#include <point_cloud.h>
Public Member Functions | |
| point_cloud (const options &opts, const calibration &_calib) | |
| virtual bool | read_background (const std::string &depth_background) |
| bool | refresh (bool goto_next=true) |
| vector3 | bg_normal (const size_t i) const |
Protected Attributes | |
| const std::string | input_template |
Detailed Description
The point_cloud class gives access to point data generated by a stereo camera. Specifically it provides access to 3D points.
Constructor & Destructor Documentation
| point_cloud::point_cloud | ( | const options & | opts, | |
| const calibration & | _calib | |||
| ) | [inline] |
Constructor for the point_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 point_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 point_cloud::bg_normal | ( | const size_t | i | ) | const [inline] |
Return the surface normal of one 3D point in the background. This operation is currently not supported in this class.
- 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. In this class a zero-vector is always returned.
| virtual bool point_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 point_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 point_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 >.
Reimplemented in cloud_and_stick< point_cloud >.
Member Data Documentation
const std::string point_cloud::input_template [protected] |
The documentation for this class was generated from the following file:
- /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/point_cloud.h
Generated on Thu Dec 1 2011 12:54:35 for HUMIM Tracker by
1.7.1