Documentation ¶
Overview ¶
Package segmentation implements object segmentation algorithms.
Index ¶
- Constants
- func GetPointCloudPositions(cloud pc.PointCloud) []r3.Vector
- func SegmentPlane(ctx context.Context, cloud pc.PointCloud, nIterations int, threshold float64) (pc.Plane, pc.PointCloud, error)
- func SegmentPlaneWRTGround(ctx context.Context, cloud pc.PointCloud, nIterations int, ...) (pc.Plane, pc.PointCloud, error)
- func SplitPointCloudByPlane(cloud pc.PointCloud, plane pc.Plane) (pc.PointCloud, pc.PointCloud, error)
- func ThresholdPointCloudByPlane(cloud pc.PointCloud, plane pc.Plane, threshold float64) (pc.PointCloud, error)
- type ColorObjectsConfig
- type DetectionSegmenterConfig
- type MyWalkError
- type PlaneSegmentation
- func NewPointCloudGroundPlaneSegmentation(cloud pc.PointCloud, distanceThreshold float64, minPoints int, ...) PlaneSegmentation
- func NewPointCloudPlaneSegmentation(cloud pc.PointCloud, threshold float64, minPoints int) PlaneSegmentation
- func NewVoxelGridPlaneSegmentation(vg *pc.VoxelGrid, config VoxelGridPlaneConfig) PlaneSegmentation
- type RadiusClusteringConfig
- type RadiusClusteringVoxelConfig
- type SegmentedImage
- func PointCloudSegmentsToMask(params transform.PinholeCameraIntrinsics, segments []pc.PointCloud) (*SegmentedImage, error)
- func ShapeWalk(img *rimage.Image, dm *rimage.DepthMap, start image.Point, ...) (*SegmentedImage, error)
- func ShapeWalkEntireDebug(img *rimage.Image, dm *rimage.DepthMap, options ShapeWalkOptions, ...) (*SegmentedImage, error)
- func ShapeWalkMultiple(img *rimage.Image, dm *rimage.DepthMap, starts []image.Point, ...) (*SegmentedImage, error)
- func (si *SegmentedImage) At(x, y int) color.Color
- func (si *SegmentedImage) Bounds() image.Rectangle
- func (si *SegmentedImage) ColorModel() color.Model
- func (si *SegmentedImage) GetSegment(p image.Point) int
- func (si *SegmentedImage) Height() int
- func (si *SegmentedImage) NumInAnyCluster() int
- func (si *SegmentedImage) PixelsInSegmemnt(segment int) int
- func (si *SegmentedImage) Width() int
- type Segmenter
- func ColorObjects(params utils.AttributeMap) (Segmenter, error)
- func DetectionSegmenter(detector objectdetection.Detector, meanK int, sigma, confidenceThresh float64) (Segmenter, error)
- func NewRadiusClustering(params utils.AttributeMap) (Segmenter, error)
- func NewRadiusClusteringFromVoxels(params utils.AttributeMap) (Segmenter, error)
- type Segments
- type ShapeWalkOptions
- type VoxelGridPlaneConfig
Constants ¶
const ( DefaultColorThreshold = 1.0 DefaultLookback = 15 // how many pixels do we ensure are similar DefaultLookbackScaling = 6.0 // the bigger the number, the tighter the threshold DefaultInterestingThreshold = .45 DefaultInterestingRange = 5 DefaultAverageColorDistanceWeight = .5 )
TODO.
Variables ¶
This section is empty.
Functions ¶
func GetPointCloudPositions ¶
func GetPointCloudPositions(cloud pc.PointCloud) []r3.Vector
GetPointCloudPositions extracts the positions of the points from the pointcloud into a Vec3 slice.
func SegmentPlane ¶
func SegmentPlane(ctx context.Context, cloud pc.PointCloud, nIterations int, threshold float64) (pc.Plane, pc.PointCloud, error)
SegmentPlane segments the biggest plane in the 3D Pointcloud. nIterations is the number of iteration for ransac nIter to choose? nIter = log(1-p)/log(1-(1-e)^s), where p is prob of success, e is outlier ratio, s is subset size (3 for plane). threshold is the float64 value for the maximum allowed distance to the found plane for a point to belong to it This function returns a Plane struct, as well as the remaining points in a pointcloud It also returns the equation of the found plane: [0]x + [1]y + [2]z + [3] = 0.
func SegmentPlaneWRTGround ¶ added in v0.7.0
func SegmentPlaneWRTGround(ctx context.Context, cloud pc.PointCloud, nIterations int, angleThreshold, dstThreshold float64, normalVec r3.Vector, ) (pc.Plane, pc.PointCloud, error)
SegmentPlaneWRTGround segments the biggest 'ground' plane in the 3D Pointcloud. nIterations is the number of iteration for ransac nIter to choose? nIter = log(1-p)/log(1-(1-e)^s), where p is prob of success, e is outlier ratio, s is subset size (3 for plane). dstThreshold is the float64 value for the maximum allowed distance to the found plane for a point to belong to it This function returns a Plane struct, as well as the remaining points in a pointcloud It also returns the equation of the found plane: [0]x + [1]y + [2]z + [3] = 0. angleThrehold is the maximum acceptable angle between the groundVec and angle of the plane, if the plane is at a larger angle than maxAngle, it will not be considered for segmentation, if set to 0 then not considered normalVec is the normal vector of the plane representing the ground.
func SplitPointCloudByPlane ¶
func SplitPointCloudByPlane(cloud pc.PointCloud, plane pc.Plane) (pc.PointCloud, pc.PointCloud, error)
SplitPointCloudByPlane divides the point cloud in two point clouds, given the equation of a plane. one point cloud will have all the points above the plane and the other with all the points below the plane. Points exactly on the plane are not included!
func ThresholdPointCloudByPlane ¶
func ThresholdPointCloudByPlane(cloud pc.PointCloud, plane pc.Plane, threshold float64) (pc.PointCloud, error)
ThresholdPointCloudByPlane returns a pointcloud with the points less than or equal to a given distance from a given plane.
Types ¶
type ColorObjectsConfig ¶
type ColorObjectsConfig struct { HueTolerance float64 `json:"hue_tolerance_pct"` SaturationCutoff float64 `json:"saturation_cutoff_pct,omitempty"` ValueCutoff float64 `json:"value_cutoff_pct,omitempty"` Color string `json:"detect_color"` // form #RRGGBB MeanK int `json:"mean_k"` // used for StatisticalFilter Sigma float64 `json:"sigma"` // used for StatisticalFilter MinSegmentSize int `json:"min_points_in_segment"` Label string `json:"label,omitempty"` }
ColorObjectsConfig specifies the necessary parameters for the color detection and transformation to 3D objects.
func (*ColorObjectsConfig) CheckValid ¶
func (csc *ColorObjectsConfig) CheckValid() error
CheckValid checks to see in the input values are valid.
func (*ColorObjectsConfig) ConvertAttributes ¶
func (csc *ColorObjectsConfig) ConvertAttributes(am utils.AttributeMap) error
ConvertAttributes changes the AttributeMap input into a ColorObjectsConfig.
type DetectionSegmenterConfig ¶ added in v0.1.0
type DetectionSegmenterConfig struct { resource.TriviallyValidateConfig DetectorName string `json:"detector_name"` ConfidenceThresh float64 `json:"confidence_threshold_pct"` MeanK int `json:"mean_k"` Sigma float64 `json:"sigma"` }
DetectionSegmenterConfig are the optional parameters to turn a detector into a segmenter.
func (*DetectionSegmenterConfig) ConvertAttributes ¶ added in v0.1.0
func (dsc *DetectionSegmenterConfig) ConvertAttributes(am utils.AttributeMap) error
ConvertAttributes changes the AttributeMap input into a DetectionSegmenterConfig.
type MyWalkError ¶
type MyWalkError struct {
// contains filtered or unexported fields
}
MyWalkError TODO.
type PlaneSegmentation ¶
type PlaneSegmentation interface { FindPlanes(ctx context.Context) ([]pc.Plane, pc.PointCloud, error) FindGroundPlane(ctx context.Context) (pc.Plane, pc.PointCloud, error) }
PlaneSegmentation is an interface used to find geometric planes in a 3D space.
func NewPointCloudGroundPlaneSegmentation ¶ added in v0.7.0
func NewPointCloudGroundPlaneSegmentation(cloud pc.PointCloud, distanceThreshold float64, minPoints int, angleThreshold float64, normalVec r3.Vector, ) PlaneSegmentation
NewPointCloudGroundPlaneSegmentation initializes the plane segmentation with the necessary parameters to find ground like planes, meaning they are less than angleThreshold away from the plane corresponding to normaLVec distanceThreshold is the float64 value for the maximum allowed distance to the found plane for a point to belong to it. minPoints is the minimum number of points necessary to be considered a plane.
func NewPointCloudPlaneSegmentation ¶
func NewPointCloudPlaneSegmentation(cloud pc.PointCloud, threshold float64, minPoints int) PlaneSegmentation
NewPointCloudPlaneSegmentation initializes the plane segmentation with the necessary parameters to find the planes threshold is the float64 value for the maximum allowed distance to the found plane for a point to belong to it. minPoints is the minimum number of points necessary to be considered a plane.
func NewVoxelGridPlaneSegmentation ¶
func NewVoxelGridPlaneSegmentation(vg *pc.VoxelGrid, config VoxelGridPlaneConfig) PlaneSegmentation
NewVoxelGridPlaneSegmentation initializes the necessary parameters needed to do plane segmentation on a voxel grid.
type RadiusClusteringConfig ¶
type RadiusClusteringConfig struct { resource.TriviallyValidateConfig MinPtsInPlane int `json:"min_points_in_plane"` MaxDistFromPlane float64 `json:"max_dist_from_plane_mm"` NormalVec r3.Vector `json:"ground_plane_normal_vec"` AngleTolerance float64 `json:"ground_angle_tolerance_degs"` MinPtsInSegment int `json:"min_points_in_segment"` ClusteringRadiusMm float64 `json:"clustering_radius_mm"` MeanKFiltering int `json:"mean_k_filtering"` Label string `json:"label,omitempty"` }
RadiusClusteringConfig specifies the necessary parameters for 3D object finding.
func (*RadiusClusteringConfig) CheckValid ¶
func (rcc *RadiusClusteringConfig) CheckValid() error
CheckValid checks to see in the input values are valid.
func (*RadiusClusteringConfig) ConvertAttributes ¶
func (rcc *RadiusClusteringConfig) ConvertAttributes(am utils.AttributeMap) error
ConvertAttributes changes the AttributeMap input into a RadiusClusteringConfig.
func (*RadiusClusteringConfig) RadiusClustering ¶ added in v0.1.0
func (rcc *RadiusClusteringConfig) RadiusClustering(ctx context.Context, src camera.VideoSource) ([]*vision.Object, error)
RadiusClustering applies the radius clustering algorithm directly on a given point cloud.
type RadiusClusteringVoxelConfig ¶
type RadiusClusteringVoxelConfig struct { VoxelSize float64 `json:"voxel_size"` Lambda float64 `json:"lambda"` // clustering parameter for making voxel planes MinPtsInPlane int `json:"min_points_in_plane"` MaxDistFromPlane float64 `json:"max_dist_from_plane"` MinPtsInSegment int `json:"min_points_in_segment"` ClusteringRadiusMm float64 `json:"clustering_radius_mm"` WeightThresh float64 `json:"weight_threshold"` AngleThresh float64 `json:"angle_threshold_degs"` CosineThresh float64 `json:"cosine_threshold"` // between -1 and 1, the value after evaluating Cosine(theta) DistanceThresh float64 `json:"distance_threshold_mm"` Label string `json:"label,omitempty"` }
RadiusClusteringVoxelConfig specifies the necessary parameters for 3D object finding.
func (*RadiusClusteringVoxelConfig) CheckValid ¶
func (rcc *RadiusClusteringVoxelConfig) CheckValid() error
CheckValid checks to see in the input values are valid.
func (*RadiusClusteringVoxelConfig) ConvertAttributes ¶
func (rcc *RadiusClusteringVoxelConfig) ConvertAttributes(am utils.AttributeMap) error
ConvertAttributes changes the AttributeMap input into a RadiusClusteringVoxelConfig.
func (*RadiusClusteringVoxelConfig) RadiusClusteringVoxels ¶ added in v0.1.0
func (rcc *RadiusClusteringVoxelConfig) RadiusClusteringVoxels(ctx context.Context, src camera.VideoSource) ([]*vision.Object, error)
RadiusClusteringVoxels turns the cloud into a voxel grid and then does radius clustering to segment it.
type SegmentedImage ¶
type SegmentedImage struct {
// contains filtered or unexported fields
}
SegmentedImage TODO.
func PointCloudSegmentsToMask ¶
func PointCloudSegmentsToMask(params transform.PinholeCameraIntrinsics, segments []pc.PointCloud) (*SegmentedImage, error)
PointCloudSegmentsToMask takes in an instrinsic camera matrix and a slice of pointclouds and projects each pointcloud down to an image.
func ShapeWalk ¶
func ShapeWalk(img *rimage.Image, dm *rimage.DepthMap, start image.Point, options ShapeWalkOptions, logger golog.Logger, ) (*SegmentedImage, error)
ShapeWalk TODO.
func ShapeWalkEntireDebug ¶
func ShapeWalkEntireDebug(img *rimage.Image, dm *rimage.DepthMap, options ShapeWalkOptions, logger golog.Logger, ) (*SegmentedImage, error)
ShapeWalkEntireDebug TODO.
func ShapeWalkMultiple ¶
func ShapeWalkMultiple( img *rimage.Image, dm *rimage.DepthMap, starts []image.Point, options ShapeWalkOptions, logger golog.Logger, ) (*SegmentedImage, error)
ShapeWalkMultiple TODO.
func (*SegmentedImage) ColorModel ¶
func (si *SegmentedImage) ColorModel() color.Model
ColorModel TODO.
func (*SegmentedImage) GetSegment ¶
func (si *SegmentedImage) GetSegment(p image.Point) int
GetSegment TODO.
func (*SegmentedImage) NumInAnyCluster ¶
func (si *SegmentedImage) NumInAnyCluster() int
NumInAnyCluster TODO.
func (*SegmentedImage) PixelsInSegmemnt ¶
func (si *SegmentedImage) PixelsInSegmemnt(segment int) int
PixelsInSegmemnt TODO.
type Segmenter ¶
A Segmenter is a function that takes images/pointclouds from an input source and segments them into objects.
func ColorObjects ¶
func ColorObjects(params utils.AttributeMap) (Segmenter, error)
ColorObjects returns a Segmenter that turns the bounding boxes found by the ColorDetector into 3D objects.
func DetectionSegmenter ¶
func DetectionSegmenter(detector objectdetection.Detector, meanK int, sigma, confidenceThresh float64) (Segmenter, error)
DetectionSegmenter will take an objectdetector.Detector and turn it into a Segementer. The params for the segmenter are "mean_k" and "sigma" for the statistical filter on the point clouds.
func NewRadiusClustering ¶ added in v0.1.0
func NewRadiusClustering(params utils.AttributeMap) (Segmenter, error)
NewRadiusClustering returns a Segmenter that removes the planes (if any) and returns a segmentation of the objects in a point cloud using a radius based clustering algo described in the paper "A Clustering Method for Efficient Segmentation of 3D Laser Data" by Klasing et al. 2008.
func NewRadiusClusteringFromVoxels ¶ added in v0.1.0
func NewRadiusClusteringFromVoxels(params utils.AttributeMap) (Segmenter, error)
NewRadiusClusteringFromVoxels removes the planes (if any) and returns a segmentation of the objects in a point cloud.
type Segments ¶
Segments is a struct for keeping track of the individual objects of a point cloud as they are being built. Objects is a slice of all the objects, and Indices is a map that assigns each point to the object index it is a part of.
func NewSegmentsFromSlice ¶
func NewSegmentsFromSlice(clouds []pc.PointCloud, label string) (*Segments, error)
NewSegmentsFromSlice creates a Segments struct from a slice of point clouds.
func (*Segments) AssignCluster ¶
AssignCluster assigns the given point to the cluster with the given index.
func (*Segments) MergeClusters ¶
MergeClusters moves all the points in index "from" to the segment at index "to".
func (*Segments) PointClouds ¶
func (c *Segments) PointClouds() []pc.PointCloud
PointClouds returns the underlying array of pointclouds.
func (*Segments) SelectPointCloudFromPoint ¶
func (c *Segments) SelectPointCloudFromPoint(x, y, z float64) (pc.PointCloud, error)
SelectPointCloudFromPoint takes a 3D point as input and outputs the point cloud of the segment that the point belongs to.
type ShapeWalkOptions ¶
type ShapeWalkOptions struct { Debug bool MaxRadius int // 0 means no max SkipCleaning bool ThresholdMod float64 // 0 means no modification > 0 means more things will match Diffs *rimage.ColorDiffs }
ShapeWalkOptions TODO.
type VoxelGridPlaneConfig ¶
type VoxelGridPlaneConfig struct { WeightThresh float64 `json:"weight_threshold"` AngleThresh float64 `json:"angle_threshold_degs"` CosineThresh float64 `json:"cosine_threshold"` // between -1 and 1, the value after evaluating Cosine(theta) DistanceThresh float64 `json:"distance_threshold_mm"` }
VoxelGridPlaneConfig contains the parameters needed to create a Plane from a VoxelGrid.
func (*VoxelGridPlaneConfig) CheckValid ¶
func (vgpc *VoxelGridPlaneConfig) CheckValid() error
CheckValid checks to see in the inputs values are valid.