icl::geom::SurfaceFeatureExtractor Class Reference

class for extraction of surface features. More...

#include <SurfaceFeatureExtractor.h>

Classes
struct	SurfaceFeature

Public Types
enum	Mode {   NORMAL_HISTOGRAM = 1, CURVATURE_FACTOR = 2, MEAN_NORMAL = 4, MEAN_POSITION = 8,   BOUNDING_BOX_3D = 16, BOUNDING_BOX_2D = 32, ALL = 63 }
enum	CurvatureFactor { UNDEFINED =0, PLANAR =1, CURVED_1D =2, CURVED_2D =3 }

Static Public Member Functions
static SurfaceFeature	apply (std::vector< Vec > &points, std::vector< Vec > &normals, int mode=ALL)
	Applies the surface feature calculation for one single surface (please note: no BoundingBox2D) More...
static std::vector< SurfaceFeature >	apply (core::Img32s labelImage, core::DataSegment< float, 4 > &xyzh, core::DataSegment< float, 4 > &normals, int mode=ALL)
	Applies the surface feature calculation for all segments in the label image. More...
static float	matchNormalHistograms (core::Img32f &a, core::Img32f &b)
	Calculates the matching score between 0 and 1 for two normal histograms. More...

Static Private Member Functions
static SurfaceFeature	getInitializedStruct ()
static void	update (Vec &normal, Vec &point, SurfaceFeature &feature, int mode, int x=0, int y=0)
static void	finish (SurfaceFeature &feature, int mode)

Detailed Description

class for extraction of surface features.

The SurfaceFeatureExtractor class computes normalHistograms, meanNormals, meanPosition, and curvatureFactor(planar, 1D curved, 2D curved) for sets of points.

Member Enumeration Documentation

CurvatureFactor

enum icl::geom::SurfaceFeatureExtractor::CurvatureFactor

Enumerator
UNDEFINED
PLANAR
CURVED_1D
CURVED_2D

Mode

enum icl::geom::SurfaceFeatureExtractor::Mode

Enumerator
NORMAL_HISTOGRAM
CURVATURE_FACTOR
MEAN_NORMAL
MEAN_POSITION
BOUNDING_BOX_3D
BOUNDING_BOX_2D
ALL

Member Function Documentation

apply() [1/2]

static SurfaceFeature icl::geom::SurfaceFeatureExtractor::apply ( std::vector< Vec > &  points, std::vector< Vec > &  normals, int  mode = ALL  )

static

Applies the surface feature calculation for one single surface (please note: no BoundingBox2D)

Parameters

points	the points xyz
normals	the corresponding point normals
mode	the mode from Mode enum (e.g. A | B)

Returns

the SurfaceFeature struct.

apply() [2/2]

static std::vector<SurfaceFeature> icl::geom::SurfaceFeatureExtractor::apply ( core::Img32s  labelImage, core::DataSegment< float, 4 > &  xyzh, core::DataSegment< float, 4 > &  normals, int  mode = ALL  )

static

Applies the surface feature calculation for all segments in the label image.

Parameters

labelImage	the label image of the segmentation
xyzh	the xyz pointcloud
normals	the corresponding point normals
mode	the mode from Mode enum (e.g. A | B)

Returns

a vector of SurfaceFeature struct for each segment.

finish()

static void icl::geom::SurfaceFeatureExtractor::finish ( SurfaceFeature &  feature, int  mode  )

staticprivate

getInitializedStruct()

static SurfaceFeature icl::geom::SurfaceFeatureExtractor::getInitializedStruct ( )

staticprivate

matchNormalHistograms()

static float icl::geom::SurfaceFeatureExtractor::matchNormalHistograms ( core::Img32f &  a, core::Img32f &  b  )

static

Calculates the matching score between 0 and 1 for two normal histograms.

Parameters

a	the first normal histogram
b	the second normal histogram

Returns

the matching score between 0 (no matching) and 1 (perfect matching).

update()

static void icl::geom::SurfaceFeatureExtractor::update ( Vec &  normal, Vec &  point, SurfaceFeature &  feature, int  mode, int  x = 0, int  y = 0  )

staticprivate

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

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