#include <ObjectEdgeDetector.h>

Public Types
enum	Mode { BEST, GPU, CPU }
Public Member Functions
	ObjectEdgeDetector (Mode mode=BEST)
	Create new ObjectEdgeDetector.
virtual	~ObjectEdgeDetector ()
	Destructor.
const core::Img8u &	calculate (const core::Img32f &depthImage, bool filter, bool average, bool gauss)
	One call function for calculation of the complete processingpipeline.
void	setDepthImage (const core::Img32f &depthImg)
	Sets the input depth image (input for median filter).
void	applyMedianFilter ()
	Calculates a filtered image using a median filter.
const core::Img32f &	getFilteredDepthImage ()
	Returns the filtered depth image.
void	setFilteredDepthImage (const core::Img32f &filteredImg)
	Sets the (filtered) depth image (input for normal calculation)
void	applyNormalCalculation ()
	Calculates the point normals.
void	applyLinearNormalAveraging ()
	Recalculates the normals by linear averaging.
void	applyGaussianNormalSmoothing ()
	Recalculates the normals by gaussian smoothing in a given range.
const core::DataSegment< float, 4 >	getNormals ()
	Returns the Pointer to the normals.
void	applyWorldNormalCalculation (const Camera &cam)
	Transforms the normals to the world space and calculates normal image.
const core::DataSegment< float, 4 >	getWorldNormals ()
	Returns the point normals in world space.
const core::Img8u &	getRGBNormalImage ()
	Returns the RGB normal image.
void	setNormals (core::DataSegment< float, 4 > pNormals)
	Sets the point normals (input for angle image calculation).
void	applyAngleImageCalculation ()
	Calculates the angle image.
const core::Img32f &	getAngleImage ()
	Returns the angle image.
void	setAngleImage (const core::Img32f &angleImg)
	Sets the angle image (input for image binarization).
void	applyImageBinarization ()
	Binarizes the angle image to detect edges.
const core::Img8u &	getBinarizedAngleImage ()
	Returns the binarized angle image (final output).
void	setMedianFilterSize (int size)
	Sets the mask size for applyMedianFilter()
void	setNormalCalculationRange (int range)
	Sets the range for applyNormalCalculation().
void	setNormalAveragingRange (int range)
	Sets the averaging range for applyNormalAveraging()
void	setAngleNeighborhoodMode (int mode)
	Sets the neighborhood mode for applyAngleImageCalculation()
void	setAngleNeighborhoodRange (int range)
	Sets the neighborhood range for applyAngleImageCalculation()
void	setBinarizationThreshold (float threshold)
	Sets the binarization threshold for applyImageBinarization().
void	setUseNormalAveraging (bool use)
	Sets normal averaging enabled/disabled.
void	setUseGaussSmoothing (bool use)
	Sets normal averaging by gauss smoothing enabled/disabled.
Private Member Functions
void	initialize (utils::Size size)
Private Attributes
Data *	m_data
	internal data type
ObjectEdgeDetectorPlugin *	objectEdgeDetector

Detailed Description

This class calculates an edge image based on angles between normals from an input depth image (e.g. Kinect). The common way to use this class is the calculate() method, getting a depth image and returning an edge image. This method computes the whole pipeline (image filtering, normal calculation and smoothing, angle image calculation and binarization). The performance of this method is optimized with minimal read/write for the underlying OpenCL implementation. The interim results can be accessed with getNormals() and getAngleImage() afterwards. It is also possible to use subparts of the pipeline using the setter methods to set the interim data.

Member Enumeration Documentation

enum icl::geom::ObjectEdgeDetector::Mode

Enumerator:

BEST
GPU
CPU

Constructor & Destructor Documentation

icl::geom::ObjectEdgeDetector::ObjectEdgeDetector ( Mode mode = BEST )

Create new ObjectEdgeDetector.

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

Parameters:

mode	selects the implementation (GPU, CPU or BEST)

virtual icl::geom::ObjectEdgeDetector::~ObjectEdgeDetector ( ) [virtual]

Destructor.

Member Function Documentation

void icl::geom::ObjectEdgeDetector::applyAngleImageCalculation ( )

Calculates the angle image.

The mode is set by setAngleNeighborhoodMode(int mode). The range is set by setAngleNeighborhoodRange(int range)

void icl::geom::ObjectEdgeDetector::applyGaussianNormalSmoothing ( )

Recalculates the normals by gaussian smoothing in a given range.

Alternative to applyTemporalNormalAveraging that uses a simpler gaussian filter for smoothing

if it is enabled width setUseNormalAveraging(bool use). The range is set by setNormalAveragingRange(int range). Alternative: normalAveraging() with setUseGaussSmoothing(false).

void icl::geom::ObjectEdgeDetector::applyImageBinarization ( )

Binarizes the angle image to detect edges.

The threshold is set by setBinarizationThreshold(float threshold).

void icl::geom::ObjectEdgeDetector::applyLinearNormalAveraging ( )

Recalculates the normals by linear averaging.

This reduces the noise of the normal image. The function is called from calculateNormals() if it is enabled width setUseNormalAveraging(bool use). The range is set by setNormalAveragingRange(int range).
Alternative: normalGaussSmoothing() with setUseGaussSmoothing(true).

void icl::geom::ObjectEdgeDetector::applyMedianFilter ( )

Calculates a filtered image using a median filter.

The mask size is set by setMedianFilterSize(int size)

void icl::geom::ObjectEdgeDetector::applyNormalCalculation ( )

Calculates the point normals.

The range for calculation is set by setNormalCalculationRange(int range).

void icl::geom::ObjectEdgeDetector::applyWorldNormalCalculation ( const Camera & cam )

Transforms the normals to the world space and calculates normal image.

Parameters:

cam	the camera of the depth image

const core::Img8u& icl::geom::ObjectEdgeDetector::calculate	(	const core::Img32f &	depthImage,
		bool	filter,
		bool	average,
		bool	gauss
	)

One call function for calculation of the complete processingpipeline.

Order: ((filter)->normals->(normalAvg)->angles->binarization)

Parameters:

depthImage	the input depth image
filter	enable/disable filtering
average	enable/disable normal averaging
gauss	true=gauss smoothing, false=linear smoothing

Returns:: the binarized angle image

const core::Img32f& icl::geom::ObjectEdgeDetector::getAngleImage ( )

Returns the angle image.

Returns:: the angle image

const core::Img8u& icl::geom::ObjectEdgeDetector::getBinarizedAngleImage ( )

Returns the binarized angle image (final output).

Returns:: the (final) binarized angle image

const core::Img32f& icl::geom::ObjectEdgeDetector::getFilteredDepthImage ( )

Returns the filtered depth image.

Returns:: the filtered depth image

const core::DataSegment<float,4> icl::geom::ObjectEdgeDetector::getNormals ( )

Returns the Pointer to the normals.

Returns:: the point normals

const core::Img8u& icl::geom::ObjectEdgeDetector::getRGBNormalImage ( )

Returns the RGB normal image.

Returns:: the RGB normal image

const core::DataSegment<float,4> icl::geom::ObjectEdgeDetector::getWorldNormals ( )

Returns the point normals in world space.

Returns:: the point normals in world space

void icl::geom::ObjectEdgeDetector::initialize ( utils::Size size ) [private]

void icl::geom::ObjectEdgeDetector::setAngleImage ( const core::Img32f & angleImg )

Sets the angle image (input for image binarization).

This call is not necessary if angleImageCalculation() is executed before.

Parameters:

angleImg the angle image

void icl::geom::ObjectEdgeDetector::setAngleNeighborhoodMode ( int mode )

Sets the neighborhood mode for applyAngleImageCalculation()

0=max, 1=mean. (default 0)

Parameters:

mode	the neighborhood mode

void icl::geom::ObjectEdgeDetector::setAngleNeighborhoodRange ( int range )

Sets the neighborhood range for applyAngleImageCalculation()

(default 3, min 1)

Parameters:

range the neighborhood range

void icl::geom::ObjectEdgeDetector::setBinarizationThreshold ( float threshold )

Sets the binarization threshold for applyImageBinarization().

Value n for acos(n). A value of 0 maps to 90 degree, a value of 1 maps to o degree (default 0.89)

Parameters:

threshold binarization threshold

void icl::geom::ObjectEdgeDetector::setDepthImage ( const core::Img32f & depthImg )

Sets the input depth image (input for median filter).

Parameters:

depthImg the input depth image

void icl::geom::ObjectEdgeDetector::setFilteredDepthImage ( const core::Img32f & filteredImg )

Sets the (filtered) depth image (input for normal calculation)

This call is not necessary if medianFilter() is executed before

Parameters:

filteredImg the (filtered) depth image

void icl::geom::ObjectEdgeDetector::setMedianFilterSize ( int size )

Sets the mask size for applyMedianFilter()

size n corresponds to mask size n x n. (default 3, min 3, max 9, odd only)

Parameters:

size	the mask size

void icl::geom::ObjectEdgeDetector::setNormalAveragingRange ( int range )

Sets the averaging range for applyNormalAveraging()

(default 1)

Parameters:

range the normal averaging range

void icl::geom::ObjectEdgeDetector::setNormalCalculationRange ( int range )

Sets the range for applyNormalCalculation().

(default 2)

Parameters:

range the normal calculation range

void icl::geom::ObjectEdgeDetector::setNormals ( core::DataSegment< float, 4 > pNormals )

Sets the point normals (input for angle image calculation).

This call is not necessary if normalCalculation() is executed before.

Parameters:

pNormals the point normals

void icl::geom::ObjectEdgeDetector::setUseGaussSmoothing ( bool use )

Sets normal averaging by gauss smoothing enabled/disabled.

(default false=linear smoothing if normal averaging enabled)

Parameters:

use	enable/disable gauss smoothing

void icl::geom::ObjectEdgeDetector::setUseNormalAveraging ( bool use )

Sets normal averaging enabled/disabled.

(default true=enabled)

Parameters:

use	enable/disable normal averaging

Member Data Documentation

Data* icl::geom::ObjectEdgeDetector::m_data [private]

internal data type

internal data pointer

ObjectEdgeDetectorPlugin* icl::geom::ObjectEdgeDetector::objectEdgeDetector [private]

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

/home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLGeom/src/ICLGeom/ObjectEdgeDetector.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation