class for coplanarity feature. More...

Static Public Member Functions
static math::DynMatrix< bool >	apply (math::DynMatrix< bool > &initialMatrix, std::vector< SurfaceFeatureExtractor::SurfaceFeature > features, const core::Img32f &depthImage, std::vector< std::vector< int > > &surfaces, float maxAngle=30, float distanceTolerance=3, float outlierTolerance=5, int triangles=50, int scanlines=9)
	Calculates the coplanarity feature matrix. More...

Static Private Member Functions
static float	getAngle (Vec n1, Vec n2)

static utils::Point	getRandomPoint (std::vector< int > surface, int imgWidth)

static Vec	getNormal (Vec p1, Vec p2, Vec p3)

static bool	criterion1 (Vec n1, Vec n2, float maxAngle)

static bool	criterion2 (const core::Img32f &depthImage, std::vector< int > &surface1, std::vector< int > &surface2, Vec n1, Vec n2, float maxAngle, int triangles)

static bool	criterion3 (const core::Img32f &depthImage, std::vector< int > &surface1, std::vector< int > &surface2, float distanceTolerance, float outlierTolerance, int scanlines)

Detailed Description

class for coplanarity feature.

This class implements the coplanarity feature for feature-graph based segmentation.

Member Function Documentation

static math::DynMatrix<bool> icl::geom::CoPlanarityFeatureExtractor::apply	(	math::DynMatrix< bool > &	initialMatrix,
		std::vector< SurfaceFeatureExtractor::SurfaceFeature >	features,
		const core::Img32f &	depthImage,
		std::vector< std::vector< int > > &	surfaces,
		float	maxAngle = `30`,
		float	distanceTolerance = `3`,
		float	outlierTolerance = `5`,
		int	triangles = `50`,
		int	scanlines = `9`
	)

static

Calculates the coplanarity feature matrix.

Parameters

initialMatrix	the initial boolean test matrix (0 test if both planar, 1 dont test, preferably an adjacency matrix)
features	the surface feature for the surfaces
depthImage	the input depthImage
surfaces	the vector of surface id vectors
maxAngle	the maximum angle for surface orientation similarity test
distanceTolerance	the maximum distance in mm for occlusion check
outlierTolerance	the maximum number of outlier points in percent for occlusion check
triangles	number of combined surface tests
scanlines	number of occlusion tests

static bool icl::geom::CoPlanarityFeatureExtractor::criterion1	(	Vec	n1,
		Vec	n2,
		float	maxAngle
	)

staticprivate

static bool icl::geom::CoPlanarityFeatureExtractor::criterion2	(	const core::Img32f &	depthImage,
		std::vector< int > &	surface1,
		std::vector< int > &	surface2,
		Vec	n1,
		Vec	n2,
		float	maxAngle,
		int	triangles
	)

staticprivate

static bool icl::geom::CoPlanarityFeatureExtractor::criterion3	(	const core::Img32f &	depthImage,
		std::vector< int > &	surface1,
		std::vector< int > &	surface2,
		float	distanceTolerance,
		float	outlierTolerance,
		int	scanlines
	)

staticprivate

static float icl::geom::CoPlanarityFeatureExtractor::getAngle	(	Vec	n1,
		Vec	n2
	)

staticprivate

static Vec icl::geom::CoPlanarityFeatureExtractor::getNormal	(	Vec	p1,
		Vec	p2,
		Vec	p3
	)

staticprivate

static utils::Point icl::geom::CoPlanarityFeatureExtractor::getRandomPoint	(	std::vector< int >	surface,
		int	imgWidth
	)

staticprivate

The documentation for this class was generated from the following file: