segmenter.h

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#ifndef ED_SENSOR_INTEGRATION_SEGMENTER_H_
#define ED_SENSOR_INTEGRATION_SEGMENTER_H_
 
#include "ed/kinect/entity_update.h"
#include <ed_sensor_integration/kinect/segmodules/sam_seg_module.h>
 
#include <rgbd/types.h>
#include <geolib/datatypes.h>
#include <opencv2/core/core.hpp>
#include <tue/config/configuration.h>
 
#include <ed/convex_hull.h>
#include <ed/types.h>
 
#include <string>
#include <unordered_map>
#include <vector>
#include <utility>
#include <thread>
 
namespace cv
{
    class Mat;
}
 
namespace geo
{
    class DepthCamera;
}
 
// ----------------------------------------------------------------------------------------------------
 
class Segmenter
{
 
public:
 
    Segmenter(tue::Configuration config);
 
    ~Segmenter();
 
    void removeBackground(cv::Mat& depth_image, const ed::WorldModel& world, const geo::DepthCamera& cam,
                          const geo::Pose3D& sensor_pose, double background_padding);
 
    void calculatePointsWithin(const rgbd::Image& image, const geo::Shape& shape,
                               const geo::Pose3D& shape_pose, cv::Mat& filtered_depth_image) const;
    cv::Mat preprocessRGBForSegmentation(const cv::Mat& rgb_image, const cv::Mat& filtered_depth_image) const;
 
    SegmentationResult cluster(const cv::Mat& depth_image, const geo::DepthCamera& cam_model,
                 const geo::Pose3D& sensor_pose, std::vector<EntityUpdate>& clusters, const cv::Mat& rgb_image,
                const std::string& area_description = "", bool verbose=false);
 
private:
    tue::Configuration config_;
    std::unordered_map<std::string, std::string> surface_label_map_;
    SamSegPipeline sam_pipeline_;
    std::thread init_thread_;
};
 
#endif