3dpcp/.svn/pristine/df/dfc273bee2524b4a66c8f190c46637b103e21857.svn-base
2012-09-16 14:33:11 +02:00

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#pragma once
#include <cxcore.h>
#include <highgui.h>
#include <libconfig.h>
#include "cvpmd.h"
#include "slam6d/icp6Dminimizer.h"
struct PMDFiles {
FILE *i; // intens
FILE *a; // ampl
FILE *p; // 3d pts
FILE *h; // pmd image headers
};
struct TrackingSettings {
int winSz;
double quality;
int minFeatures;
int maxFeatures;
int minDist;
IplImage *pyr;
IplImage *pyrPrev;
IplImage *iCamPrev;
CvPoint2D32f *pts[2];
char *ptsStatus;
int trackingFlags;
};
struct PMDCam {
PMD *_pmd;
CvCapture *_capture;
PMDFiles _f;
CvMat *intrinsicPMD;
CvMat *intrinsicCam;
CvMat *distortionPMD;
CvMat *distortionCam;
CvMat *rotation;
CvMat *translation;
// Undistortion maps
IplImage *_mapXCam;
IplImage *_mapYCam;
IplImage *_mapXPMD;
IplImage *_mapYPMD;
// Data
IplImage *_iCamColorUBuffer;
IplImage *iCamColor;
IplImage *iCam;
IplImage *_iCamColorU;
IplImage *iPMDI;
IplImage *_iPMDIU;
IplImage *iPMDA;
IplImage *_iPMDAU;
CvPoint3D32f **pts;
unsigned int timestamp;
unsigned int timestampUsec;
// Pose Estimation
icp6Dminimizer *icp;
int minPts4Pose;
double maxError;
int minConsensusPts;
int savePoses;
// Settings
ImageHeaderInformation *header;
int synchronous;
int hybrid;
int _offlineMode;
int historyLen;
TrackingSettings _track;
double sigmaDepth;
double sigmaColor;
double dpThreshold;
};
PMDCam *initPMDCam(const char *confPath);
int grabData(PMDCam *pmdc);