SegmenterUtils.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/SegmenterUtils.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/GeomDefs.h>
#include <ICLCore/DataSegment.h>
#include <ICLCore/Channel.h>

namespace icl{
  namespace geom{


    class SegmenterUtils{

          public:
            enum Mode {BEST, GPU, CPU};


        SegmenterUtils(Mode mode=BEST);


        ~SegmenterUtils();



        core::Img8u createColorImage(core::Img32s &labelImage);


        core::Img8u createROIMask(core::DataSegment<float,4> &xyzh, core::Img32f &depthImage,
                    float xMin, float xMax, float yMin, float yMax, float zMin=-10000, float zMax=10000);


        core::Img8u createMask(core::Img32f &depthImage);


        core::Img32s stabelizeSegmentation(core::Img32s &labelImage);


        math::DynMatrix<bool> calculateAdjacencyMatrix(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage,
                              core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces);


        void edgePointAssignment(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage,
                              core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces);


        math::DynMatrix<bool> edgePointAssignmentAndAdjacencyMatrix(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage,
                              core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces);


        std::vector<std::vector<int> > extractSegments(core::Img32s &labelImage);


        void relabel(core::Img32s &labelImage, std::vector<std::vector<int> > &assignment, int maxOldLabel=0);


        static bool occlusionCheck(core::Img32f &depthImage, utils::Point p1, utils::Point p2, float distanceTolerance=3., float outlierTolerance=5.);


        static std::vector<std::vector<int> > createLabelVectors(core::Img32s &labelImage);

      private:

        struct Data;  
        Data *m_data; 

        void createColorImageCL(core::Img32s &labelImage, core::Img8u &colorImage);

        void createColorImageCPU(core::Img32s &labelImage, core::Img8u &colorImage);

        std::vector<int> calculateLabelReassignment(int countCur, int countLast, core::Channel32s &labelImageC, core::Channel32s &lastLabelImageC, utils::Size size);

        math::DynMatrix<bool> edgePointAssignmentAndAdjacencyMatrixCL(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage,
                              core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces, bool pointAssignment);

        math::DynMatrix<bool> edgePointAssignmentAndAdjacencyMatrixCPU(core::DataSegment<float,4> &xyzh, core::Img32s &labelImage,
                              core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces, bool pointAssignment);

        static float dist3(const Vec &a, const Vec &b){
          return norm3(a-b);
        }

    };

  } // namespace geom
}