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/ObjectEdgeDetectorGPU.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 GPU implementation of the interface. 00034 00035 #pragma once 00036 00037 #include <ICLGeom/ObjectEdgeDetectorPlugin.h> 00038 00039 namespace icl{ 00040 namespace geom{ 00041 class ICLGeom_API ObjectEdgeDetectorGPU : public ObjectEdgeDetectorPlugin{ 00042 00043 struct Data; 00044 Data *m_data; 00045 00046 public: 00047 00049 00051 ObjectEdgeDetectorGPU(); 00052 00054 virtual ~ObjectEdgeDetectorGPU(); 00055 00057 00063 const core::Img8u &calculate(const core::Img32f &depthImage, bool filter, bool average, bool gauss); 00064 00066 00067 void setDepthImage(const core::Img32f &depthImg); 00068 00070 00071 void applyMedianFilter(); 00072 00074 00075 const core::Img32f &getFilteredDepthImage(); 00076 00078 00080 void setFilteredDepthImage(const core::Img32f &filteredImg); 00081 00083 00085 void applyNormalCalculation(); 00086 00088 00092 void applyLinearNormalAveraging(); 00093 00095 00101 void applyGaussianNormalSmoothing(); 00102 00104 00105 const core::DataSegment<float,4> getNormals(); 00106 00108 00109 void applyWorldNormalCalculation(const Camera &cam); 00110 00112 00113 const core::DataSegment<float,4> getWorldNormals(); 00114 00116 00117 const core::Img8u &getRGBNormalImage(); 00118 00120 00122 void setNormals(core::DataSegment<float,4> pNormals); 00123 00125 00127 void applyAngleImageCalculation(); 00128 00130 00131 const core::Img32f &getAngleImage(); 00132 00134 00136 void setAngleImage(const core::Img32f &angleImg); 00137 00139 00140 void applyImageBinarization(); 00141 00143 00144 const core::Img8u &getBinarizedAngleImage(); 00145 00147 00149 void setMedianFilterSize(int size); 00150 00152 00154 void setNormalCalculationRange(int range); 00155 00157 00158 void setNormalAveragingRange(int range); 00159 00161 00163 void setAngleNeighborhoodMode(int mode); 00164 00166 00168 void setAngleNeighborhoodRange(int range); 00169 00171 00174 void setBinarizationThreshold(float threshold); 00175 00177 00179 void setUseNormalAveraging(bool use); 00180 00182 00184 void setUseGaussSmoothing(bool use); 00185 00187 00189 bool isCLReady(); 00190 00191 void initialize(utils::Size size); 00192 00193 }; 00194 } 00195 } 00196