Top-level segmentation class. More...

#include <fgbgsegment.h>

Classes
class	Background
	Class modelling background hypothesis. More...
class	ColorModel
	Color model class. More...
class	FlatSurface
	Class modelling flat surface hypothesis. More...
class	Foreground
	Class modelling foreground hypothesis. More...
Public Member Functions
void	Execute (Image< uint8_t > &image, Image< float > &disp, bool initialize, int loops=1, int startx=-1, int starty=-1)
	Execution of Segmentation.
	FgBgSegment (int width, int height, int drange, float gradWeight=20.0, float w_size=0.20f, float b_size=0.20f)
	Constructor.
float	GetGradWeight ()
	Get current gradient weight Flag.
void	GetSurfaceMinMax (float &min_x, float &min_y, float &max_x, float &max_y)
void	GetSurfaceParameters (float &alpha, float &beta, float &disp)
	Get Surface Parameters from current estimation.
bool	GetUniform ()
	Get uniform Flag.
bool	GetWithColorHoles ()
	Get withColorHoles Flag.
bool	GetWithColors ()
	Get withColors Flag.
bool	GetWithDisparities ()
	Get withDisparities Flag.
bool	GetWithSurface ()
	Get withSurface Flag.
void	MakeBorderImage (Image< uint8_t > &image)
	Dump Segmentation Image.
void	MakeMaskImage (Image< uint8_t > &image, int val=255, int obj=0)
	Dump Segmentation Mask Image.
void	MakeSegmentImage (Image< uint8_t > &image)
	Dump Segmentation Image.
void	SetGradWeight (float val)
	Set gradient weight Flag.
void	SetNewForeground (int startx, int starty, Image< float > &dimg, int drange_)
	Set new foreground hypothesis.
void	SetNewForeground (Image< uint8_t > &mask, Image< float > &dimg, int drange, bool reuseLast=false)
	Set new foreground hypothesis.
void	SetUniform (bool val)
	Set uniform Flag.
void	SetWithColorHoles (bool val)
	Set withColorHoles Flag.
void	SetWithColors (bool val)
	Set withColors Flag.
void	SetWithDisparities (bool val)
	Set withDisparities Flag.
void	SetWithSurface (bool val)
	Set withSurface Flag.
void	UseGPU (bool gpuopt=true)
	Whether or not to use the GPU based belief propagation.
	~FgBgSegment ()
Static Public Attributes
static const int	hist_size = 12
	number of histogram bins
Protected Member Functions
void	CreateHistograms (bool allPoints)
	Create all histograms.
void	InitSegmentation ()
	Initialise the segmentation.
void	RGBToHSV (Image< uint8_t > &cimg)
	Conversion of images from RGB to HSV.
Static Protected Member Functions
template<int numFigures>
static void	PixSegment (FgBgSegment &segm)
	CPU based segmentation object.
Protected Attributes
float	ballSize
std::vector< ColorModel >	colorPriors
	Prior color models.
CudaSegment *	cudaSegment
	CUDA based segmentation object.
Image< float > *	disparities
	Current disparity data.
int	drange
	Disparity Range.
std::vector< Foreground * >	figures
	Foreground model.
bool	gpuopt
	Whether GPU optimization is used.
float	gradWeight
	Gradient Importance Weight.
Image< uint8_t >	grey
	Grey image data.
Background	ground
	Background model.
int	height
	Image height.
Image< uint8_t >	hue
	Hue image data.
Image< uint8_t >	saturation
	Saturation image data.
FlatSurface	surface
	Flat surface model.
bool	uniform
int	verbose
	Amount of status output.
int	width
	Image width.
float	windowSize
	For controlling rough size of initialisation region around point.
bool	withColorHoles
	Whether data has incomplete color information.
bool	withColors
	Whether to use colour cue.
bool	withDisparities
	Whether to use disparity cue.
bool	withSurface
	Whether to use surface model.
Static Private Attributes
static const float	eps = 1e-6f
Friends
class	CudaSegment

Detailed Description

Top-level segmentation class.

Definition at line 106 of file fgbgsegment.h.

Constructor & Destructor Documentation

FgBgSegment::FgBgSegment	(	int	width,
		int	height,
		int	drange,
		float	gradWeight = `20.0`,
		float	w_size = `0.20f`,
		float	b_size = `0.20f`
	)

Constructor.

Segmentation

Parameters:

width	Width of the Image
height	Height of the Image
drange	Disparity range
gradWeight	Gradient Importance Weight

Definition at line 52 of file fgbgsegment.cpp.

FgBgSegment::~FgBgSegment ( )

Definition at line 78 of file fgbgsegment.cpp.

Member Function Documentation

void FgBgSegment::CreateHistograms ( bool allPoints ) [protected]

Create all histograms.

Create all histograms for foreground, background and flat surface hypotheses

Parameters:

allPoints Whether to use all points to create histograms or only those in the disparity range

Definition at line 1112 of file fgbgsegment.cpp.

void FgBgSegment::Execute	(	Image< uint8_t > &	image,
		Image< float > &	disp,
		bool	initialize,
		int	loops = `1`,
		int	startx = `-1`,
		int	starty = `-1`
	)

Execution of Segmentation.

Execution of Segmentation on one image for a number of iterations

Parameters:

image	Image to segment
disp	Disparity Image
initialize	Whether or not to reinitialise the models
loops	How many iterations per image
startx	not used
starty	not used

Definition at line 1605 of file fgbgsegment.cpp.

float FgBgSegment::GetGradWeight ( )

Get current gradient weight Flag.

Definition at line 1505 of file fgbgsegment.cpp.

void FgBgSegment::GetSurfaceMinMax	(	float &	min_x,
		float &	min_y,
		float &	max_x,
		float &	max_y
	)

Definition at line 1453 of file fgbgsegment.cpp.

void FgBgSegment::GetSurfaceParameters	(	float &	alpha,
		float &	beta,
		float &	disp
	)

Get Surface Parameters from current estimation.

Definition at line 1442 of file fgbgsegment.cpp.

bool FgBgSegment::GetUniform ( )

Get uniform Flag.

Definition at line 1484 of file fgbgsegment.cpp.

bool FgBgSegment::GetWithColorHoles ( )

Get withColorHoles Flag.

Definition at line 1477 of file fgbgsegment.cpp.

bool FgBgSegment::GetWithColors ( )

Get withColors Flag.

Definition at line 1470 of file fgbgsegment.cpp.

bool FgBgSegment::GetWithDisparities ( )

Get withDisparities Flag.

Definition at line 1498 of file fgbgsegment.cpp.

bool FgBgSegment::GetWithSurface ( )

Get withSurface Flag.

Definition at line 1491 of file fgbgsegment.cpp.

void FgBgSegment::InitSegmentation ( ) [protected]

Initialise the segmentation.

Definition at line 596 of file fgbgsegment.cpp.

void FgBgSegment::MakeBorderImage ( Image< uint8_t > & image )

Dump Segmentation Image.

Dump Bordered Segmentation Image to a file segm*.ppm

Parameters:

image RGB image to be overlayed with segmentation border

Definition at line 1553 of file fgbgsegment.cpp.

void FgBgSegment::MakeMaskImage	(	Image< uint8_t > &	image,
		int	val = `255`,
		int	obj = `0`
	)

Dump Segmentation Mask Image.

Dump Segmentation Mask Image to a file mask*.pgm

Parameters:

image	Binary image to be Dumped
val	Intensity value of the segmentation mask
obj	ID of foreground hypothesis

Definition at line 1534 of file fgbgsegment.cpp.

void FgBgSegment::MakeSegmentImage ( Image< uint8_t > & image )

Dump Segmentation Image.

Dump Segmentation Image to a file segm*.pgm

Parameters:

image Gray-level image to be Dumped

Definition at line 1507 of file fgbgsegment.cpp.

template<int numFigures>

void FgBgSegment::PixSegment ( FgBgSegment & segm ) [static, protected]

CPU based segmentation object.

Templated CPU based segmentation object given the number of foreground objects to segment

Parameters:

segm	Segmentation object

Definition at line 1232 of file fgbgsegment.cpp.

void FgBgSegment::RGBToHSV ( Image< uint8_t > & cimg ) [protected]

Conversion of images from RGB to HSV.

Conversion of images from RGB to HSV

Parameters:

cimg	RGB image to convert to HSV

Definition at line 1410 of file fgbgsegment.cpp.

void FgBgSegment::SetGradWeight ( float val )

Set gradient weight Flag.

Definition at line 1500 of file fgbgsegment.cpp.

void FgBgSegment::SetNewForeground	(	int	startx,
		int	starty,
		Image< float > &	dimg,
		int	drange_
	)

Set new foreground hypothesis.

Reinitialize the foreground disparity model based on pixel position

Parameters:

startx	X-coordinate of ellipse used for initialization
starty	Y-coordinate of ellipse used for initialization
dimg	Disparity image on which initialisation is based
drange_	Disparity range

Definition at line 1120 of file fgbgsegment.cpp.

void FgBgSegment::SetNewForeground	(	Image< uint8_t > &	mask,
		Image< float > &	dimg,
		int	drange,
		bool	reuseLast = `false`
	)

Set new foreground hypothesis.

Reinitialize the foreground disparity model based on mask

Parameters:

mask	Binary mask
dimg	Disparity image on which initialisation is based
drange_	Disparity range
reuseLast	Whether or not to re-use already existing foreground hypothesis

Definition at line 1158 of file fgbgsegment.cpp.

void FgBgSegment::SetUniform ( bool val )

Set uniform Flag.

Definition at line 1479 of file fgbgsegment.cpp.

void FgBgSegment::SetWithColorHoles ( bool val )

Set withColorHoles Flag.

Definition at line 1472 of file fgbgsegment.cpp.

void FgBgSegment::SetWithColors ( bool val )

Set withColors Flag.

Definition at line 1465 of file fgbgsegment.cpp.

void FgBgSegment::SetWithDisparities ( bool val )

Set withDisparities Flag.