PointCloudCreator.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/PointCloudCreator.h                **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter, Patrick Nobou                     **
**                                                                 **
**                                                                 **
** 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.LGPL **
** 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 <ICLUtils/CompatMacros.h>
#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLGeom/Camera.h>
#include <ICLGeom/RGBDMapping.h>

namespace icl{
  namespace geom{
    

    class ICLGeom_API PointCloudCreator{
      struct Data;  // !< pimpl type
      Data *m_data; // !< pimpl pointer
      public:
      

      enum DepthImageMode{
        DistanceToCamCenter, 
        DistanceToCamPlane,  
        KinectRAW11Bit       
      };
  
      PointCloudCreator();
      
      PointCloudCreator(const Camera &depthCam, DepthImageMode mode=DistanceToCamPlane);
  
      PointCloudCreator(const Camera &depthCam, const Camera &colorCam, DepthImageMode mode=DistanceToCamPlane);
  
      PointCloudCreator(const PointCloudCreator &other);
  
      PointCloudCreator &operator=(const PointCloudCreator &other);

      
      ~PointCloudCreator();
      
      void init(const Camera &depthCam, DepthImageMode mode=DistanceToCamPlane);
      
      void init(const Camera &depthCam, const Camera &colorCam, DepthImageMode mode=DistanceToCamPlane);
      

      void create(const core::Img32f &depthImage, PointCloudObjectBase &destination, const core::Img8u *rgbImage = 0, float depthScaling=1);
  
      const Camera &getDepthCamera() const;
      
      const Camera &getColorCamera() const throw (utils::ICLException);


      void setCameras(const Camera &depthCam, const Camera &colorCam);


      void setDepthCamera(const Camera &depthCam);
      
      bool hasColorCamera() const;


      void mapImage(const core::ImgBase *src, core::ImgBase **dst, const core::Img32f *depthImageMM=0);
      

      void setUseCL(bool use);  
      

      RGBDMapping getMapping() const throw (utils::ICLException);


      void setFixes(float focalLengthMultiplier=1, float positionOffsetAlongNorm=0);
    };
  
  } // namespace geom
}