#include <arm_obj_segmentation.h>

Public Member Functions
	ArmObjSegmentation (float fg_tied_weight=10.0, float bg_tied_weight=10.0, float bg_enlarge_size=100, float arm_enlarge_width=15, float arm_shrink_width_=15, float sigma=1.0, float lambda=5.0)
void	buildBGColorModel (GMM &table_color_model, GMM &obj_color_model)
void	loadArmColorModel (std::string file_path)
void	loadBGColorModel (std::string file_path)
cv::Mat	segment (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &self_mask, cv::Mat &table_mask, bool init_color_models=true)
void	setBGColorModel (GMM &new_bg_model)
Static Public Member Functions
static cv::Mat	getArmBand (cv::Mat &input_mask, int enlarge_width, int shrink_width, bool input_inverted=true)
static cv::Mat	getArmBand (cv::Mat &input_mask, int enlarge_width, int shrink_width, bool input_inverted, cv::Mat &larger_mask, cv::Mat &smaller_mask)
Protected Member Functions
float	getEdgeWeightBoundary (float c0, float d0, float c1, float d1)
cv::Mat	getXImageDeriv (cv::Mat &color_img)
cv::Mat	getYImageDeriv (cv::Mat &color_img)
Static Protected Member Functions
static cv::Mat	convertFlowToMat (tabletop_pushing::GraphType *g, tabletop_pushing::NodeTable &nt, int R, int C)
static GMM	getGMMColorModel (cv::Mat &samples, cv::Mat &mask, int nc=10)
static cv::Mat	getMorphCross (int img_size, int cross_width)
static float	getUnaryWeight (cv::Vec3f sample, GMM &fg_color_model)
Protected Attributes
GMM	arm_color_model_
float	arm_enlarge_width_
float	arm_shrink_width_
GMM	bg_color_model_
float	bg_enlarge_size_
float	bg_tied_weight_
cv::Mat	dx_kernel_
cv::Mat	dy_kernel_
float	fg_tied_weight_
bool	have_arm_color_model_
bool	have_bg_color_model_
float	pairwise_lambda_
float	sigma_d_

Detailed Description

Definition at line 14 of file arm_obj_segmentation.h.

Constructor & Destructor Documentation

tabletop_pushing::ArmObjSegmentation::ArmObjSegmentation	(	float	fg_tied_weight = `10.0`,
		float	bg_tied_weight = `10.0`,
		float	bg_enlarge_size = `100`,
		float	arm_enlarge_width = `15`,
		float	arm_shrink_width_ = `15`,
		float	sigma = `1.0`,
		float	lambda = `5.0`
	)

Definition at line 61 of file arm_obj_segmentation.cpp.

Member Function Documentation

void tabletop_pushing::ArmObjSegmentation::buildBGColorModel	(	GMM &	table_color_model,
		GMM &	obj_color_model
	)

Definition at line 454 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::convertFlowToMat	(	tabletop_pushing::GraphType *	g,
		tabletop_pushing::NodeTable &	nt,
		int	R,
		int	C
	)		`[static, protected]`

Definition at line 326 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::getArmBand	(	cv::Mat &	input_mask,
		int	enlarge_width,
		int	shrink_width,
		bool	input_inverted = `true`
	)		`[static]`

Definition at line 367 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::getArmBand	(	cv::Mat &	input_mask,
		int	enlarge_width,
		int	shrink_width,
		bool	input_inverted,
		cv::Mat &	larger_mask,
		cv::Mat &	smaller_mask
	)		`[static]`

Method to create a mask near the perimeter of the robots projected arm mask

Parameters:

input_mask	The robot's projected arm mask
enlarge_width	Amount to dilate the arm mask to get outer band
shrink_width	Amount to erode the arm mask to get the innner band
input_inverted	Set to true if arm is 0 and background is 255

Returns:: A binary image of the band near the edges of the robot arm

Definition at line 384 of file arm_obj_segmentation.cpp.

float tabletop_pushing::ArmObjSegmentation::getEdgeWeightBoundary	(	float	c0,
		float	d0,
		float	c1,
		float	d1
	)		`[protected]`

Definition at line 343 of file arm_obj_segmentation.cpp.

GMM tabletop_pushing::ArmObjSegmentation::getGMMColorModel	(	cv::Mat &	samples,
		cv::Mat &	mask,
		int	nc = `10`
	)		`[static, protected]`

Definition at line 406 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::getMorphCross	(	int	img_size,
		int	cross_width
	)		`[static, protected]`

Definition at line 308 of file arm_obj_segmentation.cpp.

float tabletop_pushing::ArmObjSegmentation::getUnaryWeight	(	cv::Vec3f	sample,
		GMM &	fg_color_model
	)		`[static, protected]`

Definition at line 430 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::getXImageDeriv ( cv::Mat & color_img ) [protected]

Definition at line 351 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::getYImageDeriv ( cv::Mat & color_img ) [protected]

Definition at line 359 of file arm_obj_segmentation.cpp.

void tabletop_pushing::ArmObjSegmentation::loadArmColorModel ( std::string file_path )

Definition at line 436 of file arm_obj_segmentation.cpp.

void tabletop_pushing::ArmObjSegmentation::loadBGColorModel ( std::string file_path )

Definition at line 442 of file arm_obj_segmentation.cpp.

cv::Mat tabletop_pushing::ArmObjSegmentation::segment	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	self_mask,
		cv::Mat &	table_mask,
		bool	init_color_models = `true`
	)