#include <Segmentation3D.h>

Public Member Functions
	Segmentation3D (utils::Size size)
	Constructor. More...

	~Segmentation3D ()
	Destructor. More...

core::Img8u	segmentation (core::DataSegment< float, 4 > xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg)
	One line call for the complex segmentation using probabilitstic surface composition. More...

core::Img8u	segmentationBlobs (core::DataSegment< float, 4 > xyz, const core::Img8u &edgeImg, const core::Img32f &depthImg)
	One line call for the simple support plane and blobs segmentation. More...

void	setUseCL (bool use)
	Sets openCL enabled/disabled. Enabling has no effect if no openCL context is available. (default true=enabled) More...

void	setUseROI (bool use)
	Sets ROI enabled/disabled. (default false=disabled) More...

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

void	setMinClusterSize (unsigned int size)
	Sets the minimum cluster size for region growing (default 25) More...

void	setUseFastGrowing (bool use)
	Sets fast growing enabled/disabled. Fast growing uses the region detector, normal growing uses classical region growing. (default false=disabled) More...

void	setAssignmentRadius (int radius)
	Sets the assignment radius for the edge point assignment after region growing. (default 5) More...

void	setAssignmentMaxDistance (float maxDistance)
	Sets the maximum distance for the edge point assignment after region growing. (default 15) More...

void	setRANSACeuclDistance (int distance)
	Sets the maximum euclidean distance for RANSAC. (default 15) More...

void	setRANSACpasses (int passes)
	Sets the RANSAC passes (default 20) More...

void	setRANSACtolerance (int tolerance)
	Sets the RANSAC tolerance for the cutfree neighbours calculation. (default 30) More...

void	setRANSACsubset (int subset)
	Sets the subset for the RANSAC check (every n-th point). (default 2) More...

void	setBLOBSeuclDistance (int distance)
	Sets the minimum euclidean BLOB distance for remaining points or the blob segmentation. More...

bool	isCLReady ()
	Returns the openCL status (true=openCL context ready, false=no openCL context available) More...

bool	isCLActive ()
	Returns the openCL activation status (true=openCL enabled, false=openCL disabled). The status can be set by setUseCL(bool use). More...

core::Img8u	getSegmentColorImage ()
	Returns the color segment image. (Use one line calls) More...

std::vector< std::vector< int > >	getCluster ()
	Returns the cluster. More...

std::vector< std::vector< int > >	getBlobs ()
	Returns the blobs of the complex segmentation. More...

const int *	getAssignment ()
	Returns the internally used assignment array. More...

math::DynMatrix< bool >	getNeigboursMatrix ()
	Returns the boolean neighbourhood matrix. More...

math::DynMatrix< float >	getProbabilityMatrix ()
	Returns the probability matrix. More...

void	setXYZH (core::DataSegment< float, 4 > xyz)
	Sets the xyzh DataSegment from the PointCloudObject class. (Use one line calls) More...

void	setEdgeImage (const core::Img8u &edgeImage)
	Sets the edge image from the PointNormalEstimation class. (Use one line calls) More...

void	setDepthImage (const core::Img32f &depth)
	Sets the depth image. More...

void	clearData ()
	Clears the data. Must be called before every iteration. (Use one line calls) More...

void	regionGrow ()
	Region growing. (Use one line calls) More...

void	calculatePointAssignmentAndAdjacency ()
	Calculates the edge point assignment and the neighbourhood matrix. (Use one line calls) More...

void	calculateCutfreeMatrix ()
	Calculates the cutfree neighbouring cluster. (Use one line calls) More...

void	greedyComposition ()
	Greedy composition with probability matrix. (Use one line calls) More...

void	calculateRemainingPoints ()
	Calculates the assignment of the remaining points. (Use one line calls) More...

void	blobSegmentation ()
	Calculates the blob segmentation (support plane and blobs). (Use one line calls) More...

void	colorPointcloud ()
	Calculates the color segment image. (Use one line calls) More...

Private Member Functions
void	checkNeighbourGrayThreshold (int x, int y, int zuw, int threshold, std::vector< int > *data)

void	checkNeighbourDistanceRemaining (int x, int y, int zuw, std::vector< int > *data)

void	regionGrowBlobs ()

void	checkNeighbourDistance (int x, int y, int zuw, std::vector< int > *data)

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

float	dist3 (const Vec &a, const Vec &b)

Private Attributes
int	w

int	h

int	dim

utils::Size	s

float	xMinROI

float	xMaxROI

float	yMinROI

float	yMaxROI

bool	useROI

bool *	elements

int *	assignment

int *	assignmentRemaining

bool *	elementsBlobs

int *	assignmentBlobs

core::DataSegment< float, 4 >	xyzData

core::Img8u	normalEdgeImage

core::Img32f	depthImage

core::Img8u	segmentColorImage

std::vector< std::vector< int > >	cluster

std::vector< std::vector< int > >	blobs

unsigned int	minClusterSize

bool	useFastGrowing

int	assignmentRadius

float	assignmentMaxDistance

int	RANSACeuclDistance

int	RANSACpasses

int	RANSACtolerance

int	RANSACsubset

int	BLOBSeuclDistance

math::DynMatrix< bool >	neighbours

math::DynMatrix< bool >	cutfree

math::DynMatrix< float >	probabilities

cv::RegionDetector *	region

bool	clReady

bool	useCL

unsigned char *	segmentColorImageRArray

unsigned char *	segmentColorImageGArray

unsigned char *	segmentColorImageBArray

utils::CLProgram	program

utils::CLKernel	kernelSegmentColoring

utils::CLKernel	kernelPointAssignment

utils::CLKernel	kernelCheckRANSAC

utils::CLKernel	kernelAssignRANSAC

utils::CLBuffer	segmentColorImageRBuffer

utils::CLBuffer	segmentColorImageGBuffer

utils::CLBuffer	segmentColorImageBBuffer

utils::CLBuffer	assignmentBuffer

utils::CLBuffer	neighboursBuffer

utils::CLBuffer	elementsBuffer

utils::CLBuffer	assignmentOutBuffer

utils::CLBuffer	xyzBuffer

utils::CLBuffer	assignmentBlobsBuffer

utils::CLBuffer	elementsBlobsBuffer

Detailed Description

This class includes segmentation algorithms 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 PointNormalEstimation 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).

Constructor & Destructor Documentation

◆ Segmentation3D()

icl::geom::Segmentation3D::Segmentation3D ( utils::Size size )

Constructor.

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

Parameters

size	size of the input data

◆ ~Segmentation3D()

icl::geom::Segmentation3D::~Segmentation3D ( )

Destructor.

Member Function Documentation

◆ blobSegmentation()

void icl::geom::Segmentation3D::blobSegmentation ( )

Calculates the blob segmentation (support plane and blobs). (Use one line calls)

◆ calculateCutfreeMatrix()

void icl::geom::Segmentation3D::calculateCutfreeMatrix ( )

Calculates the cutfree neighbouring cluster. (Use one line calls)

◆ calculatePointAssignmentAndAdjacency()

void icl::geom::Segmentation3D::calculatePointAssignmentAndAdjacency ( )

Calculates the edge point assignment and the neighbourhood matrix. (Use one line calls)

◆ calculateRemainingPoints()

void icl::geom::Segmentation3D::calculateRemainingPoints ( )

Calculates the assignment of the remaining points. (Use one line calls)

◆ checkNeighbourDistance()

void icl::geom::Segmentation3D::checkNeighbourDistance	(	int	x,
		int	y,
		int	zuw,
		std::vector< int > *	data
	)

private

◆ checkNeighbourDistanceRemaining()

void icl::geom::Segmentation3D::checkNeighbourDistanceRemaining	(	int	x,
		int	y,
		int	zuw,
		std::vector< int > *	data
	)

private

◆ checkNeighbourGrayThreshold()

void icl::geom::Segmentation3D::checkNeighbourGrayThreshold	(	int	x,
		int	y,
		int	zuw,
		int	threshold,
		std::vector< int > *	data
	)

private

◆ checkNotExist()

bool icl::geom::Segmentation3D::checkNotExist	(	int	zw,
		std::vector< int > &	nb
	)

private

◆ clearData()

void icl::geom::Segmentation3D::clearData ( )

Clears the data. Must be called before every iteration. (Use one line calls)

◆ colorPointcloud()

void icl::geom::Segmentation3D::colorPointcloud ( )

Calculates the color segment image. (Use one line calls)

◆ dist3()

float icl::geom::Segmentation3D::dist3	(	const Vec &	a,
		const Vec &	b
	)

private

◆ getAssignment()

const int* icl::geom::Segmentation3D::getAssignment ( )

Returns the internally used assignment array.

Returns: an integer per point, defining in which blob it lies.

◆ getBlobs()

std::vector<std::vector<int> > icl::geom::Segmentation3D::getBlobs ( )

Returns the blobs of the complex segmentation.

Returns: a vector of blobs. Every entry contains a vector with the cluster indices

◆ getCluster()

std::vector<std::vector<int> > icl::geom::Segmentation3D::getCluster ( )

Returns the cluster.

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

◆ getNeigboursMatrix()

math::DynMatrix<bool> icl::geom::Segmentation3D::getNeigboursMatrix ( )

Returns the boolean neighbourhood matrix.

Returns: the neighbourhood/adjacency matrix

◆ getProbabilityMatrix()

math::DynMatrix<float> icl::geom::Segmentation3D::getProbabilityMatrix ( )

Returns the probability matrix.

Returns: returns the probability matrix for cluster composition

◆ getSegmentColorImage()

core::Img8u icl::geom::Segmentation3D::getSegmentColorImage ( )

Returns the color segment image. (Use one line calls)

Returns: the color segment image

◆ greedyComposition()

void icl::geom::Segmentation3D::greedyComposition ( )

Greedy composition with probability matrix. (Use one line calls)

◆ isCLActive()

bool icl::geom::Segmentation3D::isCLActive ( )

Returns the openCL activation status (true=openCL enabled, false=openCL disabled). The status can be set by setUseCL(bool use).

Returns: openCL enabled/disabled

◆ isCLReady()

bool icl::geom::Segmentation3D::isCLReady ( )

Returns the openCL status (true=openCL context ready, false=no openCL context available)

Returns: openCL context ready/unavailable

◆ regionGrow()

void icl::geom::Segmentation3D::regionGrow ( )

Region growing. (Use one line calls)

◆ regionGrowBlobs()

void icl::geom::Segmentation3D::regionGrowBlobs ( )

private

◆ segmentation()

core::Img8u icl::geom::Segmentation3D::segmentation	(	core::DataSegment< float, 4 >	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg
	)

One line call for the complex segmentation using probabilitstic surface composition.

Parameters

xyz	the xyzh DataSegment from the PointCloudObject class
edgeImg	the edge image from the PointNormalEstimation class
depthImg	the input depth image

Returns: the color image of the segments

◆ segmentationBlobs()

core::Img8u icl::geom::Segmentation3D::segmentationBlobs	(	core::DataSegment< float, 4 >	xyz,
		const core::Img8u &	edgeImg,
		const core::Img32f &	depthImg
	)

One line call for the simple support plane and blobs segmentation.

Parameters

xyz	the xyzh DataSegment from the PointCloudObject class
edgeImg	the edge image from the PointNormalEstimation class
depthImg	the input depth image

Returns: the color image of the segments

◆ setAssignmentMaxDistance()

void icl::geom::Segmentation3D::setAssignmentMaxDistance ( float maxDistance )

Sets the maximum distance for the edge point assignment after region growing. (default 15)

Parameters

maxDistance maximum distance in mm

◆ setAssignmentRadius()

void icl::geom::Segmentation3D::setAssignmentRadius ( int radius )

Sets the assignment radius for the edge point assignment after region growing. (default 5)

@pram radius the assignment radius in points

◆ setBLOBSeuclDistance()

void icl::geom::Segmentation3D::setBLOBSeuclDistance ( int distance )

Sets the minimum euclidean BLOB distance for remaining points or the blob segmentation.

Parameters

distance the minimum euclidean distance for blob segmentation

◆ setDepthImage()

void icl::geom::Segmentation3D::setDepthImage ( const core::Img32f & depth )

Sets the depth image.

Parameters

depth the depth image

◆ setEdgeImage()

void icl::geom::Segmentation3D::setEdgeImage ( const core::Img8u & edgeImage )

Sets the edge image from the PointNormalEstimation class. (Use one line calls)

Parameters

edgeImage the edge image

◆ setMinClusterSize()

void icl::geom::Segmentation3D::setMinClusterSize ( unsigned int size )

Sets the minimum cluster size for region growing (default 25)

Parameters

size	minimum cluster size in points

◆ setRANSACeuclDistance()

void icl::geom::Segmentation3D::setRANSACeuclDistance ( int distance )

Sets the maximum euclidean distance for RANSAC. (default 15)

Parameters

distance the maximum euclidean distance for RANSAC in mm

◆ setRANSACpasses()

void icl::geom::Segmentation3D::setRANSACpasses ( int passes )

Sets the RANSAC passes (default 20)

Parameters

passes the RANSAC passes

◆ setRANSACsubset()

void icl::geom::Segmentation3D::setRANSACsubset ( int subset )

Sets the subset for the RANSAC check (every n-th point). (default 2)

Parameters

subset the point subset for RANSAC

◆ setRANSACtolerance()

void icl::geom::Segmentation3D::setRANSACtolerance ( int tolerance )

Sets the RANSAC tolerance for the cutfree neighbours calculation. (default 30)

Parameters

tolerance the tolerance in points

◆ setROI()

void icl::geom::Segmentation3D::setROI	(	float	xMin,
		float	xMax,
		float	yMin,
		float	yMax
	)

Sets the ROI in world coordinates.

Parameters

xMin	xMin in mm
xMax	xMax in mm
yMin	yMin in mm
yMax	yMax in mm

◆ setUseCL()

void icl::geom::Segmentation3D::setUseCL ( bool use )

Sets openCL enabled/disabled. Enabling has no effect if no openCL context is available. (default true=enabled)

Parameters

use	enable/disable openCL

◆ setUseFastGrowing()

void icl::geom::Segmentation3D::setUseFastGrowing ( bool use )

Sets fast growing enabled/disabled. Fast growing uses the region detector, normal growing uses classical region growing. (default false=disabled)

Parameters

use	enable/disable fast growing

◆ setUseROI()

void icl::geom::Segmentation3D::setUseROI ( bool use )

Sets ROI enabled/disabled. (default false=disabled)

Parameters

use	enable/disable ROI

◆ setXYZH()

void icl::geom::Segmentation3D::setXYZH ( core::DataSegment< float, 4 > xyz )

Sets the xyzh DataSegment from the PointCloudObject class. (Use one line calls)

Parameters

xyz	the xyz DataSegment

Member Data Documentation

◆ assignment

int* icl::geom::Segmentation3D::assignment

private

◆ assignmentBlobs

int* icl::geom::Segmentation3D::assignmentBlobs

private

◆ assignmentBlobsBuffer

utils::CLBuffer icl::geom::Segmentation3D::assignmentBlobsBuffer

private

◆ assignmentBuffer

utils::CLBuffer icl::geom::Segmentation3D::assignmentBuffer

private

◆ assignmentMaxDistance

float icl::geom::Segmentation3D::assignmentMaxDistance

private

◆ assignmentOutBuffer

utils::CLBuffer icl::geom::Segmentation3D::assignmentOutBuffer

private

◆ assignmentRadius

int icl::geom::Segmentation3D::assignmentRadius

private

◆ assignmentRemaining

int* icl::geom::Segmentation3D::assignmentRemaining

private

◆ blobs

std::vector<std::vector<int> > icl::geom::Segmentation3D::blobs

private

◆ BLOBSeuclDistance

int icl::geom::Segmentation3D::BLOBSeuclDistance

private

◆ clReady

bool icl::geom::Segmentation3D::clReady

private

◆ cluster

std::vector<std::vector<int> > icl::geom::Segmentation3D::cluster

private

◆ cutfree

math::DynMatrix<bool> icl::geom::Segmentation3D::cutfree

private

◆ depthImage

core::Img32f icl::geom::Segmentation3D::depthImage

private

◆ dim

int icl::geom::Segmentation3D::dim

private

◆ elements

bool* icl::geom::Segmentation3D::elements

private

◆ elementsBlobs

bool* icl::geom::Segmentation3D::elementsBlobs

private

◆ elementsBlobsBuffer

utils::CLBuffer icl::geom::Segmentation3D::elementsBlobsBuffer

private

◆ elementsBuffer

utils::CLBuffer icl::geom::Segmentation3D::elementsBuffer

private

◆ h

int icl::geom::Segmentation3D::h

private

◆ kernelAssignRANSAC

utils::CLKernel icl::geom::Segmentation3D::kernelAssignRANSAC

private

◆ kernelCheckRANSAC

utils::CLKernel icl::geom::Segmentation3D::kernelCheckRANSAC

private

◆ kernelPointAssignment

utils::CLKernel icl::geom::Segmentation3D::kernelPointAssignment

private

◆ kernelSegmentColoring

utils::CLKernel icl::geom::Segmentation3D::kernelSegmentColoring

private

◆ minClusterSize

unsigned int icl::geom::Segmentation3D::minClusterSize

private

◆ neighbours

math::DynMatrix<bool> icl::geom::Segmentation3D::neighbours

private

◆ neighboursBuffer

utils::CLBuffer icl::geom::Segmentation3D::neighboursBuffer

private

◆ normalEdgeImage

core::Img8u icl::geom::Segmentation3D::normalEdgeImage

private

◆ probabilities

math::DynMatrix<float> icl::geom::Segmentation3D::probabilities

private

◆ program

utils::CLProgram icl::geom::Segmentation3D::program

private

◆ RANSACeuclDistance

int icl::geom::Segmentation3D::RANSACeuclDistance

private

◆ RANSACpasses

int icl::geom::Segmentation3D::RANSACpasses

private

◆ RANSACsubset

int icl::geom::Segmentation3D::RANSACsubset

private

◆ RANSACtolerance

int icl::geom::Segmentation3D::RANSACtolerance

private

◆ region

cv::RegionDetector* icl::geom::Segmentation3D::region

private

◆ s

utils::Size icl::geom::Segmentation3D::s

private

◆ segmentColorImage

core::Img8u icl::geom::Segmentation3D::segmentColorImage

private

◆ segmentColorImageBArray

unsigned char* icl::geom::Segmentation3D::segmentColorImageBArray

private

◆ segmentColorImageBBuffer

utils::CLBuffer icl::geom::Segmentation3D::segmentColorImageBBuffer

private

◆ segmentColorImageGArray

unsigned char* icl::geom::Segmentation3D::segmentColorImageGArray

private

◆ segmentColorImageGBuffer

utils::CLBuffer icl::geom::Segmentation3D::segmentColorImageGBuffer

private

◆ segmentColorImageRArray

unsigned char* icl::geom::Segmentation3D::segmentColorImageRArray

private

◆ segmentColorImageRBuffer

utils::CLBuffer icl::geom::Segmentation3D::segmentColorImageRBuffer

private

◆ useCL

bool icl::geom::Segmentation3D::useCL

private

◆ useFastGrowing

bool icl::geom::Segmentation3D::useFastGrowing

private

◆ useROI

bool icl::geom::Segmentation3D::useROI

private

◆ w

int icl::geom::Segmentation3D::w

private

◆ xMaxROI

float icl::geom::Segmentation3D::xMaxROI

private

◆ xMinROI

float icl::geom::Segmentation3D::xMinROI

private

◆ xyzBuffer

utils::CLBuffer icl::geom::Segmentation3D::xyzBuffer

private

◆ xyzData

core::DataSegment<float,4> icl::geom::Segmentation3D::xyzData

private

◆ yMaxROI

float icl::geom::Segmentation3D::yMaxROI

private

◆ yMinROI

float icl::geom::Segmentation3D::yMinROI

private

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

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/Segmentation3D.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Segmentation3D()

◆ ~Segmentation3D()

Member Function Documentation

◆ blobSegmentation()

◆ calculateCutfreeMatrix()

◆ calculatePointAssignmentAndAdjacency()

◆ calculateRemainingPoints()

◆ checkNeighbourDistance()

◆ checkNeighbourDistanceRemaining()

◆ checkNeighbourGrayThreshold()

◆ checkNotExist()

◆ clearData()

◆ colorPointcloud()

◆ dist3()

◆ getAssignment()

◆ getBlobs()

◆ getCluster()

◆ getNeigboursMatrix()

◆ getProbabilityMatrix()

◆ getSegmentColorImage()

◆ greedyComposition()

◆ isCLActive()

◆ isCLReady()

◆ regionGrow()

◆ regionGrowBlobs()

◆ segmentation()

◆ segmentationBlobs()

◆ setAssignmentMaxDistance()

◆ setAssignmentRadius()

◆ setBLOBSeuclDistance()

◆ setDepthImage()

◆ setEdgeImage()

◆ setMinClusterSize()

◆ setRANSACeuclDistance()

◆ setRANSACpasses()

◆ setRANSACsubset()

◆ setRANSACtolerance()

◆ setROI()

◆ setUseCL()

◆ setUseFastGrowing()

◆ setUseROI()

◆ setXYZH()

Member Data Documentation

◆ assignment

◆ assignmentBlobs

◆ assignmentBlobsBuffer

◆ assignmentBuffer

◆ assignmentMaxDistance

◆ assignmentOutBuffer

◆ assignmentRadius

◆ assignmentRemaining

◆ blobs

◆ BLOBSeuclDistance

◆ clReady

◆ cluster

◆ cutfree

◆ depthImage

◆ dim

◆ elements

◆ elementsBlobs

◆ elementsBlobsBuffer

◆ elementsBuffer

◆ h

◆ kernelAssignRANSAC

◆ kernelCheckRANSAC

◆ kernelPointAssignment

◆ kernelSegmentColoring

◆ minClusterSize

◆ neighbours

◆ neighboursBuffer

◆ normalEdgeImage

◆ probabilities

◆ program

◆ RANSACeuclDistance

◆ RANSACpasses