Support class for segmentation algorithms. More...

#include <SegmenterUtils.h>

Public Types
enum	Mode { BEST, GPU, CPU }

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

	~SegmenterUtils ()
	Destructor. More...

core::Img8u	createColorImage (core::Img32s &labelImage)
	Creates a color image (e.g. for pointcloud coloring) from a given segmentation label image. More...

core::Img8u	createROIMask (core::DataSegment< float, 4 > &xyzh, core::Img32f &depthImage, float xMin, float xMax, float yMin, float yMax, float zMin=-10000, float zMax=10000)
	Creates the mask image for segmentation (including 3D ROI). More...

core::Img8u	createMask (core::Img32f &depthImage)
	Creates the mask image for segmentation. More...

core::Img32s	stabelizeSegmentation (core::Img32s &labelImage)
	Minimizes the label ID changes from frame to frame. The overlaps between the current and the previous label image are calculated and relabeled for the result. More...

math::DynMatrix< bool >	calculateAdjacencyMatrix (core::DataSegment< float, 4 > &xyzh, core::Img32s &labelImage, core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces)
	Calculates the adjacency between segments. Use edgePointAssignmentAndAdjacencyMatrix(...) if edge point assignment is needed as well. More...

void	edgePointAssignment (core::DataSegment< float, 4 > &xyzh, core::Img32s &labelImage, core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces)
	Assigns the edge points to the surfaces. Use edgePointAssignmentAndAdjacencyMatrix(...) if adjacency matrix is needed as well. More...

math::DynMatrix< bool >	edgePointAssignmentAndAdjacencyMatrix (core::DataSegment< float, 4 > &xyzh, core::Img32s &labelImage, core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces)
	Calculates the adjacency between segments and assigns the edge points to the surfaces. More...

std::vector< std::vector< int > >	extractSegments (core::Img32s &labelImage)
	Extracts the segments from a label image. More...

void	relabel (core::Img32s &labelImage, std::vector< std::vector< int > > &assignment, int maxOldLabel=0)
	Relabels the label image. More...

Static Public Member Functions
static bool	occlusionCheck (core::Img32f &depthImage, utils::Point p1, utils::Point p2, float distanceTolerance=3., float outlierTolerance=5.)
	Checks if there is occlusion between two points (depth of all points on or in front of an augmented line). More...

static std::vector< std::vector< int > >	createLabelVectors (core::Img32s &labelImage)
	Creates the label vectors from a given label image. More...

Private Member Functions
void	createColorImageCL (core::Img32s &labelImage, core::Img8u &colorImage)

void	createColorImageCPU (core::Img32s &labelImage, core::Img8u &colorImage)

std::vector< int >	calculateLabelReassignment (int countCur, int countLast, core::Channel32s &labelImageC, core::Channel32s &lastLabelImageC, utils::Size size)

math::DynMatrix< bool >	edgePointAssignmentAndAdjacencyMatrixCL (core::DataSegment< float, 4 > &xyzh, core::Img32s &labelImage, core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces, bool pointAssignment)

math::DynMatrix< bool >	edgePointAssignmentAndAdjacencyMatrixCPU (core::DataSegment< float, 4 > &xyzh, core::Img32s &labelImage, core::Img8u &maskImage, int radius, float euclideanDistance, int numSurfaces, bool pointAssignment)

Static Private Member Functions
static float	dist3 (const Vec &a, const Vec &b)

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

Detailed Description

Support class for segmentation algorithms.

This class provides supporting methods for segmentation algorithms.

Member Enumeration Documentation

◆ Mode

enum icl::geom::SegmenterUtils::Mode

Enumerator
BEST
GPU
CPU

Constructor & Destructor Documentation

◆ SegmenterUtils()

icl::geom::SegmenterUtils::SegmenterUtils ( Mode mode = BEST )

Constructor.

Constructs an object of this class.

Parameters

mode	the selected mode: CPU, GPU or BEST (uses GPU if available)

◆ ~SegmenterUtils()

icl::geom::SegmenterUtils::~SegmenterUtils ( )

Destructor.

Member Function Documentation

◆ calculateAdjacencyMatrix()

math::DynMatrix<bool> icl::geom::SegmenterUtils::calculateAdjacencyMatrix	(	core::DataSegment< float, 4 > &	xyzh,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		int	radius,
		float	euclideanDistance,
		int	numSurfaces
	)

Calculates the adjacency between segments. Use edgePointAssignmentAndAdjacencyMatrix(...) if edge point assignment is needed as well.

Parameters

xyzh	the input pointcloud (point position)
labelImage	the input label image
maskImage	the input mask image
radius	in pixel (distance of surfaces/segments around separating edge)
euclideanDistance	the maximum euclidean distance between adjacent surfaces/segments
numSurfaces	the number of surfaces/segments in the label image

Returns: the adjacency matrix.

◆ calculateLabelReassignment()

std::vector<int> icl::geom::SegmenterUtils::calculateLabelReassignment	(	int	countCur,
		int	countLast,
		core::Channel32s &	labelImageC,
		core::Channel32s &	lastLabelImageC,
		utils::Size	size
	)

private

◆ createColorImage()

core::Img8u icl::geom::SegmenterUtils::createColorImage ( core::Img32s & labelImage )

Creates a color image (e.g. for pointcloud coloring) from a given segmentation label image.

Parameters

labelImage the input label image

Returns: the output color image.

◆ createColorImageCL()

void icl::geom::SegmenterUtils::createColorImageCL	(	core::Img32s &	labelImage,
		core::Img8u &	colorImage
	)

private

◆ createColorImageCPU()

void icl::geom::SegmenterUtils::createColorImageCPU	(	core::Img32s &	labelImage,
		core::Img8u &	colorImage
	)

private

◆ createLabelVectors()

static std::vector<std::vector<int> > icl::geom::SegmenterUtils::createLabelVectors ( core::Img32s & labelImage )

static

Creates the label vectors from a given label image.

Parameters

labelImage the input label image

Returns: the vector of id vectors

◆ createMask()

core::Img8u icl::geom::SegmenterUtils::createMask ( core::Img32f & depthImage )

Creates the mask image for segmentation.

Parameters

depthImage the input depth image

Returns: the output mask image.

◆ createROIMask()

core::Img8u icl::geom::SegmenterUtils::createROIMask	(	core::DataSegment< float, 4 > &	xyzh,
		core::Img32f &	depthImage,
		float	xMin,
		float	xMax,
		float	yMin,
		float	yMax,
		float	zMin = `-10000`,
		float	zMax = `10000`
	)

Creates the mask image for segmentation (including 3D ROI).

Parameters

xyzh	the input pointcloud (point position)
depthImage	the input depth image @xMin parameter for ROI (in mm for world coordinates) @xMax parameter for ROI (in mm for world coordinates) @yMin parameter for ROI (in mm for world coordinates) @yMax parameter for ROI (in mm for world coordinates) @zMin parameter for ROI (in mm for world coordinates) @zMax parameter for ROI (in mm for world coordinates)

Returns: the output mask image.

◆ dist3()

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

inlinestaticprivate

◆ edgePointAssignment()

void icl::geom::SegmenterUtils::edgePointAssignment	(	core::DataSegment< float, 4 > &	xyzh,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		int	radius,
		float	euclideanDistance,
		int	numSurfaces
	)

Assigns the edge points to the surfaces. Use edgePointAssignmentAndAdjacencyMatrix(...) if adjacency matrix is needed as well.

Parameters

xyzh	the input pointcloud (point position)
labelImage	the input label image (changed by the method)
maskImage	the input mask image (changed by the method)
radius	in pixel (distance of surfaces/segments around separating edge)
euclideanDistance	the maximum euclidean distance between adjacent surfaces/segments
numSurfaces	the number of surfaces/segments in the label image

◆ edgePointAssignmentAndAdjacencyMatrix()

math::DynMatrix<bool> icl::geom::SegmenterUtils::edgePointAssignmentAndAdjacencyMatrix	(	core::DataSegment< float, 4 > &	xyzh,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		int	radius,
		float	euclideanDistance,
		int	numSurfaces
	)

Calculates the adjacency between segments and assigns the edge points to the surfaces.

Parameters

xyzh	the input pointcloud (point position)
labelImage	the input label image (changed by the method)
maskImage	the input mask image (changed by the method)
radius	in pixel (distance of surfaces/segments around separating edge)
euclideanDistance	the maximum euclidean distance between adjacent surfaces/segments
numSurfaces	the number of surfaces/segments in the label image

Returns: the adjacency matrix.

◆ edgePointAssignmentAndAdjacencyMatrixCL()

math::DynMatrix<bool> icl::geom::SegmenterUtils::edgePointAssignmentAndAdjacencyMatrixCL	(	core::DataSegment< float, 4 > &	xyzh,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		int	radius,
		float	euclideanDistance,
		int	numSurfaces,
		bool	pointAssignment
	)

private

◆ edgePointAssignmentAndAdjacencyMatrixCPU()

math::DynMatrix<bool> icl::geom::SegmenterUtils::edgePointAssignmentAndAdjacencyMatrixCPU	(	core::DataSegment< float, 4 > &	xyzh,
		core::Img32s &	labelImage,
		core::Img8u &	maskImage,
		int	radius,
		float	euclideanDistance,
		int	numSurfaces,
		bool	pointAssignment
	)

private

◆ extractSegments()

std::vector<std::vector<int> > icl::geom::SegmenterUtils::extractSegments ( core::Img32s & labelImage )

Extracts the segments from a label image.

Parameters

labelImage the input label image

Returns: a vector of pointID vectors.

◆ occlusionCheck()

static bool icl::geom::SegmenterUtils::occlusionCheck	(	core::Img32f &	depthImage,
		utils::Point	p1,
		utils::Point	p2,
		float	distanceTolerance = `3.`,
		float	outlierTolerance = `5.`
	)

static

Checks if there is occlusion between two points (depth of all points on or in front of an augmented line).

Parameters

depthImage	the input depth image
p1	the first image point
p2	the second image point
distanceTolerance	the distance tolerance in depthUnits
outlierTolerance	maximum number of outlier points in percent

Returns: true if occluded.

◆ relabel()

void icl::geom::SegmenterUtils::relabel	(	core::Img32s &	labelImage,
		std::vector< std::vector< int > > &	assignment,
		int	maxOldLabel = `0`
	)

Relabels the label image.

Parameters

labelImage	the input/output label image
assignment	a vector of vectors with label ids. Each label from the inner id is replaced by the outer vector id.
maxOldLabel	the maximum id of the old labels (optional)

◆ stabelizeSegmentation()

core::Img32s icl::geom::SegmenterUtils::stabelizeSegmentation ( core::Img32s & labelImage )

Minimizes the label ID changes from frame to frame. The overlaps between the current and the previous label image are calculated and relabeled for the result.

Parameters

labelImage the input label image

Returns: the stabelized output label image.

Member Data Documentation

◆ m_data

Data* icl::geom::SegmenterUtils::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/SegmenterUtils.h

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Mode

Constructor & Destructor Documentation

◆ SegmenterUtils()

◆ ~SegmenterUtils()

Member Function Documentation

◆ calculateAdjacencyMatrix()

◆ calculateLabelReassignment()

◆ createColorImage()

◆ createColorImageCL()

◆ createColorImageCPU()

◆ createLabelVectors()

◆ createMask()

◆ createROIMask()

◆ dist3()

◆ edgePointAssignment()

◆ edgePointAssignmentAndAdjacencyMatrix()

◆ edgePointAssignmentAndAdjacencyMatrixCL()

◆ edgePointAssignmentAndAdjacencyMatrixCPU()

◆ extractSegments()

◆ occlusionCheck()

◆ relabel()

◆ stabelizeSegmentation()

Member Data Documentation

◆ m_data