filtering.h

Go to the documentation of this file.

/******************************************************************************
 * \file
 *
 * $Id: filtering.h 619 2012-04-16 13:47:28Z ihulik $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Rostislav Hulik (ihulik@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: 11.01.2012 (version 1.0)
 * 
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef BUT_SEG_UTILS_FILTERING_H
#define BUT_SEG_UTILS_FILTERING_H


// opencv
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>

// ros
#include <sensor_msgs/CameraInfo.h>

// but_seg_utils
#include "normals.h"

namespace but_plane_detector
{
        #define NORMAL_COMPUTATION_SIZE 5
        #define NORMAL_COMPUTATION_TYPE NormalType::PCL

        #define MIN_DISTANCE 0.1
        #define MAX_DISTANCE 3.1
        #define RANSACMAX 1000

        class WatershedType
        {
                public:
                        static const int DepthDiff = 1;

                        static const int NormalDiff = 2;

                        static const int Combined = 4;

                        static const int PredictorDiff = 8;
        };

        class Regions
        {
                public:
                        Regions(Normals *normals = NULL);

                        ~Regions();

                        void watershedRegions(cv::Mat &src, const sensor_msgs::CameraInfoConstPtr& cam_info, int type = WatershedType::Combined, int seedThreshold = 1, float alpha = 0.0, float beta = 0.0, float gamma = 0.0);

                        void independentTileRegions(cv::Mat &src, const sensor_msgs::CameraInfoConstPtr& cam_info, float minimumPlaneDistance = 0.01, float minimumTriDistance= 0.02, float minimumFloodDistance = 0.05, int tileSize = 30, int smallestTriangleArea = 100, int minRegionSize = 10, int minCandidates = 10);

                        bool computeStatistics(float threshold);

                        static void gradientPlanePredictor(cv::Mat &src, cv::Mat& dst, float differenceThreshold = 0.02, int size = 2, int sobelSize = 5);//, Mat& normals, Mat& coefs, Mat& points);

                        static void gradientNormalDifference(cv::Mat &src, cv::Mat& dst, int size, float differenceThreshold);

                        static void gradientDepthDifference(cv::Mat &src, cv::Mat& dst, int size, float differenceThreshold);

                        cv::Mat m_regionMatrix;

                        cv::Mat m_planes;

                        cv::Mat m_stddeviation;

                        Normals *m_normals;

                private:
                        int floodFillTile(cv::Mat &tile, cv::Mat&tileMask, cv::Mat&pointMask, cv::Vec3f *points, int index, Plane<float> &plane, int ioffset, int joffset, float min_planeDistance = 0.02);

                        void getLeastSquaresAndBorder(Plane<float> &plane, cv::Mat &tile, cv::Mat&tileMask, int ioffset, int joffset, int index);

                        void fillEverything(Plane<float> &plane, cv::Mat & depth, cv::Mat & mask, cv::Mat & points, int i_tile, int j_tile, int tileSize, int index, float min_planeDistance = 0.05);
        }; // class Regions
} // namespace but_seg_utils
#endif // BUT_SEG_UTILS_FILTERING_H