Public Member Functions | Protected Attributes

kinect_cloud Class Reference

#include <kinect_cloud.h>

Inheritance diagram for kinect_cloud:
cloud3 cloud< point_vector > observation< point_vector >

List of all members.

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.
Returns:
If the frame was succesfully read the function returns true, otherwise it returns false.

Implements cloud< point_vector >.

void kinect_cloud::show (  )  const [inline, virtual]

Draw the point cloud using OpenGL.

Reimplemented from cloud3.


Member Data Documentation


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