Segmentation3D.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/Segmentation3D.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 <ICLUtils/CompatMacros.h>
#include <ICLGeom/GeomDefs.h>
#include <ICLCore/Img.h>
#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLCV/RegionDetector.h>

#ifdef ICL_HAVE_OPENCL
#include <ICLUtils/CLProgram.h>
#include <ICLUtils/CLBuffer.h>
#include <ICLUtils/CLKernel.h>
#endif

namespace icl{
  namespace geom{
    class ICLGeom_API Segmentation3D{

     public:

      Segmentation3D(utils::Size size);

      ~Segmentation3D();


      core::Img8u segmentation(core::DataSegment<float,4> xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg);


      core::Img8u segmentationBlobs(core::DataSegment<float,4> xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg);


      void setUseCL(bool use);


                void setUseROI(bool use);


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


      void setMinClusterSize(unsigned int size);


      void setUseFastGrowing(bool use);


      void setAssignmentRadius(int radius);


      void setAssignmentMaxDistance(float maxDistance);


      void setRANSACeuclDistance(int distance);


      void setRANSACpasses(int passes);


      void setRANSACtolerance(int tolerance);


      void setRANSACsubset(int subset);


      void setBLOBSeuclDistance(int distance);


      bool isCLReady();


      bool isCLActive();


      core::Img8u getSegmentColorImage();


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


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


      const int* getAssignment();


      math::DynMatrix<bool> getNeigboursMatrix();


      math::DynMatrix<float> getProbabilityMatrix();


      void setXYZH(core::DataSegment<float,4> xyz);


      void setEdgeImage(const core::Img8u &edgeImage);


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

      void clearData();

      void regionGrow();

      void calculatePointAssignmentAndAdjacency();

      void calculateCutfreeMatrix();

      void greedyComposition();

      void calculateRemainingPoints();

      void blobSegmentation();

      void colorPointcloud();

     private:

      int w,h,dim;
      utils::Size s;

      float xMinROI, xMaxROI, yMinROI, yMaxROI;
      bool useROI;

      bool* elements;
                  int* assignment;
                  int* assignmentRemaining;
                  bool* elementsBlobs;
                  int* assignmentBlobs;

      core::DataSegment<float,4> xyzData;
      core::Img8u normalEdgeImage;
      core::Img32f depthImage;

      core::Img8u segmentColorImage;

      std::vector<std::vector<int> > cluster;
      std::vector<std::vector<int> > blobs;
      unsigned int minClusterSize;
      bool useFastGrowing;
      int assignmentRadius;
      float assignmentMaxDistance;
      int RANSACeuclDistance;
      int RANSACpasses;
      int RANSACtolerance;
      int RANSACsubset;
      int BLOBSeuclDistance;

      math::DynMatrix<bool> neighbours;
      math::DynMatrix<bool> cutfree;
      math::DynMatrix<float> probabilities;

      cv::RegionDetector* region;

      bool clReady;
      bool useCL;

      void checkNeighbourGrayThreshold(int x, int y, int zuw, int threshold, std::vector<int> *data);

      void checkNeighbourDistanceRemaining(int x, int y, int zuw, std::vector<int> *data);

      void regionGrowBlobs();

      void checkNeighbourDistance(int x, int y, int zuw, std::vector<int> *data);

      bool checkNotExist(int zw, std::vector<int> &nb);

      float dist3(const Vec &a, const Vec &b);

    #ifdef ICL_HAVE_OPENCL
      //OpenCL data
      unsigned char* segmentColorImageRArray;
      unsigned char* segmentColorImageGArray;
      unsigned char* segmentColorImageBArray;

      //OpenCL
      utils::CLProgram program;
      utils::CLKernel kernelSegmentColoring;
      utils::CLKernel kernelPointAssignment;
      utils::CLKernel kernelCheckRANSAC;
      utils::CLKernel kernelAssignRANSAC;

      //OpenCL buffer
      utils::CLBuffer segmentColorImageRBuffer;
      utils::CLBuffer segmentColorImageGBuffer;
      utils::CLBuffer segmentColorImageBBuffer;
      utils::CLBuffer assignmentBuffer;
      utils::CLBuffer neighboursBuffer;
      utils::CLBuffer elementsBuffer;
      utils::CLBuffer assignmentOutBuffer;
      utils::CLBuffer xyzBuffer;
      utils::CLBuffer assignmentBlobsBuffer;
      utils::CLBuffer elementsBlobsBuffer;
    #endif
    };
  } // namespace geom
}