#include <cloud.h>

Inheritance diagram for cloud< observation_type >:

Public Member Functions
	cloud (const options &opts, const calibration &_calib)
	~cloud ()
virtual bool	refresh (bool goto_next=true)=0
virtual size_t	size () const =0
virtual void	show () const =0
Protected Attributes
int	frame
const double	scale
bool	use_depth_threshold
double	depth_threshold
const calibration &	calib

Detailed Description

template<class observation_type>
class cloud< observation_type >

An abstract class for representing data from a stereo camera. The template parameter controls the type of observation the camera generates. Examples of such observations include 3D points and triangles in 3D.

The data should internally be represented in the world coordinate system rather than the camera coordinate system.

Constructor & Destructor Documentation

template<class observation_type>

cloud< observation_type >::cloud	(	const options &	opts,
		const calibration &	_calib
	)			`[inline]`

Constructor for the cloud class. The constructor initialises some variables, but does not actually read any data.

Parameters:

[in]

opts

An object of class options that contains configuration information. The cloud constructor reads the following options:

data_template
data_start_idx
external_view
data_scaling (optional)
depth_threshold (optional)

[in] _calib A reference to the calibration object defining the coordinate systems of the world.

template<class observation_type>

cloud< observation_type >::~cloud ( ) [inline]

Member Function Documentation

template<class observation_type>

virtual bool cloud< observation_type >::refresh ( bool goto_next = true ) [pure virtual]

Reads data from the next frame. This function should be implemented by a class inheriting from the cloud class.

Parameters:

[in] goto_next This optional parameter determines if the next frame should be read (default) or the current frame should be re-read. The latter is useful if you have changed parameters of the point_cloud object, such as the translation or rotation of the data.