ConfigurableDepthImageSegmenter.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/ConfigurableDepthImageSegmenter.h  **
** Module : ICLGeom                                                **
** Authors: Andre Ueckermann                                       **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLGeom/FeatureGraphSegmenter.h>
#include <ICLGeom/PointCloudObject.h>
#include <ICLGeom/PointCloudCreator.h>
#include <ICLUtils/Configurable.h>
#include <ICLCore/DataSegment.h>
#include <ICLGeom/Camera.h>

namespace icl{
  namespace geom{
    class ICLGeom_API ConfigurableDepthImageSegmenter : public utils::Configurable{

      public:

      enum Mode {BEST, GPU, CPU};


                        ConfigurableDepthImageSegmenter(Mode mode, Camera depthCam,
                                                                                                                                                        icl::geom::PointCloudCreator::DepthImageMode depth_mode
                                                                                                                                                        = icl::geom::PointCloudCreator::KinectRAW11Bit);
                        ConfigurableDepthImageSegmenter(Mode mode, Camera depthCam, Camera colorCam,
                                                                                                                                                        icl::geom::PointCloudCreator::DepthImageMode depth_mode
                                                                                                                                                        = icl::geom::PointCloudCreator::KinectRAW11Bit);

      ~ConfigurableDepthImageSegmenter();


      void apply(const core::Img32f &depthImage, PointCloudObject &obj);

          std::vector<geom::SurfaceFeatureExtractor::SurfaceFeature> getSurfaceFeatures();


      const core::Img8u getNormalImage();


      const core::Img8u getEdgeImage();


          core::Img32s getLabelImage();

      const core::DataSegment<float,4> getNormalSegment();


      core::Img8u getColoredLabelImage();

          const core::Img32f getAngleImage();


      core::Img8u getMappedColorImage(const core::Img8u &image);

          void mapImageToDepth(const core::ImgBase *src, core::ImgBase **dst);


      std::vector<std::vector<int> > getSurfaces();


      std::vector<std::vector<int> > getSegments();

          void setNormals(core::DataSegment<float,4> &normals);

                void setEdgeSegData(core::Img8u &edges, core::Img8u &normal_img);

                void setUseExternalEdges(bool use_external_edges);

      private:

      void initProperties();

      struct Data;  
      Data *m_data; 

    };
  } // namespace geom
}