#include <ConfigurableDepthImageSegmenter.h>

Inheritance diagram for icl::geom::ConfigurableDepthImageSegmenter:

Public Types
enum	Mode { BEST, GPU, CPU }

Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Public Member Functions
	ConfigurableDepthImageSegmenter (Mode mode, Camera depthCam, icl::geom::PointCloudCreator::DepthImageMode depth_mode=icl::geom::PointCloudCreator::KinectRAW11Bit)
	Constructor. More...

	ConfigurableDepthImageSegmenter (Mode mode, Camera depthCam, Camera colorCam, icl::geom::PointCloudCreator::DepthImageMode depth_mode=icl::geom::PointCloudCreator::KinectRAW11Bit)

	~ConfigurableDepthImageSegmenter ()
	Destructor. More...

void	apply (const core::Img32f &depthImage, PointCloudObject &obj)
	One line call for the whole segmentation pipeline. More...

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

const core::Img8u	getNormalImage ()
	Returns the colored normal image. More...

const core::Img8u	getEdgeImage ()
	Returns the edge image. More...

core::Img32s	getLabelImage ()
	Returns the label image. More...

const core::DataSegment< float, 4 >	getNormalSegment ()

core::Img8u	getColoredLabelImage ()
	Returns the colored label image. More...

*const core::Img32f	getAngleImage ()

core::Img8u	getMappedColorImage (const core::Img8u &image)
	Returns the mapped image (the last passed depth image is used for mapping) assumed to be grabbed by the camera cam. More...

void	mapImageToDepth (const core::ImgBase src, core::ImgBase *dst)

std::vector< std::vector< int > >	getSurfaces ()
	Returns the surface cluster from the pre-segmentation. More...

std::vector< std::vector< int > >	getSegments ()
	Returns the segment blobs. More...

void	setNormals (core::DataSegment< float, 4 > &normals)

void	setEdgeSegData (core::Img8u &edges, core::Img8u &normal_img)

void	setUseExternalEdges (bool use_external_edges)

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Private Member Functions
void	initProperties ()

Private Attributes
Data *	m_data
	internal data type More...

Additional Inherited Members
Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

Detailed Description

This class computes the whole segmentation pipeline of the feature graph based segmentation. The configurable class provides the GUI with all paramters: Prop("segmentation")

Member Enumeration Documentation

◆ Mode

enum icl::geom::ConfigurableDepthImageSegmenter::Mode

Enumerator
BEST
GPU
CPU

Constructor & Destructor Documentation

◆ ConfigurableDepthImageSegmenter() [1/2]

icl::geom::ConfigurableDepthImageSegmenter::ConfigurableDepthImageSegmenter	(	Mode	mode,
		Camera	depthCam,
		icl::geom::PointCloudCreator::DepthImageMode	depth_mode = `icl::geom::PointCloudCreator::KinectRAW11Bit`
	)

Constructor.

Constructs an object of this class.

Parameters

mode	GPU, CPU and BEST (default)
depthCam	the depth camera

◆ ConfigurableDepthImageSegmenter() [2/2]

icl::geom::ConfigurableDepthImageSegmenter::ConfigurableDepthImageSegmenter	(	Mode	mode,
		Camera	depthCam,
		Camera	colorCam,
		icl::geom::PointCloudCreator::DepthImageMode	depth_mode = `icl::geom::PointCloudCreator::KinectRAW11Bit`
	)

◆ ~ConfigurableDepthImageSegmenter()

icl::geom::ConfigurableDepthImageSegmenter::~ConfigurableDepthImageSegmenter ( )

Destructor.

Member Function Documentation

◆ apply()

void icl::geom::ConfigurableDepthImageSegmenter::apply	(	const core::Img32f &	depthImage,
		PointCloudObject &	obj
	)

One line call for the whole segmentation pipeline.

Parameters

depthImage	the input depth image
obj	the empty pointcloud object for the results (computed in the method)

◆ getAngleImage()

* const core::Img32f icl::geom::ConfigurableDepthImageSegmenter::getAngleImage ( )

Returns the angle image of the object edge detector /**

Returns: the angle image

◆ getColoredLabelImage()

core::Img8u icl::geom::ConfigurableDepthImageSegmenter::getColoredLabelImage ( )

Returns the colored label image.

Returns: the colored label image

◆ getEdgeImage()

const core::Img8u icl::geom::ConfigurableDepthImageSegmenter::getEdgeImage ( )

Returns the edge image.

Returns: the edge image

◆ getLabelImage()

core::Img32s icl::geom::ConfigurableDepthImageSegmenter::getLabelImage ( )

Returns the label image.

Returns: the label image

◆ getMappedColorImage()

core::Img8u icl::geom::ConfigurableDepthImageSegmenter::getMappedColorImage ( const core::Img8u & image )

Returns the mapped image (the last passed depth image is used for mapping) assumed to be grabbed by the camera cam.

Returns: the mapped image

◆ getNormalImage()

const core::Img8u icl::geom::ConfigurableDepthImageSegmenter::getNormalImage ( )

Returns the colored normal image.

Returns: the colored normal image

◆ getNormalSegment()

const core::DataSegment<float,4> icl::geom::ConfigurableDepthImageSegmenter::getNormalSegment ( )

◆ getSegments()

std::vector<std::vector<int> > icl::geom::ConfigurableDepthImageSegmenter::getSegments ( )

Returns the segment blobs.

Returns: a vector of segments. Every entry contains a vector with the surface indices

◆ getSurfaceFeatures()

std::vector<geom::SurfaceFeatureExtractor::SurfaceFeature> icl::geom::ConfigurableDepthImageSegmenter::getSurfaceFeatures ( )

◆ getSurfaces()

std::vector<std::vector<int> > icl::geom::ConfigurableDepthImageSegmenter::getSurfaces ( )

Returns the surface cluster from the pre-segmentation.

Returns: a vector of surfaces. Every entry contains a vector with the point indices

◆ initProperties()

void icl::geom::ConfigurableDepthImageSegmenter::initProperties ( )

private

◆ mapImageToDepth()

void icl::geom::ConfigurableDepthImageSegmenter::mapImageToDepth	(	const core::ImgBase *	src,
		core::ImgBase **	dst
	)

◆ setEdgeSegData()

void icl::geom::ConfigurableDepthImageSegmenter::setEdgeSegData	(	core::Img8u &	edges,
		core::Img8u &	normal_img
	)

◆ setNormals()

void icl::geom::ConfigurableDepthImageSegmenter::setNormals ( core::DataSegment< float, 4 > & normals )

◆ setUseExternalEdges()

void icl::geom::ConfigurableDepthImageSegmenter::setUseExternalEdges ( bool use_external_edges )

Member Data Documentation

◆ m_data

Data* icl::geom::ConfigurableDepthImageSegmenter::m_data