in the packaging of this file. Please review the ** 00020 ** following information to ensure the license requirements will ** 00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** 00022 ** ** 00023 ** The development of this software was supported by the ** 00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** 00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** 00026 ** Forschungsgemeinschaft (DFG) in the context of the German ** 00027 ** Excellence Initiative. ** 00028 ** ** 00029 ********************************************************************/ 00030 00032 //Please use the ObjectEdgeDetector Class. 00033 //This is the CPU implementation of the interface. 00034 00035 #pragma once 00036 00037 #include <ICLGeom/ObjectEdgeDetectorPlugin.h> 00038 00039 namespace icl{ 00040 namespace geom{ 00041 00042 struct Vec4 { 00043 inline Vec4() { 00044 } 00045 inline Vec4(float x, float y, float z, float w) : 00046 x(x), y(y), z(z), w(w) { 00047 } 00048 float x, y, z, w; 00049 }; 00050 00051 class ICLGeom_API ObjectEdgeDetectorCPU : public ObjectEdgeDetectorPlugin{ 00052 00053 struct Data; 00054 Data *m_data; 00055 00056 public: 00057 00059 00061 ObjectEdgeDetectorCPU(); 00062 00064 virtual ~ObjectEdgeDetectorCPU(); 00065 00067 00073 const core::Img8u &calculate(const core::Img32f &depthImage, bool filter, bool average, bool gauss); 00074 00076 00077 void setDepthImage(const core::Img32f &depthImg); 00078 00080 00081 void applyMedianFilter(); 00082 00084 00085 const core::Img32f &getFilteredDepthImage(); 00086 00088 00090 void setFilteredDepthImage(const core::Img32f &filteredImg); 00091 00093 00095 void applyNormalCalculation(); 00096 00098 00102 void applyLinearNormalAveraging(); 00103 00105 00111 void applyGaussianNormalSmoothing(); 00112 00114 00115 const core::DataSegment<float,4> getNormals(); 00116 00118 00119 void applyWorldNormalCalculation(const Camera &cam); 00120 00122 00123 const core::DataSegment<float,4> getWorldNormals(); 00124 00126 00127 const core::Img8u &getRGBNormalImage(); 00128 00130 00132 void setNormals(core::DataSegment<float,4> pNormals); 00133 00135 00137 void applyAngleImageCalculation(); 00138 00140 00141 const core::Img32f &getAngleImage(); 00142 00144 00146 void setAngleImage(const core::Img32f &angleImg); 00147 00149 00150 void applyImageBinarization(); 00151 00153 00154 const core::Img8u &getBinarizedAngleImage(); 00155 00157 00159 void setMedianFilterSize(int size); 00160 00162 00164 void setNormalCalculationRange(int range); 00165 00167 00168 void setNormalAveragingRange(int range); 00169 00171 00173 void setAngleNeighborhoodMode(int mode); 00174 00176 00178 void setAngleNeighborhoodRange(int range); 00179 00181 00184 void setBinarizationThreshold(float threshold); 00185 00187 00189 void setUseNormalAveraging(bool use); 00190 00192 00194 void setUseGaussSmoothing(bool use); 00195 00197 00199 bool isCLReady(); 00200 00201 void initialize(utils::Size size); 00202 00203 00204 private: 00205 00206 float scalar(math::FixedColVector<float,4> &a, math::FixedColVector<float,4> &b); 00207 float flipAngle(float angle); 00208 float scalarAndFlip(math::FixedColVector<float,4> &a, math::FixedColVector<float,4> &b); 00209 float maxAngle(float snr, float snl, float snt, float snb, 00210 float snbl, float snbr, float sntl, float sntr); 00211 00212 }; 00213 } 00214 } 00215