#include <kinect_cloud.h>

Inheritance diagram for kinect_cloud:

Public Member Functions
	kinect_cloud (const options &opts, const calibration &_calib)
virtual bool	read_background (const std::string &depth_background)
bool	refresh (bool goto_next=true)
vector3	normal (const size_t i) const
vector3	bg_normal (const size_t i) const
void	show () const
Protected Attributes
const std::string	input_template
ntk::RGBDCalibration	kinect_calibration
ntk::NiteProcessor	processor
ntk::RGBDImage	current_frame
ntk::MeshGenerator	mesh
point_vector	normals
point_vector	bg_normals

Detailed Description

The kinect_cloud class gives access to point data generated by a kinect camera. Specifically it provides access to 3D points.

Constructor & Destructor Documentation

kinect_cloud::kinect_cloud	(	const options &	opts,
		const calibration &	_calib
	)			`[inline]`

Constructor for the kinect_cloud class. The constructor initialises some variables, but does not actually read any data. The 'refresh' function is used to actually read data.

Parameters:

[in]

opts

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

data_template
data_start_idx
external_view
data_scaling (optional)
depth_threshold (optional)

[in] _calib A calibration object describing the used coordinate systems.

Member Function Documentation

vector3 kinect_cloud::bg_normal ( const size_t i ) const [inline]

Return the surface normal of one 3D point in the background.

Parameters:

[in] i The index of the point you want to read.

Returns:: The 3D surface normal at the given index or a zero-vector if the index is too large.

vector3 kinect_cloud::normal ( const size_t i ) const [inline]

Return the surface normal of one 3D point.

Parameters:

[in] i The index of the point you want to read.

Returns:: The 3D surface normal at the given index or a zero-vector if the index is too large.

virtual bool kinect_cloud::read_background ( const std::string & depth_background ) [inline, virtual]

Attempt to read information about the scene background. You need to implement this function in derived classes.

Returns:: true if the background could be read succesfully; false otherwise.

Reimplemented from cloud3.

bool kinect_cloud::refresh ( bool goto_next = true ) [inline, virtual]

Reads data for the next frame. You should call this function when you are ready to move on to the next frame.

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 kinect_cloud object, such as the translation or rotation of the data.