#include <FeatureGraphSegmenter.h>

Public Types
enum	Mode { BEST, GPU, CPU }

Public Member Functions
	FeatureGraphSegmenter (Mode mode=BEST)
	Constructor. More...

	~FeatureGraphSegmenter ()
	Destructor. More...

core::Img8u	apply (core::DataSegment< float, 4 > xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg, core::DataSegment< float, 4 > normals=NULL, bool stabelize=true, bool useROI=false, bool useCutfreeAdjacency=true, bool useCoplanarity=true, bool useCurvature=true, bool useRemainingPoints=true)
	One line call for the surface feature segmentation. More...

std::vector< PointCloudSegmentPtr >	applyHierarchical (core::DataSegment< float, 4 > xyz, core::DataSegment< float, 4 > rgb, const core::Img8u &edgeImg, const core::Img32f &depthImg, core::DataSegment< float, 4 > normals=NULL, bool useROI=false, bool useCutfreeAdjacency=true, bool useCoplanarity=true, bool useCurvature=true, bool useRemainingPoints=true, float weightCutfreeAdjacency=1.0, float weightCoplanarity=0.9, float weightCurvature=0.8, float weightRemainingPoints=0.7)
	One line call for the hierarchical surface feature segmentation. More...

void	setROI (float xMin, float xMax, float yMin, float yMax, float zMin, float zMax)
	Sets the ROI in world coordinates. More...

void	setMinSurfaceSize (unsigned int size)
	Sets the minimum segment size (default 25) More...

void	setAssignmentParams (float distance, int radius)
	Sets the edge point assignment parameters. More...

void	setCutfreeParams (float euclideanDistance, int passes, int tolerance, float minAngle)
	Sets the cutfree adjacency feature parameters. More...

void	setCoplanarityParams (float maxAngle, float distanceTolerance, float outlierTolerance, int numTriangles, int numScanlines)
	Sets the coplanarity feature parameters. More...

void	setCurvatureParams (float histogramSimilarity, bool useOpenObjects, int maxDistance, bool useOccludedObjects, float maxError, int ransacPasses, float distanceTolerance, float outlierTolerance)
	Sets the curvature feature parameters. More...

void	setRemainingPointsParams (int minSize, float euclideanDistance, int radius, float assignEuclideanDistance, int supportTolerance)
	Sets the remaining points assignment parameters. More...

void	setGraphCutThreshold (float threshold)
	Sets the graphcut threshold. More...

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

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

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

core::Img8u	getMaskImage ()
	Returns the mask image. More...

Private Member Functions
void	surfaceSegmentation (core::DataSegment< float, 4 > &xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg, int minSurfaceSize=25, bool useROI=false)

std::vector< PointCloudSegmentPtr >	createHierarchy (math::DynMatrix< float > &probabilityMatrix, core::DataSegment< float, 4 > &xyz, core::DataSegment< float, 4 > &rgb)

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

Detailed Description

This class implements feature graph segmentation for depth images. It uses OpenCL for hardware parallelization if a compatible GPU is found.

Member Enumeration Documentation

◆ Mode

enum icl::geom::FeatureGraphSegmenter::Mode

Enumerator
BEST
GPU
CPU

Constructor & Destructor Documentation

◆ FeatureGraphSegmenter()

icl::geom::FeatureGraphSegmenter::FeatureGraphSegmenter ( 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)

◆ ~FeatureGraphSegmenter()

icl::geom::FeatureGraphSegmenter::~FeatureGraphSegmenter ( )

Destructor.

Member Function Documentation

◆ apply()

core::Img8u icl::geom::FeatureGraphSegmenter::apply	(	core::DataSegment< float, 4 >	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg,
		core::DataSegment< float, 4 >	normals = `NULL`,
		bool	stabelize = `true`,
		bool	useROI = `false`,
		bool	useCutfreeAdjacency = `true`,
		bool	useCoplanarity = `true`,
		bool	useCurvature = `true`,
		bool	useRemainingPoints = `true`
	)

One line call for the surface feature segmentation.

Parameters

xyz	the xyzh DataSegment from the PointCloudObject class
edgeImg	the edge image from the ObjectEdgeDetector class
depthImg	the input depth image
normals	the input normals
stabelize	frame-to-frame cross-correlation to achieve stable object labels for each frame
useROI	true for 3D region of interest (set by setROI() )
useCutreeAdjacency	use the cutfree adjacency feature
useCoplanarity	use the coplanarity feature
useCurvature	use the curvature feature
useRemainingPoints	use the remaining points assignment

Returns: the color image of the segments

◆ applyHierarchical()

std::vector<PointCloudSegmentPtr> icl::geom::FeatureGraphSegmenter::applyHierarchical	(	core::DataSegment< float, 4 >	xyz,
		core::DataSegment< float, 4 >	rgb,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg,
		core::DataSegment< float, 4 >	normals = `NULL`,
		bool	useROI = `false`,
		bool	useCutfreeAdjacency = `true`,
		bool	useCoplanarity = `true`,
		bool	useCurvature = `true`,
		bool	useRemainingPoints = `true`,
		float	weightCutfreeAdjacency = `1.0`,
		float	weightCoplanarity = `0.9`,
		float	weightCurvature = `0.8`,
		float	weightRemainingPoints = `0.7`
	)

One line call for the hierarchical surface feature segmentation.

Parameters

xyz	the xyzh DataSegment from the PointCloudObject class
rgb	the rgba32f DataSegment from the PointCloudObject class
edgeImg	the edge image from the ObjectEdgeDetector class
depthImg	the input depth image
normals	the input normals
useROI	true for 3D region of interest (set by setROI() )
useCutreeAdjacency	use the cutfree adjacency feature
useCoplanarity	use the coplanarity feature
useCurvature	use the curvature feature
useRemainingPoints	use the remaining points assignment
weightCutreeAdjacency	use the cutfree adjacency feature
weightCoplanarity	use the coplanarity feature
weightCurvature	use the curvature feature
weightRemainingPoints	use the remaining points assignment

Returns: the hierachical segmentation tree

◆ createHierarchy()

std::vector<PointCloudSegmentPtr> icl::geom::FeatureGraphSegmenter::createHierarchy	(	math::DynMatrix< float > &	probabilityMatrix,
		core::DataSegment< float, 4 > &	xyz,
		core::DataSegment< float, 4 > &	rgb
	)

private

◆ getColoredLabelImage()

core::Img8u icl::geom::FeatureGraphSegmenter::getColoredLabelImage ( bool stabelize )

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

Parameters

stabelize true for consistent label colors.

Returns: the colored segment image

◆ getLabelImage()

core::Img32s icl::geom::FeatureGraphSegmenter::getLabelImage ( bool stabelize )

Returns the labeled segment image.

Parameters

stabelize true for consistent label IDs.

Returns: the labeled segment image

◆ getMaskImage()

core::Img8u icl::geom::FeatureGraphSegmenter::getMaskImage ( )

Returns the mask image.

Returns: the mask image of the segmentation

◆ getSegments()

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

Returns the segment blobs.

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

◆ getSurfaceFeatures()

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

◆ getSurfaces()

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

Returns the surface cluster from the pre-segmentation.

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

◆ setAssignmentParams()

void icl::geom::FeatureGraphSegmenter::setAssignmentParams	(	float	distance,
		int	radius
	)

Sets the edge point assignment parameters.

Parameters

distance	the maximum euclidean distance between two points
radius	the maximum radius in pixel

◆ setCoplanarityParams()

void icl::geom::FeatureGraphSegmenter::setCoplanarityParams	(	float	maxAngle,
		float	distanceTolerance,
		float	outlierTolerance,
		int	numTriangles,
		int	numScanlines
	)

Sets the coplanarity feature parameters.

Parameters

maxAngle	the maximum angle between two coplanar surfaces
distanceTolerance	distance tolerance for occlusion check
outlierTolerance	outlier tolerance for occlusion check
numTriangles	number of triangles for common plane test
numScanlines	the number of scanlines for occlusion check

◆ setCurvatureParams()

void icl::geom::FeatureGraphSegmenter::setCurvatureParams	(	float	histogramSimilarity,
		bool	useOpenObjects,
		int	maxDistance,
		bool	useOccludedObjects,
		float	maxError,
		int	ransacPasses,
		float	distanceTolerance,
		float	outlierTolerance
	)

Sets the curvature feature parameters.

Parameters

histogramSimilarity	the minimum similarity score for matching
useOpenObjects	test for open curved objects (e.g. a cup)
maxDistance	the maximum distance in pixel between the two surfaces
useOccludedObjects	test for occluded curved objects
maxError	the maximum error in mm for alignment test
ransacPasses	the number of RANSAC passes for alignment test
distanceTolerance	distance tolerance for occlusion check
outlierTolerance	outlier tolerance for occlusion check

◆ setCutfreeParams()

void icl::geom::FeatureGraphSegmenter::setCutfreeParams	(	float	euclideanDistance,
		int	passes,
		int	tolerance,
		float	minAngle
	)

Sets the cutfree adjacency feature parameters.

Parameters

euclideanDistance	the euclidean distance for RANSAC test
passes	the number of RANSAC passes
tolerance	the outlier tolerance in points for RANSAC
minAngle	the minimum angle between two adjacent surfaces

◆ setGraphCutThreshold()

void icl::geom::FeatureGraphSegmenter::setGraphCutThreshold ( float threshold )

Sets the graphcut threshold.

Parameters

threshold the maximum weight of a cut

◆ setMinSurfaceSize()

void icl::geom::FeatureGraphSegmenter::setMinSurfaceSize ( unsigned int size )

Sets the minimum segment size (default 25)

Parameters

size	minimum segment size in points

◆ setRemainingPointsParams()

void icl::geom::FeatureGraphSegmenter::setRemainingPointsParams	(	int	minSize,
		float	euclideanDistance,
		int	radius,
		float	assignEuclideanDistance,
		int	supportTolerance
	)

Sets the remaining points assignment parameters.

Parameters

minSize	the minimum size of a remaining point blob
euclideanDistance	the maximum euclidean distance for point clustering
radius	the radius for local minima search
assignEuclideanDistance	the euclidean distance for assigning to neighbouring surfaces
supportTolerance	the max tolerance for detecting a blob as supported and therefore separate object

◆ setROI()

void icl::geom::FeatureGraphSegmenter::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

◆ surfaceSegmentation()

void icl::geom::FeatureGraphSegmenter::surfaceSegmentation	(	core::DataSegment< float, 4 > &	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg,
		int	minSurfaceSize = `25`,
		bool	useROI = `false`
	)

private

Member Data Documentation

◆ m_data

Data* icl::geom::FeatureGraphSegmenter::m_data

private

internal data type

internal data pointer

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

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Mode

Constructor & Destructor Documentation

◆ FeatureGraphSegmenter()

◆ ~FeatureGraphSegmenter()

Member Function Documentation

◆ apply()

◆ applyHierarchical()

◆ createHierarchy()

◆ getColoredLabelImage()

◆ getLabelImage()

◆ getMaskImage()

◆ getSegments()

◆ getSurfaceFeatures()

◆ getSurfaces()

◆ setAssignmentParams()

◆ setCoplanarityParams()

◆ setCurvatureParams()

◆ setCutfreeParams()

◆ setGraphCutThreshold()

◆ setMinSurfaceSize()

◆ setRemainingPointsParams()

◆ setROI()

◆ surfaceSegmentation()

Member Data Documentation

◆ m_data