class for remaining points feature. More...

#include <RemainingPointsFeatureExtractor.h>

Static Public Member Functions
static void	apply (core::DataSegment< float, 4 > &xyz, const core::Img32f &depthImage, core::Img32s &labelImage, core::Img8u &maskImage, std::vector< std::vector< int > > &surfaces, std::vector< std::vector< int > > &segments, int minSize=10, float euclideanDistance=5., int radius=6, float assignEuclideanDistance=5., int supportTolerance=9)
	Calculates and assigns the remaining points segments (including local minima separation). More...

static void	apply (core::DataSegment< float, 4 > &xyz, core::Img32s &labelImage, core::Img8u &maskImage, std::vector< std::vector< int > > &surfaces, std::vector< std::vector< int > > &segments, int minSize=10, float euclideanDistance=5., float assignEuclideanDistance=5., int supportTolerance=9)
	Calculates and assigns the remaining points segments (excluding local minima separation). More...

static math::DynMatrix< bool >	apply (core::DataSegment< float, 4 > &xyz, const core::Img32f &depthImage, core::Img32s &labelImage, core::Img8u &maskImage, std::vector< std::vector< int > > &surfaces, int minSize=10, float euclideanDistance=5., int radius=6, float assignEuclideanDistance=5.)
	Calculates the remaining points segments and creates a connectivity matrix (including local minima separation). More...

static math::DynMatrix< bool >	apply (core::DataSegment< float, 4 > &xyz, core::Img32s &labelImage, core::Img8u &maskImage, std::vector< std::vector< int > > &surfaces, int minSize=10, float euclideanDistance=5., float assignEuclideanDistance=5.)
	Calculates the remaining points segments and creates a connectivity matrix (excluding local minima separation). More...

Static Private Member Functions
static void	calculateLocalMinima (const core::Img32f &depthImage, core::Img8u &maskImage, int radius)

static void	clusterRemainingPoints (core::DataSegment< float, 4 > &xyz, std::vector< std::vector< int > > &surfaces, core::Img32s &labelImage, core::Img8u &maskImage, int minSize, float euclideanDistance, int numCluster)

static void	detectNeighbours (core::DataSegment< float, 4 > &xyz, std::vector< std::vector< int > > &surfaces, core::Img32s &labelImage, std::vector< std::vector< int > > &neighbours, std::vector< std::vector< int > > &neighboursPoints, int numCluster, float assignEuclideanDistance)

static bool	checkNotExist (int zw, std::vector< int > &nb, std::vector< int > &nbPoints)

static void	ruleBasedAssignment (core::DataSegment< float, 4 > &xyz, core::Img32s &labelImage, std::vector< std::vector< int > > &surfaces, std::vector< std::vector< int > > &segments, std::vector< std::vector< int > > &neighbours, std::vector< std::vector< int > > &neighboursPoints, int numCluster, int supportTolerance)

static std::vector< int >	segmentMapping (std::vector< std::vector< int > > &segments, int numSurfaces)

static int	ransacAssignment (core::DataSegment< float, 4 > &xyz, std::vector< std::vector< int > > &surfaces, std::vector< int > &nb, int x)

static bool	checkSupport (core::Img32s &labelImage, std::vector< int > &surface, int neighbourID, int supportTolerance)

Detailed Description

class for remaining points feature.

This class implements the remaining points feature for feature-graph based segmentation.

Member Function Documentation

◆ apply() [1/4]

static void icl::geom::RemainingPointsFeatureExtractor::apply	(	core::DataSegment< float, 4 > &	xyz,
		const core::Img32f &	depthImage,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		std::vector< std::vector< int > > &	surfaces,
		std::vector< std::vector< int > > &	segments,
		int	minSize = `10`,
		float	euclideanDistance = `5.`,
		int	radius = `6`,
		float	assignEuclideanDistance = `5.`,
		int	supportTolerance = `9`
	)

static

Calculates and assigns the remaining points segments (including local minima separation).

Parameters

xyz	the input xyz pointcloud data segment
depthImage	the input depth image
labelImage	the label image (modified by the method)
maskImage	the mask image (modified by the method)
surfaces	the surfaces (modified by the method)
segments	the segments (modified by the method)
minSize	the minimum size of remaining points segments
euclideanDistance	the euclidean distance for clustering
radius	the radius for local minima separation
assignEuclideanDistance	the euclidean distance for assigning to neighbouring surfaces
supportTolerance	the max tolerance for detecting a blob as supported and therefore separate object

◆ apply() [2/4]

static void icl::geom::RemainingPointsFeatureExtractor::apply	(	core::DataSegment< float, 4 > &	xyz,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		std::vector< std::vector< int > > &	surfaces,
		std::vector< std::vector< int > > &	segments,
		int	minSize = `10`,
		float	euclideanDistance = `5.`,
		float	assignEuclideanDistance = `5.`,
		int	supportTolerance = `9`
	)

static

Calculates and assigns the remaining points segments (excluding local minima separation).

Parameters

xyz	the input xyz pointcloud data segment
labelImage	the label image (modified by the method)
maskImage	the mask image (modified by the method)
surfaces	the surfaces (modified by the method)
segments	the segments (modified by the method)
minSize	the minimum size of remaining points segments
euclideanDistance	the euclidean distance for clustering
assignEuclideanDistance	the euclidean distance for assigning to neighbouring surfaces
supportTolerance	the max tolerance for detecting a blob as supported and therefore separate object

◆ apply() [3/4]

static math::DynMatrix<bool> icl::geom::RemainingPointsFeatureExtractor::apply	(	core::DataSegment< float, 4 > &	xyz,
		const core::Img32f &	depthImage,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		std::vector< std::vector< int > > &	surfaces,
		int	minSize = `10`,
		float	euclideanDistance = `5.`,
		int	radius = `6`,
		float	assignEuclideanDistance = `5.`
	)

static

Calculates the remaining points segments and creates a connectivity matrix (including local minima separation).

Parameters

xyz	the input xyz pointcloud data segment
depthImage	the input depth image
labelImage	the label image (modified by the method)
maskImage	the mask image (modified by the method)
surfaces	the surfaces (modified by the method)
minSize	the minimum size of remaining points segments
euclideanDistance	the euclidean distance for clustering
radius	the radius for local minima separation
assignEuclideanDistance	the euclidean distance for assigning to neighbouring surfaces

Returns: the connectivity matrix

◆ apply() [4/4]

static math::DynMatrix<bool> icl::geom::RemainingPointsFeatureExtractor::apply	(	core::DataSegment< float, 4 > &	xyz,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		std::vector< std::vector< int > > &	surfaces,
		int	minSize = `10`,
		float	euclideanDistance = `5.`,
		float	assignEuclideanDistance = `5.`
	)

static

Calculates the remaining points segments and creates a connectivity matrix (excluding local minima separation).

Parameters

xyz	the input xyz pointcloud data segment
labelImage	the label image (modified by the method)
maskImage	the mask image (modified by the method)
surfaces	the surfaces (modified by the method)
minSize	the minimum size of remaining points segments
euclideanDistance	the euclidean distance for clustering
assignEuclideanDistance	the euclidean distance for assigning to neighbouring surfaces

Returns: the connectivity matrix

◆ calculateLocalMinima()

static void icl::geom::RemainingPointsFeatureExtractor::calculateLocalMinima	(	const core::Img32f &	depthImage,
		core::Img8u &	maskImage,
		int	radius
	)

staticprivate

◆ checkNotExist()

static bool icl::geom::RemainingPointsFeatureExtractor::checkNotExist	(	int	zw,
		std::vector< int > &	nb,
		std::vector< int > &	nbPoints
	)

staticprivate

◆ checkSupport()

static bool icl::geom::RemainingPointsFeatureExtractor::checkSupport	(	core::Img32s &	labelImage,
		std::vector< int > &	surface,
		int	neighbourID,
		int	supportTolerance
	)

staticprivate

◆ clusterRemainingPoints()

static void icl::geom::RemainingPointsFeatureExtractor::clusterRemainingPoints	(	core::DataSegment< float, 4 > &	xyz,
		std::vector< std::vector< int > > &	surfaces,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		int	minSize,
		float	euclideanDistance,
		int	numCluster
	)

staticprivate

◆ detectNeighbours()

static void icl::geom::RemainingPointsFeatureExtractor::detectNeighbours	(	core::DataSegment< float, 4 > &	xyz,
		std::vector< std::vector< int > > &	surfaces,
		core::Img32s &	labelImage,
		std::vector< std::vector< int > > &	neighbours,
		std::vector< std::vector< int > > &	neighboursPoints,
		int	numCluster,
		float	assignEuclideanDistance
	)

staticprivate

◆ ransacAssignment()

static int icl::geom::RemainingPointsFeatureExtractor::ransacAssignment	(	core::DataSegment< float, 4 > &	xyz,
		std::vector< std::vector< int > > &	surfaces,
		std::vector< int > &	nb,
		int	x
	)

staticprivate

◆ ruleBasedAssignment()

static void icl::geom::RemainingPointsFeatureExtractor::ruleBasedAssignment	(	core::DataSegment< float, 4 > &	xyz,
		core::Img32s &	labelImage,
		std::vector< std::vector< int > > &	surfaces,
		std::vector< std::vector< int > > &	segments,
		std::vector< std::vector< int > > &	neighbours,
		std::vector< std::vector< int > > &	neighboursPoints,
		int	numCluster,
		int	supportTolerance
	)

staticprivate

◆ segmentMapping()

static std::vector<int> icl::geom::RemainingPointsFeatureExtractor::segmentMapping	(	std::vector< std::vector< int > > &	segments,
		int	numSurfaces
	)

staticprivate

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

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

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ apply() [1/4]

◆ apply() [2/4]

◆ apply() [3/4]

◆ apply() [4/4]

◆ calculateLocalMinima()

◆ checkNotExist()

◆ checkSupport()

◆ clusterRemainingPoints()

◆ detectNeighbours()

◆ ransacAssignment()

◆ ruleBasedAssignment()

◆ segmentMapping()