/********************************************************************
** Image Component Library (ICL) **
** **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld **
** Neuroinformatics Group **
** Website: www.iclcv.org and **
** http://opensource.cit-ec.de/projects/icl **
** **
** File : ICLGeom/src/ICLGeom/SurfaceFeatureExtractor.cpp **
** Module : ICLGeom **
** Authors: Andre Ueckermann **
** **
** **
** GNU LESSER GENERAL PUBLIC LICENSE **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the **
** **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file. Please review the **
** following information to ensure the license requirements will **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt **
** **
** The development of this software was supported by the **
** Excellence Cluster EXC 277 Cognitive Interaction Technology. **
** The Excellence Cluster EXC 277 is a grant of the Deutsche **
** Forschungsgemeinschaft (DFG) in the context of the German **
** Excellence Initiative. **
** **
********************************************************************/
#include <ICLGeom/SurfaceFeatureExtractor.h>
namespace icl{
namespace geom{
SurfaceFeatureExtractor::SurfaceFeature SurfaceFeatureExtractor::apply(
std::vector<Vec> &points, std::vector<Vec> &normals, int mode){
SurfaceFeatureExtractor::SurfaceFeature feature = getInitializedStruct();
if(normals.size()!=points.size()){
throw utils::ICLException("points size != normals size");
}
feature.numPoints=points.size();
for(unsigned int i=0; i<points.size(); i++){
update(normals[i], points[i], feature, mode);
}
finish(feature, mode);
return feature;
}
std::vector<SurfaceFeatureExtractor::SurfaceFeature> SurfaceFeatureExtractor::apply(
core::Img32s labelImage, core::DataSegment<float,4> &xyzh,
core::DataSegment<float,4> &normals, int mode){
unsigned int w = labelImage.getSize().width;
unsigned int h = labelImage.getSize().height;
core::Channel32s labelI = labelImage[0];
std::vector<SurfaceFeatureExtractor::SurfaceFeature> features;
for(unsigned int y=0; y<h; y++){
for(unsigned int x=0; x<w; x++){
while((int)features.size()<labelI(x,y)){
features.push_back(getInitializedStruct());
}
if(labelI(x,y)>0){
features.at(labelI(x,y)-1).numPoints++;
update(normals[x+y*w], xyzh[x+y*w], features.at(labelI(x,y)-1), mode, x, y);
}
}
}
for(unsigned int i=0; i<features.size(); i++){
finish(features.at(i), mode);
}
return features;
}
SurfaceFeatureExtractor::SurfaceFeature SurfaceFeatureExtractor::getInitializedStruct(){
SurfaceFeatureExtractor::SurfaceFeature feature;
feature.numPoints=0;
feature.normalHistogram.setSize(utils::Size(11,11));
feature.normalHistogram.setChannels(1);
feature.normalHistogram.setFormat(core::formatMatrix);
feature.normalHistogram.fill(0);
feature.normalHistogramChannel = feature.normalHistogram[0];
feature.meanNormal=Vec(0,0,0,0);
feature.meanPosition=Vec(0,0,0,0);
feature.curvatureFactor=SurfaceFeatureExtractor::UNDEFINED;
feature.boundingBox3D.first = Vec(1000000, 1000000, 1000000, 0);
feature.boundingBox3D.second = Vec(-1000000, -1000000, -1000000, 0);
feature.boundingBox2D.first = utils::Point(1000000,1000000);
feature.boundingBox2D.second = utils::Point(-1000000, -1000000);
feature.volume=0;
return feature;
}
void SurfaceFeatureExtractor::update(Vec &normal, Vec &point, SurfaceFeature &feature, int mode, int x, int y){
if(mode&NORMAL_HISTOGRAM){
int xx = round(normal.x*5.0+5.0);//-1 -> 0, 0 -> 5, 1 -> 10
int yy = round(normal.y*5.0+5.0);
feature.normalHistogramChannel(xx,yy)++;
}
if(mode&MEAN_NORMAL){
feature.meanNormal+=normal;
}
if(mode&MEAN_POSITION){
feature.meanPosition+=point;
}
if(mode&BOUNDING_BOX_3D){
if(point[0]<feature.boundingBox3D.first[0]) feature.boundingBox3D.first[0]=point[0];//min
if(point[1]<feature.boundingBox3D.first[1]) feature.boundingBox3D.first[1]=point[1];
if(point[2]<feature.boundingBox3D.first[2]) feature.boundingBox3D.first[2]=point[2];
if(point[0]>feature.boundingBox3D.second[0]) feature.boundingBox3D.second[0]=point[0];//max
if(point[1]>feature.boundingBox3D.second[1]) feature.boundingBox3D.second[1]=point[1];
if(point[2]>feature.boundingBox3D.second[2]) feature.boundingBox3D.second[2]=point[2];
}
if(mode&BOUNDING_BOX_2D){
if(x<feature.boundingBox2D.first.x) feature.boundingBox2D.first.x=x;//min
if(y<feature.boundingBox2D.first.y) feature.boundingBox2D.first.y=y;
if(x>feature.boundingBox2D.second.x) feature.boundingBox2D.second.x=x;//max
if(y>feature.boundingBox2D.second.y) feature.boundingBox2D.second.y=y;
}
}
void SurfaceFeatureExtractor::finish(SurfaceFeature &feature, int mode){
feature.meanNormal/=feature.numPoints;
feature.meanPosition/=feature.numPoints;
if(mode&CURVATURE_FACTOR || mode&NORMAL_HISTOGRAM){
int numOfBinsBigger05=0;
for(unsigned int y = 0; y<11; y++){
for(unsigned int x = 0; x<11; x++){
feature.normalHistogramChannel(x,y)/=feature.numPoints;//normalized histogram
if(feature.normalHistogramChannel(x,y)>=0.005) numOfBinsBigger05++;
}
}
if(numOfBinsBigger05==0) feature.curvatureFactor = SurfaceFeatureExtractor::UNDEFINED;
else if(numOfBinsBigger05<8) feature.curvatureFactor = SurfaceFeatureExtractor::PLANAR;
else if(numOfBinsBigger05<20) feature.curvatureFactor = SurfaceFeatureExtractor::CURVED_1D;
else feature.curvatureFactor = SurfaceFeatureExtractor::CURVED_2D;
}
if(mode&BOUNDING_BOX_3D){
Vec min = feature.boundingBox3D.first;
Vec max = feature.boundingBox3D.second;
feature.volume = (max[0]-min[0])*(max[1]-min[1])*(max[2]-min[2]);
}
}
float SurfaceFeatureExtractor::matchNormalHistograms(core::Img32f &a, core::Img32f &b){
float sum=0;
core::Channel32f aC = a[0];
core::Channel32f bC = b[0];
for(size_t i=0; i<11; i++){
for(size_t j=0; j<11; j++){
sum+=std::min(aC(i,j),bC(i,j));
}
}
return sum;
}
}
}