2012-09-16 12:33:11 +00:00
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#pragma once
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2012-11-07 10:27:39 +00:00
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#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
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2012-09-16 12:33:11 +00:00
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#include <cxcore.h>
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#include <highgui.h>
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2012-11-07 10:27:39 +00:00
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#elif (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
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#include <opencv/cv.h>
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#else
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#include <opencv2/opencv.hpp>
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#endif
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2012-09-16 12:33:11 +00:00
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#include <libconfig.h>
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#include "cvpmd.h"
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#include "slam6d/icp6Dminimizer.h"
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struct PMDFiles {
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FILE *i; // intens
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FILE *a; // ampl
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FILE *p; // 3d pts
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FILE *h; // pmd image headers
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};
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struct TrackingSettings {
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int winSz;
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double quality;
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int minFeatures;
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int maxFeatures;
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int minDist;
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IplImage *pyr;
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IplImage *pyrPrev;
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IplImage *iCamPrev;
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CvPoint2D32f *pts[2];
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char *ptsStatus;
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int trackingFlags;
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};
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struct PMDCam {
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PMD *_pmd;
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CvCapture *_capture;
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PMDFiles _f;
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CvMat *intrinsicPMD;
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CvMat *intrinsicCam;
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CvMat *distortionPMD;
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CvMat *distortionCam;
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CvMat *rotation;
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CvMat *translation;
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// Undistortion maps
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IplImage *_mapXCam;
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IplImage *_mapYCam;
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IplImage *_mapXPMD;
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IplImage *_mapYPMD;
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// Data
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IplImage *_iCamColorUBuffer;
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IplImage *iCamColor;
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IplImage *iCam;
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IplImage *_iCamColorU;
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IplImage *iPMDI;
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IplImage *_iPMDIU;
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IplImage *iPMDA;
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IplImage *_iPMDAU;
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CvPoint3D32f **pts;
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unsigned int timestamp;
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unsigned int timestampUsec;
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// Pose Estimation
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icp6Dminimizer *icp;
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int minPts4Pose;
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double maxError;
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int minConsensusPts;
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int savePoses;
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// Settings
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ImageHeaderInformation *header;
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int synchronous;
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int hybrid;
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int _offlineMode;
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int historyLen;
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TrackingSettings _track;
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double sigmaDepth;
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double sigmaColor;
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double dpThreshold;
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};
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PMDCam *initPMDCam(const char *confPath);
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int grabData(PMDCam *pmdc);
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