icl::geom::EuclideanBlobSegmenter Class Reference

#include <EuclideanBlobSegmenter.h>

Public Types
enum	Mode { BEST, GPU, CPU }

Public Member Functions
	EuclideanBlobSegmenter (Mode mode=BEST)
	Constructor. More...
	~EuclideanBlobSegmenter ()
	Destructor. More...
core::Img8u	apply (core::DataSegment< float, 4 > xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg, bool stabelize=true, bool useROI=false)
	One line call for the support plane and blobs segmentation. More...
void	setROI (float xMin, float xMax, float yMin, float yMax, float zMin, float zMax)
	Sets the ROI in world coordinates. More...
void	setMinClusterSize (unsigned int size)
	Sets the minimum segment size (default 25) More...
void	setRansacParams (float distance, int passes, int subset)
	Sets the RANSAC parameters for the support plane extraction. More...
void	setBLOBSeuclDistance (int distance)
	Sets the minimum euclidean distance of blobs. More...
core::Img32s	getLabelImage (bool stabelize)
	Returns the labeled segment image. More...
core::Img8u	getColoredLabelImage (bool stabelize)
	Returns the colored segment image. Also returned by the apply method. More...
std::vector< std::vector< int > >	getSurfaces ()
	Returns the surface cluster from the pre-segmentation. More...
std::vector< std::vector< int > >	getBlobs ()
	Returns the segment blobs. More...

Private Member Functions
void	regionGrow (bool useROI)
void	blobSegmentation (bool useROI)
void	regionGrowBlobs ()

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

Detailed Description

This class implements blob segmentation for depth images. It uses OpenCL for hardware parallelization if a compatible GPU is found. The input is a depth image, a binarized edge image from the ObjectEdgeDetector class and the xyz DataSegment from the PointCloudObject class. The output is a color image (e.g. as input for setColorsFromImage() method of the PointCloudObject class).

Member Enumeration Documentation

Mode

enum icl::geom::EuclideanBlobSegmenter::Mode

Enumerator
BEST
GPU
CPU

Constructor & Destructor Documentation

EuclideanBlobSegmenter()

icl::geom::EuclideanBlobSegmenter::EuclideanBlobSegmenter

(

Mode

mode = BEST

)

Constructor.

Constructs an object of this class. All default parameters are set. Use setters for desired values.

Parameters

mode	GPU, CPU and BEST (default)

~EuclideanBlobSegmenter()

icl::geom::EuclideanBlobSegmenter::~EuclideanBlobSegmenter

(

)

Destructor.

Member Function Documentation

apply()

core::Img8u icl::geom::EuclideanBlobSegmenter::apply	(	core::DataSegment< float, 4 >	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg,
		bool	stabelize = true,
		bool	useROI = false
	)

One line call for the support plane and blobs segmentation.

Parameters

xyz	the xyzh DataSegment from the PointCloudObject class
edgeImg	the edge image from the ObjectEdgeDetector class
depthImg	the input depth image
stabelize	frame-to-frame cross-correlation to achieve the same object labels for each frame
useROI	true for 3D region of interest (set by setROI() )

Returns

the color image of the segments

blobSegmentation()

void icl::geom::EuclideanBlobSegmenter::blobSegmentation ( bool  useROI )

private

getBlobs()

std::vector<std::vector<int> > icl::geom::EuclideanBlobSegmenter::getBlobs

(

)

Returns the segment blobs.

Returns

a vector of blobs. Every entry contains a vector with the point indices

getColoredLabelImage()

core::Img8u icl::geom::EuclideanBlobSegmenter::getColoredLabelImage

(

bool

stabelize

)

Returns the colored segment image. Also returned by the apply method.

Returns

the colored segment image

getLabelImage()

core::Img32s icl::geom::EuclideanBlobSegmenter::getLabelImage

(

bool

stabelize

)

Returns the labeled segment image.

Returns

the labeled segment image

getSurfaces()

std::vector<std::vector<int> > icl::geom::EuclideanBlobSegmenter::getSurfaces

(

)

Returns the surface cluster from the pre-segmentation.

Returns

a vector of cluster. Every entry contains a vector with the point indices

regionGrow()

void icl::geom::EuclideanBlobSegmenter::regionGrow ( bool  useROI )

private

regionGrowBlobs()

void icl::geom::EuclideanBlobSegmenter::regionGrowBlobs ( )

private

setBLOBSeuclDistance()

void icl::geom::EuclideanBlobSegmenter::setBLOBSeuclDistance

(

int

distance

)

Sets the minimum euclidean distance of blobs.

Parameters

distance

the minimum euclidean distance for blob segmentation

setMinClusterSize()

void icl::geom::EuclideanBlobSegmenter::setMinClusterSize

(

unsigned int

size

)

Sets the minimum segment size (default 25)

Parameters

size	minimum segment size in points

setRansacParams()

void icl::geom::EuclideanBlobSegmenter::setRansacParams	(	float	distance,
		int	passes,
		int	subset
	)

Sets the RANSAC parameters for the support plane extraction.

Parameters

distance	maximum distance between point and plane
passes	number of RANSAC passes
used	subset of points (e.g. 2 for every second point)

setROI()

void icl::geom::EuclideanBlobSegmenter::setROI	(	float	xMin,
		float	xMax,
		float	yMin,
		float	yMax,
		float	zMin,
		float	zMax
	)

Sets the ROI in world coordinates.

Parameters

xMin	xMin in mm
xMax	xMax in mm
yMin	yMin in mm
yMax	yMax in mm
zMin	zMin in mm
zMax	zMax in mm

Member Data Documentation

m_data

Data* icl::geom::EuclideanBlobSegmenter::m_data

private

internal data type

internal data pointer

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

• /Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/EuclideanBlobSegmenter.h