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PointCloudCapture.h
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PointCloudCapture.h
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/*
* Software License Agreement (BSD License)
*
* Object Pose Estimation (OPE) - www.cse.usf.edu/kkduncan/ope
* Copyright (c) 2013, Kester Duncan
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* \file PointCloudCapture.h
* \author Kester Duncan
*/
#pragma once
#ifndef POINTCLOUDCAPTURE_H__
#define POINTCLOUDCAPTURE_H__
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
namespace ope {
/**
* \brief Captures XYZRGB point clouds from the Kinect
* \note The coordinate system for the captured point clouds is as follows:
* x-axis -> right, y-axis -> down, z-axis -> points into scene.
* ________+x
* |\
* | \
* | \
* | \
* | \
* +y +z
*
* Also, a PassThrough filter is applied to the captured point cloud so that the
* target area is within a specified range which is adjustable
*/
class PointCloudCapture
{
private:
pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr ptCloudPtr;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr filteredPtCloudPtr;
public:
PointCloudCapture();
~PointCloudCapture();
/**
* \brief Captures an XYZRGBA point cloud from the Kinect and stores an XYZRGB cloud
* \param <ptCloud> - holds the captured PointXYZRGB point cloud
*/
void run(pcl::PointCloud<pcl::PointXYZRGB>& ptCloud, const OPESettings& settings = OPESettings());
/// \brief Callback function that is used to read XYZRGB point clouds from the Kinect
void cloudCallback(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud);
};
} /* end of namespace ope */
#endif /* POINTCLOUDCAPTURE_H__ */