Public Types | Public Member Functions | Protected Attributes

ntk::RGBDProcessor Class Reference

#include <rgbd_processor.h>

Inheritance diagram for ntk::RGBDProcessor:
ntk::KinectProcessor ntk::NiteProcessor

List of all members.

Public Types

enum  ProcessorFlag {
  NoProcessing = 0x0, FixGeometry = 0x1, UndistortImages = 0x2, FixBias = 0x4,
  FilterAmplitude = 0x8, FilterNormals = 0x10, FilterUnstable = 0x20, FilterEdges = 0x40,
  FilterThresholdDepth = 0x80, FilterMedian = 0x100, ComputeMapping = 0x200, ComputeNormals = 0x400,
  ComputeKinectDepthTanh = 0x800, ComputeKinectDepthLinear = 0x1000, ComputeKinectDepthBaseline = 0x2000, NoAmplitudeIntensityUndistort = 0x4000,
  Pause = 0x8000, RemoveSmallStructures = 0x10000, FillSmallHoles = 0x20000, FlipColorImage = 0x40000,
  NiteProcessed = 0x80000, SmoothDepth = 0x100000
}

Public Member Functions

 RGBDProcessor ()
bool hasFilterFlag (ProcessorFlag flag) const
void setFilterFlags (int flags)
void setFilterFlag (ProcessorFlag flag, bool enabled)
void setMinDepth (float meters)
float minDepth () const
void setMaxDepth (float meters)
float maxDepth () const
void setMaxNormalAngle (float angle_in_deg)
void setMaxTimeDelta (float v)
void setMaxSpacialDelta (float v)
void setMappingResolution (float r)
virtual void processImage (RGBDImage &image)
virtual void undistortImages ()
virtual void fixDepthGeometry ()
virtual void removeLowAmplitudeOutliers ()
virtual void removeNormalOutliers ()
virtual void removeUnstableOutliers ()
virtual void removeEdgeOutliers ()
virtual void applyDepthThreshold ()
virtual void computeNormals ()
virtual void computeMappings ()
virtual void medianFilter ()
virtual void computeKinectDepthLinear ()
virtual void computeKinectDepthTanh ()
virtual void computeKinectDepthBaseline ()
virtual void removeSmallStructures ()
virtual void fillSmallHoles ()

Protected Attributes

RGBDImage * m_image
int m_flags
cv::Mat1f m_last_depth_image
float m_min_depth
float m_max_depth
float m_max_normal_angle
float m_max_time_depth_delta
float m_max_spatial_depth_delta
float m_mapping_resolution

Detailed Description

Process raw RGB-D images to generate postprocessed members. Various options are available through flags.

See also:
KinectProcessor

Member Enumeration Documentation

enum ntk::RGBDProcessor::ProcessorFlag
Enumerator:
NoProcessing 
FixGeometry 
UndistortImages 
FixBias 
FilterAmplitude 
FilterNormals 
FilterUnstable 
FilterEdges 
FilterThresholdDepth 
FilterMedian 
ComputeMapping 
ComputeNormals 
ComputeKinectDepthTanh 
ComputeKinectDepthLinear 
ComputeKinectDepthBaseline 
NoAmplitudeIntensityUndistort 
Pause 
RemoveSmallStructures 
FillSmallHoles 
FlipColorImage 
NiteProcessed 
SmoothDepth 

Constructor & Destructor Documentation

ntk::RGBDProcessor::RGBDProcessor (  ) 

Member Function Documentation

void ntk::RGBDProcessor::applyDepthThreshold (  )  [virtual]
void ntk::RGBDProcessor::computeKinectDepthBaseline (  )  [virtual]
void ntk::RGBDProcessor::computeKinectDepthLinear (  )  [virtual]
void ntk::RGBDProcessor::computeKinectDepthTanh (  )  [virtual]
void ntk::RGBDProcessor::computeMappings (  )  [virtual]

Reimplemented in ntk::NiteProcessor.

void ntk::RGBDProcessor::computeNormals (  )  [virtual]
void ntk::RGBDProcessor::fillSmallHoles (  )  [virtual]
void ntk::RGBDProcessor::fixDepthGeometry (  )  [virtual]
bool ntk::RGBDProcessor::hasFilterFlag ( ProcessorFlag  flag  )  const [inline]

Accessors to the flag values

float ntk::RGBDProcessor::maxDepth (  )  const [inline]
void ntk::RGBDProcessor::medianFilter (  )  [virtual]
float ntk::RGBDProcessor::minDepth (  )  const [inline]
void ntk::RGBDProcessor::processImage ( RGBDImage &  image  )  [virtual]

Postprocess an RGB-D image.

void ntk::RGBDProcessor::removeEdgeOutliers (  )  [virtual]
void ntk::RGBDProcessor::removeLowAmplitudeOutliers (  )  [virtual]
void ntk::RGBDProcessor::removeNormalOutliers (  )  [virtual]
void ntk::RGBDProcessor::removeSmallStructures (  )  [virtual]
void ntk::RGBDProcessor::removeUnstableOutliers (  )  [virtual]
void ntk::RGBDProcessor::setFilterFlag ( ProcessorFlag  flag,
bool  enabled 
) [inline]
void ntk::RGBDProcessor::setFilterFlags ( int  flags  )  [inline]
void ntk::RGBDProcessor::setMappingResolution ( float  r  )  [inline]

Resolution factor for depth/rgb mapping. Especially useful when the depth image has a lower resolution.

void ntk::RGBDProcessor::setMaxDepth ( float  meters  )  [inline]
void ntk::RGBDProcessor::setMaxNormalAngle ( float  angle_in_deg  )  [inline]

Set the maximal angle between camera vector and normal vector for normal filter.

void ntk::RGBDProcessor::setMaxSpacialDelta ( float  v  )  [inline]

Max depth difference for the edge filter.

void ntk::RGBDProcessor::setMaxTimeDelta ( float  v  )  [inline]

Parameter of the time stability filter.

void ntk::RGBDProcessor::setMinDepth ( float  meters  )  [inline]

Set the depth range.

void ntk::RGBDProcessor::undistortImages (  )  [virtual]

Member Data Documentation

int ntk::RGBDProcessor::m_flags [protected]
RGBDImage* ntk::RGBDProcessor::m_image [protected]
cv::Mat1f ntk::RGBDProcessor::m_last_depth_image [protected]
float ntk::RGBDProcessor::m_mapping_resolution [protected]
float ntk::RGBDProcessor::m_max_depth [protected]
float ntk::RGBDProcessor::m_max_normal_angle [protected]
float ntk::RGBDProcessor::m_max_spatial_depth_delta [protected]
float ntk::RGBDProcessor::m_max_time_depth_delta [protected]
float ntk::RGBDProcessor::m_min_depth [protected]
The documentation for this class was generated from the following files:
Generated on Thu Dec 1 2011 12:55:24 for HUMIM Tracker by  doxygen 1.7.1