Utility class that allows to create 3D (optionally colored) point clouds from given 2D core::depth images. More...

#include <PointCloudCreator.h>

Public Types
enum	DepthImageMode { DistanceToCamCenter, DistanceToCamPlane, KinectRAW11Bit }
	Representation of the given core::depth images. More...
Public Member Functions
	PointCloudCreator ()
	creates a null instance
	PointCloudCreator (const Camera &depthCam, DepthImageMode mode=DistanceToCamPlane)
	creates a new instance with given core::depth camera (no rgbd mapping is available then)
	PointCloudCreator (const Camera &depthCam, const Camera &colorCam, DepthImageMode mode=DistanceToCamPlane)
	creates a new instance with given core::depth camera and color camera for rgbd mapping
	PointCloudCreator (const PointCloudCreator &other)
	deep copy constructor
PointCloudCreator &	operator= (const PointCloudCreator &other)
	deep copy assginment operator
	~PointCloudCreator ()
	Destructor.
void	init (const Camera &depthCam, DepthImageMode mode=DistanceToCamPlane)
	initializes with given core::depth camera (no rgbd mapping is available then)
void	init (const Camera &depthCam, const Camera &colorCam, DepthImageMode mode=DistanceToCamPlane)
	initializes with given core::depth camera and color camera for rgbd mapping
void	create (const core::Img32f &depthImage, PointCloudObjectBase &destination, const core::Img8u *rgbImage=0, float depthScaling=1)
	creates a point cloud
const Camera &	getDepthCamera () const
	returns the current core::depth camera
const Camera &	getColorCamera () const throw (utils::ICLException)
	returns the current camera camera (if this was not given, an exception is thrown)
void	setCameras (const Camera &depthCam, const Camera &colorCam)
	sets new cameras (reinitializes data structures internally)
void	setDepthCamera (const Camera &depthCam)
	sets the internally used depthCamera
bool	hasColorCamera () const
	returns whether a color camera was given (and therefore whether RGBD-mapping is supported)
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 use)
	Enables/disables openCL accelaration.
RGBDMapping	getMapping () const throw (utils::ICLException)
	returns the internal mapping
void	setFixes (float focalLengthMultiplier=1, float positionOffsetAlongNorm=0)
	sets up internal heuristical fixes applied to the used depth camera parameters
Private Attributes
Data *	m_data

Detailed Description

Utility class that allows to create 3D (optionally colored) point clouds from given 2D core::depth images.

The PointCloudCreator utility class can be used to two differenct modes. It's basic functionality is to transform a core::depth-image into a 3D point cloud. For this, a Camera instances is needed, which can be obtained from ICL's camera calibration tool icl-cam-calib-2 for real core::depth cameras such as Kinect.

If also a second camera file is provided for the color camera, then the PointCloudCreator class can also be used for mapping optionally given RGB-byte images to the contained point's colors.

Benchmarks

For VGA point clouds, creation with RGBD mapping takes about 8ms on a 2.5 GHz Core2Duo machine. If RGBD-mapping is not performed, the simple point cloud creation is performed in about 6 ms. For futher speed optimizations, we plan to add openmp optimization in the future.

Member Enumeration Documentation

enum icl::geom::PointCloudCreator::DepthImageMode

Representation of the given core::depth images.

Depth image values can either be understood as distance values to the the camera center or as distances from the camera's viewing plane

Enumerator:

DistanceToCamCenter	distances are given w.r.t. the camera center
DistanceToCamPlane	distances are given w.r.t. the camera plance
KinectRAW11Bit	default kinect raw values in range [0,2047]

Constructor & Destructor Documentation

icl::geom::PointCloudCreator::PointCloudCreator ( )

creates a null instance

icl::geom::PointCloudCreator::PointCloudCreator	(	const Camera &	depthCam,
		DepthImageMode	mode = `DistanceToCamPlane`
	)

creates a new instance with given core::depth camera (no rgbd mapping is available then)

icl::geom::PointCloudCreator::PointCloudCreator	(	const Camera &	depthCam,
		const Camera &	colorCam,
		DepthImageMode	mode = `DistanceToCamPlane`
	)

creates a new instance with given core::depth camera and color camera for rgbd mapping

icl::geom::PointCloudCreator::PointCloudCreator ( const PointCloudCreator & other )

deep copy constructor

icl::geom::PointCloudCreator::~PointCloudCreator ( )

Destructor.

Member Function Documentation

void icl::geom::PointCloudCreator::create	(	const core::Img32f &	depthImage,
		PointCloudObjectBase &	destination,
		const core::Img8u *	rgbImage = `0`,
		float	depthScaling = `1`
	)

creates a point cloud

If the PointCloudCreator instance is set up to provide color information and the destionation point cloud does not support color information, the detination point cloud is tried to be adapted using PointCloudObjectBase::canAddFeature and PointCloudObjectBase::addFeature

const Camera& icl::geom::PointCloudCreator::getColorCamera ( ) const throw (utils::ICLException)

returns the current camera camera (if this was not given, an exception is thrown)

const Camera& icl::geom::PointCloudCreator::getDepthCamera ( ) const

returns the current core::depth camera

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

returns the internal mapping

Only if both- depth and camera camera parameters are available. Please note, that the returned shallowly copies the internal depth camera viewray array

bool icl::geom::PointCloudCreator::hasColorCamera ( ) const

returns whether a color camera was given (and therefore whether RGBD-mapping is supported)

void icl::geom::PointCloudCreator::init	(	const Camera &	depthCam,
		DepthImageMode	mode = `DistanceToCamPlane`
	)

initializes with given core::depth camera (no rgbd mapping is available then)

void icl::geom::PointCloudCreator::init	(	const Camera &	depthCam,
		const Camera &	colorCam,
		DepthImageMode	mode = `DistanceToCamPlane`
	)

initializes with given core::depth camera and color camera for rgbd mapping

void icl::geom::PointCloudCreator::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)

PointCloudCreator& icl::geom::PointCloudCreator::operator= ( const PointCloudCreator & other )

deep copy assginment operator

void icl::geom::PointCloudCreator::setCameras	(	const Camera &	depthCam,
		const Camera &	colorCam
	)

sets new cameras (reinitializes data structures internally)

This functions is relatively complex, so it should be performed only when it is needed

void icl::geom::PointCloudCreator::setDepthCamera ( const Camera & depthCam )

sets the internally used depthCamera

This functions is relatively complex, so it should be performed only when it is needed. After using this function, the creator will have no color camera any more

void icl::geom::PointCloudCreator::setFixes	(	float	focalLengthMultiplier = `1`,
		float	positionOffsetAlongNorm = `0`
	)

sets up internal heuristical fixes applied to the used depth camera parameters

Parameters:

focalLengthMultiplier	is used as multiplicative adaption to the orginal depth camera's focal length. 1 is the neutral value for this
positionOffsetAlongNorm	is used as additive displacement for the used depth camera along the camera's view normal

void icl::geom::PointCloudCreator::setUseCL ( bool use )

Enables/disables openCL accelaration.

In case of having no opencl support, this function does nothing

Member Data Documentation

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

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

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

Public Types