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/PointCloudCreator.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/PointCloudObjectBase.h> 00034 #include <ICLGeom/Camera.h> 00035 #include <ICLGeom/RGBDMapping.h> 00036 00037 namespace icl{ 00038 namespace geom{ 00039 00041 00055 class PointCloudCreator{ 00056 struct Data; // !< pimpl type 00057 Data *m_data; // !< pimpl pointer 00058 public: 00059 00061 00064 enum DepthImageMode{ 00065 DistanceToCamCenter, 00066 DistanceToCamPlane, 00067 KinectRAW11Bit 00068 }; 00069 00071 PointCloudCreator(); 00072 00074 PointCloudCreator(const Camera &depthCam, DepthImageMode mode=DistanceToCamPlane); 00075 00077 PointCloudCreator(const Camera &depthCam, const Camera &colorCam, DepthImageMode mode=DistanceToCamPlane); 00078 00080 PointCloudCreator(const PointCloudCreator &other); 00081 00083 PointCloudCreator &operator=(const PointCloudCreator &other); 00084 00085 00087 ~PointCloudCreator(); 00088 00090 void init(const Camera &depthCam, DepthImageMode mode=DistanceToCamPlane); 00091 00093 void init(const Camera &depthCam, const Camera &colorCam, DepthImageMode mode=DistanceToCamPlane); 00094 00096 void create(const core::Img32f &depthImage, PointCloudObjectBase &destination, const core::Img8u *rgbImage = 0, float depthScaling=1); 00097 00099 const Camera &getDepthCamera() const; 00100 00102 const Camera &getColorCamera() const throw (utils::ICLException); 00103 00105 bool hasColorCamera() const; 00106 00108 00112 void mapImage(const core::ImgBase *src, core::ImgBase **dst, const core::Img32f *depthImageMM=0); 00113 00115 00116 void setUseCL(bool use); 00117 00119 00122 RGBDMapping getMapping() const throw (utils::ICLException); 00123 }; 00124 00125 } // namespace geom 00126 } 00127