#include <segmenter.h>

Public Member Functions
void	calculatePointsWithin (const rgbd::Image &image, const geo::Shape &shape, const geo::Pose3D &shape_pose, cv::Mat &filtered_depth_image) const

std::vector< cv::Mat >	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, bool logging=false)
	Cluster the depth image into segments. Applies new algorithm which is the YOLO - SAM - BMM depth segmentation pipeline. More...

cv::Mat	preprocessRGBForSegmentation (const cv::Mat &rgb_image, const cv::Mat &filtered_depth_image) const
	Preprocess RGB image for segmentation. This function masks the RGB image with the filtered depth image (non-zero depth values are kept) It returns a masked RGB image with values only where depth is non-zero. More...

void	removeBackground (cv::Mat &depth_image, const ed::WorldModel &world, const geo::DepthCamera &cam, const geo::Pose3D &sensor_pose, double background_padding)

	Segmenter (tue::Configuration config)

	~Segmenter ()

Private Attributes
tue::Configuration	config_

Detailed Description

Definition at line 28 of file segmenter.h.

Constructor & Destructor Documentation

◆ Segmenter()

Segmenter::Segmenter ( tue::Configuration config )

Definition at line 31 of file src/kinect/segmenter.cpp.

◆ ~Segmenter()

Segmenter::~Segmenter ( )

Definition at line 38 of file src/kinect/segmenter.cpp.

Member Function Documentation

◆ calculatePointsWithin()

void Segmenter::calculatePointsWithin	(	const rgbd::Image &	image,
		const geo::Shape &	shape,
		const geo::Pose3D &	shape_pose,
		cv::Mat &	filtered_depth_image
	)		const

Definition at line 147 of file src/kinect/segmenter.cpp.

◆ cluster()

std::vector< cv::Mat > Segmenter::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,
		bool	logging = `false`
	)

Cluster the depth image into segments. Applies new algorithm which is the YOLO - SAM - BMM depth segmentation pipeline.

Parameters

depth_image
cam_model
sensor_pose
clusters
rgb_image

Returns: std::vector<cv::Mat> masks // 3D pointcloud masks of all the segmented objects

Definition at line 202 of file src/kinect/segmenter.cpp.

◆ preprocessRGBForSegmentation()

cv::Mat Segmenter::preprocessRGBForSegmentation	(	const cv::Mat &	rgb_image,
		const cv::Mat &	filtered_depth_image
	)		const

Preprocess RGB image for segmentation. This function masks the RGB image with the filtered depth image (non-zero depth values are kept) It returns a masked RGB image with values only where depth is non-zero.

Parameters

rgb_image
filtered_depth_image

Returns: cv::Mat filtered_depth_image

Definition at line 184 of file src/kinect/segmenter.cpp.

◆ removeBackground()

void Segmenter::removeBackground	(	cv::Mat &	depth_image,
		const ed::WorldModel &	world,
		const geo::DepthCamera &	cam,
		const geo::Pose3D &	sensor_pose,
		double	background_padding
	)

Definition at line 77 of file src/kinect/segmenter.cpp.

Member Data Documentation

◆ config_

tue::Configuration Segmenter::config_

private

Definition at line 66 of file segmenter.h.

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

Public Member Functions

Private Attributes