DepthCameraPointCloudGrabber.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/DepthCameraPointCloudGrabber.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                  **
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** 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/PointCloudGrabber.h>
#include <ICLGeom/RGBDMapping.h>
#include <ICLGeom/Camera.h>

namespace icl{
  namespace geom{

    class PointCloudCreator;

    class ICLGeom_API DepthCameraPointCloudGrabber : public PointCloudGrabber{
      struct Data;  
      Data *m_data; 

      public:

      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",
                                   bool needsKinectRawDepthInput=false);

      ~DepthCameraPointCloudGrabber();


      void setColorImageMask(const core::Img8u *mask, bool passOwnerShip=true);


      void setDepthImageMask(const core::Img8u *mask, bool passOwnerShip=true);

      virtual void grab(PointCloudObjectBase &dst);

      const core::Img32f &getLastDepthImage() const;


      const core::Img8u &getLastColorImage() const ;

      static const Camera &get_default_depth_cam();


      static const Camera &get_null_color_cam();


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


      void setUseCL(bool enable);

      PointCloudCreator &getCreator();

      const PointCloudCreator &getCreator() const;


      RGBDMapping getMapping() const ;


      void reinit(const std::string &description) ;

      virtual const core::Img32f *getDepthImage() const;

      virtual const core::Img8u *getColorImage() const;

      virtual Camera getDepthCamera() const ;


      virtual Camera getColorCamera() const ;


      virtual void setCameraWorldFrame(const math::FixedMatrix<float,4,4> &T) ;

    };
  } // namespace geom
}