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.LGPL ** 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 <ICLUtils/CompatMacros.h> 00034 #include <ICLGeom/PointCloudGrabber.h> 00035 #include <ICLGeom/RGBDMapping.h> 00036 #include <ICLGeom/Camera.h> 00037 00038 namespace icl{ 00039 namespace geom{ 00040 00042 class PointCloudCreator; 00045 00046 00049 class ICLGeom_API DepthCameraPointCloudGrabber : public PointCloudGrabber{ 00050 struct Data; 00051 Data *m_data; 00052 00053 public: 00055 00068 DepthCameraPointCloudGrabber(const Camera &depthCam=get_default_depth_cam(), 00069 const Camera &colorCam=get_null_color_cam(), 00070 const std::string &depthDeviceType="kinectd", 00071 const std::string &depthDeviceID="0", 00072 const std::string &colorDeviceType="kinectc", 00073 const std::string &colorDeviceID="0"); 00074 00076 ~DepthCameraPointCloudGrabber(); 00077 00079 00080 void setColorImageMask(const core::Img8u *mask, bool passOwnerShip=true); 00081 00083 00084 void setDepthImageMask(const core::Img8u *mask, bool passOwnerShip=true); 00085 00087 virtual void grab(PointCloudObjectBase &dst); 00088 00090 const core::Img32f &getLastDepthImage() const; 00091 00093 00095 const core::Img8u &getLastColorImage() const throw (utils::ICLException); 00096 00098 static const Camera &get_default_depth_cam(); 00099 00101 00103 static const Camera &get_null_color_cam(); 00104 00106 00110 void mapImage(const core::ImgBase *src, core::ImgBase **dst, const core::Img32f *depthImageMM=0); 00111 00113 00118 void setUseCL(bool enable); 00119 00121 PointCloudCreator &getCreator(); 00122 00124 const PointCloudCreator &getCreator() const; 00125 00127 00128 RGBDMapping getMapping() const throw (utils::ICLException); 00129 00130 00132 virtual const core::Img32f *getDepthImage() const; 00133 00135 virtual const core::Img8u *getColorImage() const; 00136 00137 }; 00138 } // namespace geom 00139 } 00140