sam_seg_module.h File Reference

#include <opencv2/core.hpp>
#include <geolib/datatypes.h>
#include <ros/publisher.h>
#include <tue/config/configuration.h>
#include "ed/kinect/entity_update.h"
#include <vector>

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Functions
void	overlayMasksOnImage_ (cv::Mat &rgb, const std::vector< cv::Mat > &masks)
	Overlay segmentation masks on the RGB image for visualization purposes. More...
void	publishSegmentationResults (const cv::Mat &filtered_depth_image, const cv::Mat &rgb, const geo::Pose3D &sensor_pose, std::vector< cv::Mat > &clustered_images, ros::Publisher &mask_pub_, ros::Publisher &cloud_pub_, std::vector< EntityUpdate > &res_updates)
	Publish segmentation results and pointcloud estimation as ROS messages. More...
std::vector< cv::Mat >	SegmentationPipeline (const cv::Mat &img, tue::Configuration &config)
	Segmentation pipeline that processes the input image and generates segmentation masks. More...

Function Documentation

overlayMasksOnImage_()

void overlayMasksOnImage_	(	cv::Mat &	rgb,
		const std::vector< cv::Mat > &	masks
	)

Overlay segmentation masks on the RGB image for visualization purposes.

Parameters

rgb	The RGB image to overlay masks on.
masks	The segmentation masks to overlay.

Definition at line 59 of file sam_seg_module.cpp.

publishSegmentationResults()

void publishSegmentationResults	(	const cv::Mat &	filtered_depth_image,
		const cv::Mat &	rgb,
		const geo::Pose3D &	sensor_pose,
		std::vector< cv::Mat > &	clustered_images,
		ros::Publisher &	mask_pub_,
		ros::Publisher &	cloud_pub_,
		std::vector< EntityUpdate > &	res_updates
	)

Publish segmentation results and pointcloud estimation as ROS messages.

Parameters

filtered_depth_image	The filtered depth image to publish.
rgb	The RGB image to publish.
sensor_pose	The pose of the sensor.
clustered_images	The clustered segmentation masks.
mask_pub_	The ROS publisher for the mask images.
cloud_pub_	The ROS publisher for the point cloud data.
res_updates	The entity updates to publish.

Definition at line 112 of file sam_seg_module.cpp.

SegmentationPipeline()

std::vector<cv::Mat> SegmentationPipeline	(	const cv::Mat &	img,
		tue::Configuration &	config
	)

Segmentation pipeline that processes the input image and generates segmentation masks.

Parameters

img	The input RGB image to segment.

Returns

std::vector<cv::Mat> The generated segmentation masks.

Definition at line 14 of file sam_seg_module.cpp.