Image Component Library (ICL)
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ObjectEdgeDetector.h
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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/ObjectEdgeDetector.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 
00031 #pragma once
00032 
00033 #include <ICLUtils/CompatMacros.h>
00034 #include <ICLGeom/GeomDefs.h>
00035 #include <ICLCore/Img.h>
00036 #include <ICLGeom/Camera.h>
00037 #include <ICLUtils/Uncopyable.h>
00038 #include <ICLCore/DataSegment.h>
00039 
00040 #include <ICLGeom/ObjectEdgeDetectorPlugin.h>
00041 
00042 namespace icl{
00043   namespace geom{
00044     
00052     class ICLGeom_API ObjectEdgeDetector{
00053      
00054      struct Data;  
00055      Data *m_data; 
00056       
00057      public:
00058      
00059       enum Mode {BEST, GPU, CPU};
00060   
00062 
00065       ObjectEdgeDetector(Mode mode=BEST); 
00066         
00068       virtual ~ObjectEdgeDetector();
00069       
00071 
00077       const core::Img8u &calculate(const core::Img32f &depthImage, bool filter, bool average, bool gauss);
00078         
00080 
00081       void setDepthImage(const core::Img32f &depthImg);
00082         
00084 
00085       void applyMedianFilter();
00086         
00088 
00089       const core::Img32f &getFilteredDepthImage();
00090         
00092 
00094       void setFilteredDepthImage(const core::Img32f &filteredImg); 
00095         
00097 
00099       void applyNormalCalculation();
00100         
00102 
00106       void applyLinearNormalAveraging();
00107   
00109 
00115       void applyGaussianNormalSmoothing();
00116   
00118 
00119       const core::DataSegment<float,4> getNormals();
00120       
00122 
00123       void applyWorldNormalCalculation(const Camera &cam);
00124           
00126 
00127       const core::DataSegment<float,4> getWorldNormals();
00128           
00130 
00131       const core::Img8u &getRGBNormalImage();
00132       
00134 
00136       void setNormals(core::DataSegment<float,4> pNormals);
00137         
00139 
00141       void applyAngleImageCalculation();
00142         
00144 
00145       const core::Img32f &getAngleImage();
00146         
00148 
00150       void setAngleImage(const core::Img32f &angleImg);
00151         
00153 
00154       void applyImageBinarization();
00155         
00157 
00158       const core::Img8u &getBinarizedAngleImage();      
00159         
00161 
00163       void setMedianFilterSize(int size);
00164         
00166 
00168       void setNormalCalculationRange(int range);
00169         
00171 
00172       void setNormalAveragingRange(int range);
00173         
00175 
00177       void setAngleNeighborhoodMode(int mode);
00178         
00180 
00182       void setAngleNeighborhoodRange(int range);
00183         
00185 
00188       void setBinarizationThreshold(float threshold);
00189                 
00191 
00193       void setUseNormalAveraging(bool use);
00194       
00196 
00198       void setUseGaussSmoothing(bool use);
00199         
00200      private:
00201       ObjectEdgeDetectorPlugin* objectEdgeDetector;
00202       
00203       void initialize(utils::Size size);
00204       
00205     };
00206   }
00207 }
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