class for curvature feature (open and occluded objects). More...

#include <CurvatureFeatureExtractor.h>

Static Public Member Functions
static math::DynMatrix< bool >	apply (const core::Img32f &depthImg, core::DataSegment< float, 4 > &xyz, math::DynMatrix< bool > &initialMatrix, std::vector< SurfaceFeatureExtractor::SurfaceFeature > features, std::vector< std::vector< int > > &surfaces, core::DataSegment< float, 4 > &normals, bool useOpenObjects=true, bool useOccludedObjects=true, float histogramSimilarity=0.5, int distance=10, float maxError=10., int ransacPasses=20, float distanceTolerance=3., float outlierTolerance=5.)
	Calculates the curvature feature matrix. More...

Static Private Member Functions
static bool	computeOpenObject (core::DataSegment< float, 4 > &normals, SurfaceFeatureExtractor::SurfaceFeature feature1, SurfaceFeatureExtractor::SurfaceFeature feature2, std::vector< int > &surface1, std::vector< int > &surface2, int distance, int w)

static bool	computeOccludedObject (const core::Img32f &depthImg, core::DataSegment< float, 4 > &xyz, core::DataSegment< float, 4 > &normals, SurfaceFeatureExtractor::SurfaceFeature feature1, SurfaceFeatureExtractor::SurfaceFeature feature2, std::vector< int > &surface1, std::vector< int > &surface2, int w, float maxError, int ransacPasses, float distanceTolerance, float outlierTolerance)

static float	computeConvexity (core::DataSegment< float, 4 > &normals, SurfaceFeatureExtractor::SurfaceFeature feature, std::vector< int > &surface, int w)

static std::pair< utils::Point, utils::Point >	computeExtremalBins (SurfaceFeatureExtractor::SurfaceFeature feature)

static std::pair< utils::Point, utils::Point >	backproject (core::DataSegment< float, 4 > &normals, std::pair< utils::Point, utils::Point > &histo1ExtremalBins, std::vector< int > &surface1, int w)

static std::vector< int >	backprojectPointIDs (core::DataSegment< float, 4 > &normals, utils::Point bin, std::vector< int > &surface)

static utils::Point	computeMean (std::vector< int > &imgIDs, int w)

static std::vector< utils::Point >	createPointsFromIDs (std::vector< int > &imgIDs, int w)

static std::vector< Vec >	createPointsFromIDs (core::DataSegment< float, 4 > &xyz, std::vector< int > &imgIDs)

static float	computeConvexity (std::pair< utils::Point, utils::Point > histoExtremalBins, std::pair< utils::Point, utils::Point > imgBackproject)

static float	linePointDistance (std::pair< Vec, Vec > line, Vec point)

static utils::Point	idToPoint (int id, int w)

Detailed Description

class for curvature feature (open and occluded objects).

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

Member Function Documentation

◆ apply()

static math::DynMatrix<bool> icl::geom::CurvatureFeatureExtractor::apply	(	const core::Img32f &	depthImg,
		core::DataSegment< float, 4 > &	xyz,
		math::DynMatrix< bool > &	initialMatrix,
		std::vector< SurfaceFeatureExtractor::SurfaceFeature >	features,
		std::vector< std::vector< int > > &	surfaces,
		core::DataSegment< float, 4 > &	normals,
		bool	useOpenObjects = `true`,
		bool	useOccludedObjects = `true`,
		float	histogramSimilarity = `0.5`,
		int	distance = `10`,
		float	maxError = `10.`,
		int	ransacPasses = `20`,
		float	distanceTolerance = `3.`,
		float	outlierTolerance = `5.`
	)

static

Calculates the curvature feature matrix.

Parameters

depthImg	the input depth image
xyz	the input xyz pointcloud data segment
initialMatrix	the initial boolean test matrix (0 test if both curved, 1 dont test, preferably an adjacency matrix)
features	the surface feature for the surfaces
surfaces	the vector of surface id vectors
normals	the input normals
useOpenObjects	true for computation of open objects
useOccludedObjects	true for computation of occluded objects
histogramSimilarity	the minimum histogram similarity
distance	the maximum distance between two curved objects in pixel for open objects (e.g. a cup)
maxError	maximum RANSAC error for object alignment detection
ransacPasses	number of RANSAC passes for object alignment detection
distanceTolerance	distance tolerance for occlusion check
outlierTolerance	outlier tolerance for occlusion check

Returns: the boolean curvature matrix

◆ backproject()

static std::pair<utils::Point,utils::Point> icl::geom::CurvatureFeatureExtractor::backproject	(	core::DataSegment< float, 4 > &	normals,
		std::pair< utils::Point, utils::Point > &	histo1ExtremalBins,
		std::vector< int > &	surface1,
		int	w
	)

staticprivate

◆ backprojectPointIDs()

static std::vector<int> icl::geom::CurvatureFeatureExtractor::backprojectPointIDs	(	core::DataSegment< float, 4 > &	normals,
		utils::Point	bin,
		std::vector< int > &	surface
	)

staticprivate

◆ computeConvexity() [1/2]

static float icl::geom::CurvatureFeatureExtractor::computeConvexity	(	core::DataSegment< float, 4 > &	normals,
		SurfaceFeatureExtractor::SurfaceFeature	feature,
		std::vector< int > &	surface,
		int	w
	)

staticprivate

◆ computeConvexity() [2/2]

static float icl::geom::CurvatureFeatureExtractor::computeConvexity	(	std::pair< utils::Point, utils::Point >	histoExtremalBins,
		std::pair< utils::Point, utils::Point >	imgBackproject
	)

staticprivate

◆ computeExtremalBins()

static std::pair<utils::Point,utils::Point> icl::geom::CurvatureFeatureExtractor::computeExtremalBins ( SurfaceFeatureExtractor::SurfaceFeature feature )

staticprivate

◆ computeMean()

static utils::Point icl::geom::CurvatureFeatureExtractor::computeMean	(	std::vector< int > &	imgIDs,
		int	w
	)

staticprivate

◆ computeOccludedObject()

static bool icl::geom::CurvatureFeatureExtractor::computeOccludedObject	(	const core::Img32f &	depthImg,
		core::DataSegment< float, 4 > &	xyz,
		core::DataSegment< float, 4 > &	normals,
		SurfaceFeatureExtractor::SurfaceFeature	feature1,
		SurfaceFeatureExtractor::SurfaceFeature	feature2,
		std::vector< int > &	surface1,
		std::vector< int > &	surface2,
		int	w,
		float	maxError,
		int	ransacPasses,
		float	distanceTolerance,
		float	outlierTolerance
	)

staticprivate

◆ computeOpenObject()

static bool icl::geom::CurvatureFeatureExtractor::computeOpenObject	(	core::DataSegment< float, 4 > &	normals,
		SurfaceFeatureExtractor::SurfaceFeature	feature1,
		SurfaceFeatureExtractor::SurfaceFeature	feature2,
		std::vector< int > &	surface1,
		std::vector< int > &	surface2,
		int	distance,
		int	w
	)

staticprivate

◆ createPointsFromIDs() [1/2]

static std::vector<utils::Point> icl::geom::CurvatureFeatureExtractor::createPointsFromIDs	(	std::vector< int > &	imgIDs,
		int	w
	)

staticprivate

◆ createPointsFromIDs() [2/2]

static std::vector<Vec> icl::geom::CurvatureFeatureExtractor::createPointsFromIDs	(	core::DataSegment< float, 4 > &	xyz,
		std::vector< int > &	imgIDs
	)

staticprivate

◆ idToPoint()

static utils::Point icl::geom::CurvatureFeatureExtractor::idToPoint	(	int	id,
		int	w
	)

staticprivate

◆ linePointDistance()

static float icl::geom::CurvatureFeatureExtractor::linePointDistance	(	std::pair< Vec, Vec >	line,
		Vec	point
	)

staticprivate

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

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/CurvatureFeatureExtractor.h

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ apply()

◆ backproject()

◆ backprojectPointIDs()

◆ computeConvexity() [1/2]

◆ computeConvexity() [2/2]

◆ computeExtremalBins()

◆ computeMean()

◆ computeOccludedObject()

◆ computeOpenObject()

◆ createPointsFromIDs() [1/2]

◆ createPointsFromIDs() [2/2]

◆ idToPoint()

◆ linePointDistance()