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104 lines
3.1 KiB
C
104 lines
3.1 KiB
C
/**
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* @file cvpmd.h
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* @brief pmdaccess wrappers, PMD -> OpenCV marshalling and a bit of math.
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* @author Stanislav `Cfr` Serebryakov
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*/
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#pragma once
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#include "pmdsdk2.h"
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#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
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#include <cxcore.h>
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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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/**
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* @brief Structure for PMD IO, see initPMD.
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*/
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typedef struct PMD {
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PMDHandle hnd; /**< handle for pmd IO */
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float *data; /**< image quering buffer */
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PMDDataDescription dd; /**< contains image size, integration time, etc */
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} PMD;
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/**
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* PMD Constructor
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* @param *plugin IO plugin name i.e. o3d.L32.pcp
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* @param *ip PMD camera IP address
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* @return initialized PMD struct
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*/
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PMD *initPMD(const char* plugin, const char *ip);
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/**
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* Destructor
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*/
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void releasePMD(PMD **pmd);
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/**
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* Returns pointer to the data (used to save float data for offline mode)
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*/
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float *pmdDataPtr(PMD *p);
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/**
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* Converts PMD data (stored in PMD struct) to provided IplImage (new will be created if NULL passed)
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* @param *p initialized PMD struct with grabbed data (i.e. pmdGetIntensities(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)))
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* @param *img destination IplImage (default: 0, new one will be created)
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* @return generated IplImage
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*/
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IplImage *toIplImage(const PMD *p, IplImage *img);
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/**
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* Converts PMD distance point to cartesian coords with intrinsic matrix
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* @param uv PMD depth point coords (row, col) //FIXME: order!
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* @param dist PMD distance for given point
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* @param intrinsicMatrix PMD camera' intrinsic matrix (from calibration)
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* @return 3D Point in OpenCV format (CvPoint3D32f)
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*/
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CvPoint3D32f *cvProjectArrayToCartesian( const CvMat *intrinsicMatrix
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, const CvPoint2D32f *pts, const int ptsCnt
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, CvPoint3D32f *unitVs);
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CvPoint3D32f **pmdProjectArrayToCartesian(const PMD *p, const CvMat *intrinsicMatrix, CvPoint3D32f **pts);
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/**
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* Get pmd camera' image size
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* @param *p initialized PMD struct
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* @return image size in OpenCV format (CvSize)
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*/
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CvSize pmdGetSize(const PMD *p);
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/**
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* Query PMD inrensities image. Dont forget to call pmdUpdate before quering!
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* @param *p initialized PMD struct
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* @param *img destination IplImage (defaul: 0, new one will be created if null passed)
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* @return image in OpenCV format (IplImage)
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*/
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IplImage *pmdQueryImage(PMD *p, IplImage *img);
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IplImage *pmdQueryImageAsync(PMD *p, IplImage *img);
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/**
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* Store PMD distances (inside p->data)
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*/
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void pmdRetriveDistances(PMD *p);
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void pmdRetriveDistancesAsync(PMD *p);
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/**
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* Query PMD distance image in OpenCV format
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*/
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IplImage *pmdQueryDistances(PMD *p, IplImage *img);
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IplImage *pmdQueryDistancesAsync(PMD *p, IplImage *img);
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/**
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* Query PMD aplitudes image in OpenCV format (might be used as belief measure)
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*/
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IplImage *pmdQueryAmplitudes(PMD *p, IplImage *img);
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IplImage *pmdQueryAmplitudesAsync(PMD *p, IplImage *img);
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