FeatureGraphSegmenter.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/FeatureGraphSegmenter.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 <ICLCore/DataSegment.h>
#include <ICLGeom/SurfaceFeatureExtractor.h>
#include <ICLGeom/PointCloudSegment.h>

namespace icl{
  namespace geom{
    class ICLGeom_API FeatureGraphSegmenter{

     public:

      enum Mode {BEST, GPU, CPU};


      FeatureGraphSegmenter(Mode mode=BEST);

      ~FeatureGraphSegmenter();


      core::Img8u apply(core::DataSegment<float,4> xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg,
                  core::DataSegment<float,4> normals=NULL, bool stabelize=true, bool useROI=false,
                  bool useCutfreeAdjacency=true, bool useCoplanarity=true, bool useCurvature=true, bool useRemainingPoints=true);


          std::vector<PointCloudSegmentPtr> applyHierarchical(core::DataSegment<float,4> xyz, core::DataSegment<float,4> rgb, const core::Img8u &edgeImg, const core::Img32f &depthImg,
                  core::DataSegment<float,4> normals=NULL, bool useROI=false,
                  bool useCutfreeAdjacency=true, bool useCoplanarity=true, bool useCurvature=true, bool useRemainingPoints=true,
                  float weightCutfreeAdjacency=1.0, float weightCoplanarity=0.9, float weightCurvature=0.8, float weightRemainingPoints=0.7);


      void setROI(float xMin, float xMax, float yMin, float yMax, float zMin, float zMax);


      void setMinSurfaceSize(unsigned int size);


      void setAssignmentParams(float distance, int radius);


      void setCutfreeParams(float euclideanDistance, int passes, int tolerance, float minAngle);


      void setCoplanarityParams(float maxAngle, float distanceTolerance, float outlierTolerance, int numTriangles, int numScanlines);


      void setCurvatureParams(float histogramSimilarity, bool useOpenObjects, int maxDistance, bool useOccludedObjects, float maxError,
                              int ransacPasses, float distanceTolerance, float outlierTolerance);


      void setRemainingPointsParams(int minSize, float euclideanDistance, int radius, float assignEuclideanDistance, int supportTolerance);


      void setGraphCutThreshold(float threshold);

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


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


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


      core::Img32s getLabelImage(bool stabelize);


      core::Img8u getColoredLabelImage(bool stabelize);


      core::Img8u getMaskImage();

     private:

      void surfaceSegmentation(core::DataSegment<float,4> &xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg, int minSurfaceSize=25, bool useROI=false);

      std::vector<PointCloudSegmentPtr> createHierarchy(math::DynMatrix<float> &probabilityMatrix, core::DataSegment<float,4> &xyz, core::DataSegment<float,4> &rgb);

      struct Data;  
      Data *m_data; 

    };
  } // namespace geom
}