A method of transforming image data comprises receiving, by a Reeb graph stage, from intermediate storage coupled to a sensor, spatial data. Transforming the spatial data to produce a Reeb graph, where the Reeb graph representing the spatial data. Receiving a set of control inputs through an off board interface. Augmenting, the Reeb graph to produce an augmented Reeb graph. The augmented Reeb graph comprising a plurality of new edges, each of the plurality of new edges comprising a first vertex labeled with a scalar value. The scalar value is unequal to any other scalar values associated with a second vertex at the opposing end of the new edge. The set of control inputs determines the plurality of new edges. Transforming the augmented Reeb graph to produce shape data, the shape data comprising a plurality of shapes, and Outputting, by the shape-generation stage, the shape data.
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