ntk::RGBDImage Class Reference

#include <rgbd_image.h>

List of all members.

Public Member Functions
	RGBDImage ()
	RGBDImage (const std::string &dir, const RGBDCalibration *calib=0, RGBDProcessor *processor=0)
const std::string &	directory () const
bool	hasDirectory () const
void	loadFromDir (const std::string &dir, const RGBDCalibration *calib=0, RGBDProcessor *processor=0)
void	loadFromFile (const std::string &dir, const RGBDCalibration *calib=0)
const RGBDCalibration *	calibration () const
void	setCalibration (const RGBDCalibration *calibration)
void	setDirectory (const std::string &dir)
void	copyTo (RGBDImage &other) const
int	rgbWidth () const
int	rgbHeight () const
int	depthWidth () const
int	depthHeight () const
cv::Mat3b &	rgbRef ()
const cv::Mat3b &	rgb () const
cv::Mat1f &	depthRef ()
const cv::Mat1f &	depth () const
cv::Mat3b &	rawRgbRef ()
const cv::Mat3b &	rawRgb () const
cv::Mat1f &	rawDepthRef ()
const cv::Mat1f &	rawDepth () const
cv::Mat1f &	rawIntensityRef ()
const cv::Mat1f &	rawIntensity () const
cv::Mat1f &	rawAmplitudeRef ()
const cv::Mat1f &	rawAmplitude () const
cv::Mat1b &	depthMaskRef ()
const cv::Mat1b &	depthMask () const
cv::Mat1b &	rgbAsGrayRef ()
const cv::Mat1b &	rgbAsGray () const
cv::Mat3b &	mappedRgbRef ()
const cv::Mat3b &	mappedRgb () const
cv::Mat1f &	mappedDepthRef ()
const cv::Mat1f &	mappedDepth () const
cv::Mat3f &	normalRef ()
const cv::Mat3f &	normal () const
cv::Mat1f &	amplitudeRef ()
const cv::Mat1f &	amplitude () const
cv::Mat1f &	intensityRef ()
const cv::Mat1f &	intensity () const
bool	rgbPixelHasDepth (int r, int c) const

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Detailed Description

Stores RGB+Depth data.

RGBDImage also stores a pointer on calibration data, and caches postprocessed data such as normals. The rawXXX accessors are the raw data extracted by a grabber. The other accessors refers to postprocessed data, e.g. after RGBDProcessor::processImage .

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Constructor & Destructor Documentation

ntk::RGBDImage::RGBDImage

(

)

[inline]

ntk::RGBDImage::RGBDImage	(	const std::string &	dir,
		const RGBDCalibration *	calib = 0,
		RGBDProcessor *	processor = 0
	)			[inline]

Initialize from an viewXXXX directory.

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Member Function Documentation

const cv::Mat1f& ntk::RGBDImage::amplitude

(

)

const [inline]

cv::Mat1f& ntk::RGBDImage::amplitudeRef

(

)

[inline]

Accessors to the amplitude image. Ignored with Kinect.

const RGBDCalibration* ntk::RGBDImage::calibration

(

)

const [inline]

Associated optional calibration data.

void ntk::RGBDImage::copyTo

(

RGBDImage &

other

)

const

Deep copy.

const cv::Mat1f& ntk::RGBDImage::depth

(

)

const [inline]

int ntk::RGBDImage::depthHeight

(

)

const [inline]

const cv::Mat1b& ntk::RGBDImage::depthMask

(

)

const [inline]

cv::Mat1b& ntk::RGBDImage::depthMaskRef

(

)

[inline]

Accessors to depth mask. This can be used to mark and filter out unreliable depth values.

cv::Mat1f& ntk::RGBDImage::depthRef

(

)

[inline]

Accessors to the postprocessed depth channel.

int ntk::RGBDImage::depthWidth

(

)

const [inline]

Size of the depth channel.

const std::string& ntk::RGBDImage::directory

(

)

const [inline]

Directory path if loaded from disk.

bool ntk::RGBDImage::hasDirectory

(

)

const [inline]

Whether the image was loaded from disk.

const cv::Mat1f& ntk::RGBDImage::intensity

(

)

const [inline]

cv::Mat1f& ntk::RGBDImage::intensityRef

(

)

[inline]

Accessors to the intensity image. Ignored with Kinect.

void ntk::RGBDImage::loadFromDir	(	const std::string &	dir,
		const RGBDCalibration *	calib = 0,
		RGBDProcessor *	processor = 0
	)

Load from a viewXXXX directory.

void ntk::RGBDImage::loadFromFile	(	const std::string &	dir,
		const RGBDCalibration *	calib = 0
	)

Load from a single color image. No depth data.

const cv::Mat1f& ntk::RGBDImage::mappedDepth

(

)

const [inline]

cv::Mat1f& ntk::RGBDImage::mappedDepthRef

(

)

[inline]

Accessors to the depth image aligned with the rgb camera. Has the same size as the rgb channel.

const cv::Mat3b& ntk::RGBDImage::mappedRgb

(

)

const [inline]

cv::Mat3b& ntk::RGBDImage::mappedRgbRef

(

)

[inline]

Accessors to the color image aligned with the depth camera. Has the same size as the depth channel.

const cv::Mat3f& ntk::RGBDImage::normal

(

)

const [inline]

cv::Mat3f& ntk::RGBDImage::normalRef

(

)

[inline]

Accessors to 3D normals.

const cv::Mat1f& ntk::RGBDImage::rawAmplitude

(

)

const [inline]

cv::Mat1f& ntk::RGBDImage::rawAmplitudeRef

(

)

[inline]

Accessors to the raw depth channel (ignored with Kinect).

const cv::Mat1f& ntk::RGBDImage::rawDepth

(

)

const [inline]

cv::Mat1f& ntk::RGBDImage::rawDepthRef

(

)

[inline]

Accessors to the raw depth channel.

const cv::Mat1f& ntk::RGBDImage::rawIntensity

(

)

const [inline]

cv::Mat1f& ntk::RGBDImage::rawIntensityRef

(

)

[inline]

Accessors to the raw intensity channel (ignored with Kinect).

const cv::Mat3b& ntk::RGBDImage::rawRgb

(

)

const [inline]

cv::Mat3b& ntk::RGBDImage::rawRgbRef

(

)

[inline]

Accessors to the raw rgb channel.

const cv::Mat3b& ntk::RGBDImage::rgb

(

)

const [inline]

const cv::Mat1b& ntk::RGBDImage::rgbAsGray

(

)

const [inline]

cv::Mat1b& ntk::RGBDImage::rgbAsGrayRef

(

)

[inline]

Accessors to the postprocessed color channel, as a gray image.

int ntk::RGBDImage::rgbHeight

(

)

const [inline]

bool ntk::RGBDImage::rgbPixelHasDepth	(	int	r,
		int	c
	)			const [inline]

Whether this particular pixel has valid depth information

cv::Mat3b& ntk::RGBDImage::rgbRef

(

)

[inline]

Accessors to the postprocessed color channel.

int ntk::RGBDImage::rgbWidth

(

)

const [inline]

Size of the color channel.

void ntk::RGBDImage::setCalibration

(

const RGBDCalibration *

calibration

)

[inline]

Set an associated calibration data.

void ntk::RGBDImage::setDirectory

(

const std::string &

dir

)

[inline]

Set an associated viewXXXX directory.

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/camera/rgbd_image.h
• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/camera/rgbd_image.cpp