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/SegmenterUtils.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 <ICLGeom/GeomDefs.h> 00034 #include <ICLCore/DataSegment.h> 00035 #include <ICLCore/Channel.h> 00036 00037 namespace icl{ 00038 namespace geom{ 00039 00041 00043 class SegmenterUtils{ 00044 00045 public: 00046 enum Mode {BEST, GPU, CPU}; 00047 00049 00051 SegmenterUtils(Mode mode=BEST); 00052 00053 00055 ~SegmenterUtils(); 00056 00057 00059 00062 core::Img8u createColorImage(core::Img32s &labelImage); 00063 00065 00075 core::Img8u createROIMask(core::DataSegment<float,4> &xyzh, core::Img32f &depthImage, 00076 float xMin, float xMax, float yMin, float yMax, float zMin=-10000, float zMax=10000); 00077 00079 00082 core::Img8u createMask(core::Img32f &depthImage); 00083 00085 00088 core::Img32s stabelizeSegmentation(core::Img32s &labelImage); 00089 00091 00099 math::DynMatrix<bool> calculateAdjacencyMatrix(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage, 00100 core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces); 00101 00103 00110 void edgePointAssignment(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage, 00111 core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces); 00112 00114 00122 math::DynMatrix<bool> edgePointAssignmentAndAdjacencyMatrix(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage, 00123 core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces); 00124 00125 00126 private: 00127 00128 struct Data; 00129 Data *m_data; 00130 00131 void createColorImageCL(core::Img32s &labelImage, core::Img8u &colorImage); 00132 00133 void createColorImageCPU(core::Img32s &labelImage, core::Img8u &colorImage); 00134 00135 std::vector<int> calculateLabelReassignment(int countCur, int countLast, core::Channel32s &labelImageC, core::Channel32s &lastLabelImageC, utils::Size size); 00136 00137 math::DynMatrix<bool> edgePointAssignmentAndAdjacencyMatrixCL(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage, 00138 core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces, bool pointAssignment); 00139 00140 math::DynMatrix<bool> edgePointAssignmentAndAdjacencyMatrixCPU(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage, 00141 core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces, bool pointAssignment); 00142 00143 static float dist3(const Vec &a, const Vec &b){ 00144 return norm3(a-b); 00145 } 00146 00147 }; 00148 00149 } // namespace geom 00150 }