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", bool needsKinectRawDepthInput=false)
	constructor with a set of given parameters More...

	~DepthCameraPointCloudGrabber ()
	Destructor. More...

void	setColorImageMask (const core::Img8u *mask, bool passOwnerShip=true)
	sets a mask, that is applied to the color image before creatig the point cloud More...

void	setDepthImageMask (const core::Img8u *mask, bool passOwnerShip=true)
	sets a mask, that is applied to the depth image before creatig the point cloud More...

virtual void	grab (PointCloudObjectBase &dst)
	virtual grab implementation More...

const core::Img32f &	getLastDepthImage () const
	returns the last grabbed core::depth image More...

const core::Img8u &	getLastColorImage () const
	returns the last grabbed color image More...

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 More...

void	setUseCL (bool enable)
	defines whether opencl is to be used More...

PointCloudCreator &	getCreator ()
	returns the internal point cloud creator instance More...

const PointCloudCreator &	getCreator () const
	returns the internal point cloud creator instance (const) More...

RGBDMapping	getMapping () const
	returns the internal RGBDMapping More...

void	reinit (const std::string &description)
	reinitisize the backend (here, only new camera parameters can be given) More...

virtual const core::Img32f *	getDepthImage () const
	returns the last grabbed point cloud's underlying depth image More...

virtual const core::Img8u *	getColorImage () const
	returns the last grabbed point cloud's underlying color image (if available) More...

virtual Camera	getDepthCamera () const
	returns current depth camera More...

virtual Camera	getColorCamera () const
	returns current color camera More...

virtual void	setCameraWorldFrame (const math::FixedMatrix< float, 4, 4 > &T)
	sets up the cameras world frame More...

Public Member Functions inherited from icl::geom::PointCloudGrabber
virtual	~PointCloudGrabber ()
	virtual, but empty destructor More...

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Static Public Member Functions
static const Camera &	get_default_depth_cam ()
	creates the defautl VGA core::depth camera More...

static const Camera &	get_null_color_cam ()
	creates the defautl null color camera More...

Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Private Attributes
Data *	m_data
	pimpl type More...

Additional Inherited Members
Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

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

◆ DepthCameraPointCloudGrabber()

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"`,
		bool	needsKinectRawDepthInput = `false`
	)

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)

◆ ~DepthCameraPointCloudGrabber()

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

Destructor.

Member Function Documentation

◆ get_default_depth_cam()

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

static

creates the defautl VGA core::depth camera

◆ get_null_color_cam()

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

◆ getColorCamera()

virtual Camera icl::geom::DepthCameraPointCloudGrabber::getColorCamera ( ) const

virtual

returns current color camera

If no color camera was given, an exception is thrown

Reimplemented from icl::geom::PointCloudGrabber.

◆ getColorImage()

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.

◆ getCreator() [1/2]

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

returns the internal point cloud creator instance

◆ getCreator() [2/2]

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

returns the internal point cloud creator instance (const)

◆ getDepthCamera()

virtual Camera icl::geom::DepthCameraPointCloudGrabber::getDepthCamera ( ) const

virtual

returns current depth camera

Reimplemented from icl::geom::PointCloudGrabber.

◆ getDepthImage()

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.

◆ getLastColorImage()

const core::Img8u& icl::geom::DepthCameraPointCloudGrabber::getLastColorImage ( ) const

returns the last grabbed color image

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

◆ getLastDepthImage()

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

returns the last grabbed core::depth image

◆ getMapping()

RGBDMapping icl::geom::DepthCameraPointCloudGrabber::getMapping ( ) const

returns the internal RGBDMapping

only if both color- and depth camera is available

◆ grab()

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

virtual

virtual grab implementation

Implements icl::geom::PointCloudGrabber.

◆ mapImage()

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)

◆ reinit()

void icl::geom::DepthCameraPointCloudGrabber::reinit ( const std::string & description )

virtual

reinitisize the backend (here, only new camera parameters can be given)

The syntax is @dcam=depth-cam-filename@ccam=color-cam-filename. It is also possible to pass only one of the @ tokens.

Reimplemented from icl::geom::PointCloudGrabber.

◆ setCameraWorldFrame()

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

virtual

sets up the cameras world frame

Internally, this will set the depth camera's world frame to T. If a color camera is given, it will be also moved so that the relative transform between the depth camera and the color camera remains the same. Otherwise, the RGBD-mapping would become broken

Reimplemented from icl::geom::PointCloudGrabber.

◆ setColorImageMask()

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

◆ setDepthImageMask()

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

◆ setUseCL()

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

◆ m_data

Data* icl::geom::DepthCameraPointCloudGrabber::m_data

private

pimpl type

pimpl pointer

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

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/DepthCameraPointCloudGrabber.h

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DepthCameraPointCloudGrabber()

◆ ~DepthCameraPointCloudGrabber()

Member Function Documentation

◆ get_default_depth_cam()

◆ get_null_color_cam()

◆ getColorCamera()

◆ getColorImage()

◆ getCreator() [1/2]

◆ getCreator() [2/2]

◆ getDepthCamera()

◆ getDepthImage()

◆ getLastColorImage()

◆ getLastDepthImage()

◆ getMapping()

◆ grab()

◆ mapImage()

◆ reinit()

◆ setCameraWorldFrame()

◆ setColorImageMask()

◆ setDepthImageMask()

◆ setUseCL()

Member Data Documentation

◆ m_data