Image Component Library (ICL)
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00001 /******************************************************************** 00002 ** Image Component Library (ICL) ** 00003 ** ** 00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld ** 00005 ** Neuroinformatics Group ** 00006 ** Website: www.iclcv.org and ** 00007 ** http://opensource.cit-ec.de/projects/icl ** 00008 ** ** 00009 ** File : ICLGeom/src/ICLGeom/DepthCameraPointCloudGrabber.h ** 00010 ** Module : ICLGeom ** 00011 ** Authors: Christof Elbrechter, Patrick Nobou ** 00012 ** ** 00013 ** ** 00014 ** GNU LESSER GENERAL PUBLIC LICENSE ** 00015 ** This file may be used under the terms of the GNU Lesser General ** 00016 ** Public License version 3.0 as published by the ** 00017 ** ** 00018 ** Free Software Foundation and appearing in the file LICENSE.GPL ** 00019 ** included in the packaging of this file. Please review the ** 00020 ** following information to ensure the license requirements will ** 00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** 00022 ** ** 00023 ** The development of this software was supported by the ** 00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** 00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** 00026 ** Forschungsgemeinschaft (DFG) in the context of the German ** 00027 ** Excellence Initiative. ** 00028 ** ** 00029 ********************************************************************/ 00030 00031 #pragma once 00032 00033 #include <ICLGeom/PointCloudGrabber.h> 00034 #include <ICLGeom/RGBDMapping.h> 00035 #include <ICLGeom/Camera.h> 00036 00037 namespace icl{ 00038 namespace geom{ 00039 00041 class PointCloudCreator; 00044 00045 00048 class DepthCameraPointCloudGrabber : public PointCloudGrabber{ 00049 struct Data; 00050 Data *m_data; 00051 00052 public: 00054 00067 DepthCameraPointCloudGrabber(const Camera &depthCam=get_default_depth_cam(), 00068 const Camera &colorCam=get_null_color_cam(), 00069 const std::string &depthDeviceType="kinectd", 00070 const std::string &depthDeviceID="0", 00071 const std::string &colorDeviceType="kinectc", 00072 const std::string &colorDeviceID="0"); 00073 00075 ~DepthCameraPointCloudGrabber(); 00076 00078 00079 void setColorImageMask(const core::Img8u *mask, bool passOwnerShip=true); 00080 00082 00083 void setDepthImageMask(const core::Img8u *mask, bool passOwnerShip=true); 00084 00086 virtual void grab(PointCloudObjectBase &dst); 00087 00089 const core::Img32f &getLastDepthImage() const; 00090 00092 00094 const core::Img8u &getLastColorImage() const throw (utils::ICLException); 00095 00097 static const Camera &get_default_depth_cam(); 00098 00100 00102 static const Camera &get_null_color_cam(); 00103 00105 00109 void mapImage(const core::ImgBase *src, core::ImgBase **dst, const core::Img32f *depthImageMM=0); 00110 00112 00117 void setUseCL(bool enable); 00118 00120 PointCloudCreator &getCreator(); 00121 00123 const PointCloudCreator &getCreator() const; 00124 00126 00127 RGBDMapping getMapping() const throw (utils::ICLException); 00128 00129 }; 00130 } // namespace geom 00131 } 00132