PointCloudGrabber implementation for 2D core::depth-image based creation of point clouds. More...

#include <DepthCameraPointCloudGrabber.h>

Inheritance diagram for icl::geom::DepthCameraPointCloudGrabber:

Public Member Functions
	DepthCameraPointCloudGrabber (const Camera &depthCam=get_default_depth_cam(), const Camera &colorCam=get_null_color_cam(), const std::string &depthDeviceType="kinectd", const std::string &depthDeviceID="0", const std::string &colorDeviceType="kinectc", const std::string &colorDeviceID="0")
	constructor with a set of given parameters
	~DepthCameraPointCloudGrabber ()
	Destructor.
void	setColorImageMask (const core::Img8u *mask, bool passOwnerShip=true)
	sets a mask, that is applied to the color image before creatig the point cloud
void	setDepthImageMask (const core::Img8u *mask, bool passOwnerShip=true)
	sets a mask, that is applied to the depth image before creatig the point cloud
virtual void	grab (PointCloudObjectBase &dst)
	virtual grab implementation
const core::Img32f &	getLastDepthImage () const
	returns the last grabbed core::depth image
const core::Img8u &	getLastColorImage () const throw (utils::ICLException)
	returns the last grabbed color image
void	mapImage (const core::ImgBase src, core::ImgBase dst, const core::Img32f depthImageMM=0)
	maps another given image just like the rgbImage would be mapped
void	setUseCL (bool enable)
	defines whether opencl is to be used
PointCloudCreator &	getCreator ()
	returns the internal point cloud creator instance
const PointCloudCreator &	getCreator () const
	returns the internal point cloud creator instance (const)
RGBDMapping	getMapping () const throw (utils::ICLException)
	returns the internal RGBDMapping
virtual const core::Img32f *	getDepthImage () const
	returns the last grabbed point cloud's underlying depth image
virtual const core::Img8u *	getColorImage () const
	returns the last grabbed point cloud's underlying color image (if available)
Static Public Member Functions
static const Camera &	get_default_depth_cam ()
	creates the defautl VGA core::depth camera
static const Camera &	get_null_color_cam ()
	creates the defautl null color camera
Private Attributes
Data *	m_data
	pimpl type

Detailed Description

PointCloudGrabber implementation for 2D core::depth-image based creation of point clouds.

This Grabber implementation can be used for all point-cloud sources, where the point cloud must still be created from a given core::depth images. Internally an instance of PointCloudCreator is used.

Constructor & Destructor Documentation

icl::geom::DepthCameraPointCloudGrabber::DepthCameraPointCloudGrabber	(	const Camera &	depthCam = `get_default_depth_cam()`,
		const Camera &	colorCam = `get_null_color_cam()`,
		const std::string &	depthDeviceType = `"kinectd"`,
		const std::string &	depthDeviceID = `"0"`,
		const std::string &	colorDeviceType = `"kinectc"`,
		const std::string &	colorDeviceID = `"0"`
	)

constructor with a set of given parameters

Parameters:

depthCam	core::depth camera parameters (if nothing is passed, a simple VGA camera is used automatically)
colorCam	color camera parameters. If get_null_color_cam() is passed, then no color camera information will be available, no color images will be grabbed and only xyz point cloud data is created (all other fiels are just left untouched)
depthDeviceType,depthDeviceID,:	device type (e.g. kinectd for Kinect source of file filepattern for using a list of source files that contained core::depth images) Analogously for colorDeviceType and colorDeviceID, however the latter two are ignored if not colorCam was passed.
colorDeviceType,colorDeviceID	(See depthDeviceType and depthDeviceID)

icl::geom::DepthCameraPointCloudGrabber::~DepthCameraPointCloudGrabber ( )

Destructor.

Member Function Documentation

static const Camera& icl::geom::DepthCameraPointCloudGrabber::get_default_depth_cam ( ) [static]

creates the defautl VGA core::depth camera

static const Camera& icl::geom::DepthCameraPointCloudGrabber::get_null_color_cam ( ) [static]

creates the defautl null color camera

The camera is never really used, only it's address is used to decide whether it is the static null-color-camera or not

virtual const core::Img8u* icl::geom::DepthCameraPointCloudGrabber::getColorImage ( ) const [virtual]

returns the last grabbed point cloud's underlying color image (if available)

Reimplemented from icl::geom::PointCloudGrabber.

PointCloudCreator& icl::geom::DepthCameraPointCloudGrabber::getCreator ( )

returns the internal point cloud creator instance

const PointCloudCreator& icl::geom::DepthCameraPointCloudGrabber::getCreator ( ) const

returns the internal point cloud creator instance (const)

virtual const core::Img32f* icl::geom::DepthCameraPointCloudGrabber::getDepthImage ( ) const [virtual]

returns the last grabbed point cloud's underlying depth image

Reimplemented from icl::geom::PointCloudGrabber.

const core::Img8u& icl::geom::DepthCameraPointCloudGrabber::getLastColorImage ( ) const throw (utils::ICLException)

returns the last grabbed color image

Throws an exception if no color camera or not valid color camera device type and ID were passed.

const core::Img32f& icl::geom::DepthCameraPointCloudGrabber::getLastDepthImage ( ) const

returns the last grabbed core::depth image

RGBDMapping icl::geom::DepthCameraPointCloudGrabber::getMapping ( ) const throw (utils::ICLException)

returns the internal RGBDMapping

only if both color- and depth camera is available

virtual void icl::geom::DepthCameraPointCloudGrabber::grab ( PointCloudObjectBase & dst ) [virtual]

virtual grab implementation

Implements icl::geom::PointCloudGrabber.

void icl::geom::DepthCameraPointCloudGrabber::mapImage	(	const core::ImgBase *	src,
		core::ImgBase **	dst,
		const core::Img32f *	depthImageMM = `0`
	)

maps another given image just like the rgbImage would be mapped

Parameters:

src	image assumed to be captured from the perspective of the color camera
dst	destimation image (automatically adapted)
depthImageMM	optionally given depth image (if NULL, then the last depthImage passed to the "create"-is used, which should usually be the right one)

void icl::geom::DepthCameraPointCloudGrabber::setColorImageMask	(	const core::Img8u *	mask,
		bool	passOwnerShip = `true`
	)

sets a mask, that is applied to the color image before creatig the point cloud

color pixels that correspond to 0-mask pixels are set to black

void icl::geom::DepthCameraPointCloudGrabber::setDepthImageMask	(	const core::Img8u *	mask,
		bool	passOwnerShip = `true`
	)

sets a mask, that is applied to the depth image before creatig the point cloud

depth image pixels that correspond to 0-mask pixels are set to 0

void icl::geom::DepthCameraPointCloudGrabber::setUseCL ( bool enable )

defines whether opencl is to be used

Please note that OpenCL is only used if The graphics card supports OpenCL ICL is build with OpenCL support for the most common point cloud types (i.e. color type is rgba32f) color- and depth-camera size are equal

Member Data Documentation

Data* icl::geom::DepthCameraPointCloudGrabber::m_data [private]

pimpl type

pimpl pointer

The documentation for this class was generated from the following file:

/home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLGeom/src/ICLGeom/DepthCameraPointCloudGrabber.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation