PointCloudNormalEstimator.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/PointCloudNormalEstimator.h        **
** Module : ICLGeom                                                **
** Authors: Andre Ueckermann                                       **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLGeom/GeomDefs.h>
#include <ICLCore/Img.h>
#include <ICLGeom/Camera.h>
#include <ICLUtils/Uncopyable.h>

namespace icl{
  namespace geom{
    class PointCloudNormalEstimator : public utils::Uncopyable{
      struct Data;  
      Data *m_data; 

     public:
  
        

      PointCloudNormalEstimator(utils::Size size); 
        
      virtual ~PointCloudNormalEstimator();
  

      const core::Img8u &calculate(const core::Img32f &depthImage, bool filter, bool average, bool gauss);
        

      void setDepthImage(const core::Img32f &depthImg);
        

      void applyMedianFilter();
        

      const core::Img32f &getFilteredDepthImage();
        

      void setFilteredDepthImage(const core::Img32f &filteredImg); 
        

      void applyNormalCalculation();
        

      void applyTemporalNormalAveraging();
  

      void applyGaussianNormalSmoothing();
  

      const Vec* getNormals();
      

      void applyWorldNormalCalculation(const Camera &cam);
          

      const Vec* getWorldNormals();
          

      const core::Img8u &getRGBNormalImage();
      

      void setNormals(Vec* pNormals);
        

      void applyAngleImageCalculation();
        

      const core::Img32f &getAngleImage();
        

      void setAngleImage(const core::Img32f &angleImg);
        

      void applyImageBinarization();
        

      const core::Img8u &getBinarizedAngleImage();      
        

      void setMedianFilterSize(int size);
        

      void setNormalCalculationRange(int range);
        

      void setNormalAveragingRange(int range);
        

      void setAngleNeighborhoodMode(int mode);
        

      void setAngleNeighborhoodRange(int range);
        

      void setBinarizationThreshold(float threshold);
        

      void setUseCL(bool use);
        

      void setUseNormalAveraging(bool use);
      

      void setUseGaussSmoothing(bool use);
        

      bool isCLReady();
        

      bool isCLActive();
    };
  } // namespace geom
}