SegmentList WaterShedDecomposer::decompose(ImageColor const & image) const {
QTime time;
time.start();
// original image
image.save("WS1_original.png");
// filter image
time.restart();
ImageColor filtered = filterGauss(image, radiusGauss->value());
qDebug("Image filtered in %g seconds", time.restart()/1000.0);
filtered.save("WS2_filtered.png");
// calculate gradient magnitude map
time.restart();
ImageGray gradientMap = gradientMagnitude(filtered);
qDebug("Gradient magnitude map calculated in %g seconds", time.restart()/1000.0);
gradientMap.save("WS3_gradient.png");
// apply watershed transformation
time.restart();
SegmentList segments = watershed(gradientMap, image);
qDebug("Watershed transformation applied in %g seconds", time.restart()/1000.0);
qDebug(" Segments: %d", segments.size());
ImageColor debugOut(image.width(), image.height());
segments.copyToImageAVG(debugOut);
debugOut.save("WS4_transformed.png");
// merge similiar and small segments
time.restart();
int oldSegmentsSize;
do {
oldSegmentsSize = segments.size();
mergeSimiliarSegments(segments, epsilonMerge->value()*epsilonMerge->value());
mergeSmallSegments(segments, minSize->value());
} while (segments.size() != oldSegmentsSize);
qDebug("Segments merged in %g seconds", time.restart()/1000.0);
qDebug(" Segments: %d", segments.size());
segments.copyToImageAVG(debugOut);
debugOut.save("WS5_merged.png");
return segments;
}
template <typename PointT> void
pcl::LCCPSegmentation<PointT>::segment ()
{
if (supervoxels_set_)
{
// Calculate for every Edge if the connection is convex or invalid
// This effectively performs the segmentation.
calculateConvexConnections (sv_adjacency_list_);
// Correct edge relations using extended convexity definition if k>0
applyKconvexity (k_factor_);
// group supervoxels
doGrouping ();
grouping_data_valid_ = true;
// merge small segments
mergeSmallSegments ();
}
else
PCL_WARN ("[pcl::LCCPSegmentation::segment] WARNING: Call function setInputSupervoxels first. Nothing has been done. \n");
}
