ObjectEdgeDetectorCPU.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/ObjectEdgeDetectorCPU.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.                                          **
**                                                                 **
********************************************************************/

//Please use the ObjectEdgeDetector Class.
//This is the CPU implementation of the interface.

#pragma once

#include <ICLGeom/ObjectEdgeDetectorPlugin.h>

namespace icl{
  namespace geom{

    struct Vec4 {
            inline Vec4() {
            }
            inline Vec4(float x, float y, float z, float w) :
                            x(x), y(y), z(z), w(w) {
            }
            float x, y, z, w;
    };

     class ICLGeom_API ObjectEdgeDetectorCPU : public ObjectEdgeDetectorPlugin{

     struct Data;  
      Data *m_data; 

     public:


      ObjectEdgeDetectorCPU();

      virtual ~ObjectEdgeDetectorCPU();


      const core::Img8u &calculate(const core::Img32f &depthImage, bool filter, bool average, bool gauss);


      void setDepthImage(const core::Img32f &depthImg);


      void applyMedianFilter();


      const core::Img32f &getFilteredDepthImage();


      void setFilteredDepthImage(const core::Img32f &filteredImg);


      void applyNormalCalculation();


      void applyLinearNormalAveraging();


      void applyGaussianNormalSmoothing();


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


      void applyWorldNormalCalculation(const Camera &cam);


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


      const core::Img8u &getRGBNormalImage();


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


      void applyAngleImageCalculation();


      const core::Img32f &getAngleImage();


      void setAngleImage(const core::Img32f &angleImg);


      void applyImageBinarization();


      const core::Img8u &getBinarizedAngleImage();


      void setMedianFilterSize(int size);


      void setNormalCalculationRange(int range);


      void setNormalAveragingRange(int range);


      void setAngleNeighborhoodMode(int mode);


      void setAngleNeighborhoodRange(int range);


      void setBinarizationThreshold(float threshold);


      void setUseNormalAveraging(bool use);


      void setUseGaussSmoothing(bool use);


      bool isCLReady();

          void initialize(utils::Size size);


         private:

          float scalar(math::FixedColVector<float,4> &a, math::FixedColVector<float,4> &b);
          float flipAngle(float angle);
          float scalarAndFlip(math::FixedColVector<float,4> &a, math::FixedColVector<float,4> &b);
          float maxAngle(float snr, float snl, float snt, float snb,
                     float snbl, float snbr, float sntl, float sntr);

    };
  }
}