C++-class which saves a point-cloud of Microsoft's Kinect to a ply-file. It supports per-vertex-color and the ability of mirroring the cloud along x-, y- and z-axis. It is also possible to export the points which don't have an corresponding color at the RGB-image in a custom color. More...

#include <CloudWriter.h>

Public Types
enum	CloudMirror { MIRROR_X, MIRROR_Y, MIRROR_Z }
	Mirror-possibilities of CloudWriter. More...
Public Member Functions
	CloudWriter (const std::string filenamePrefix)
	Constructor of the CloudWriter-class.
	~CloudWriter ()
	Destructor of the CloudWriter-class.
void	addCloud (std::vector< std::vector< float > > cloud)
	Adds a point-cloud to the CloudWriter. This cloud should be computed by KinectCloud before.
void	addCloudRgb (std::vector< std::vector< int > > cloudRgb)
	Adds a vector of RGB-colors to the CloudWriter.This vector should be computed by KinectCloud before.
void	addCloudRgbMapping (std::vector< std::vector< int > > cloudRgbMapping)
	Adds a vector of depth-RGB-mapping values to the CloudWriter. These values should be computed by KinectCloud::computeRgbMapping(std::vector< std::vector<float> > rgbCam) before.
void	addValidValues (std::vector< bool > validValues)
	Adds a vector of valid-points-flags to the CloudWriter. Get these points with KinectCloud::getValidValues().
void	addReconstructionSteps (std::vector< bool > reconstructionSteps)
	Adds a vector of reconstruction-steps-flags to the CloudWriter. Get these points with KinectCloud::getReconstructionSteps().
void	setUndefined (bool printUndefined)
	Sets if points of the point-cloud, which don't have an equivalent color at the RGB-image should be added to the final point-cloud. They will be added with a custom color, specified with setUndefinedColor(int color[3]).
void	setUndefinedColor (int color[3])
	Sets the color of points with undefined color.
void	setMirror (CloudMirror mirror)
	Mirrors the point-cloud along the given axis. Multiple calls possible.
void	writeCloud ()
	Writes the cloud to the ply-file.
Private Member Functions
void	createOutput ()
void	createFilename ()
Private Attributes
std::string	filenamePrefix
std::string	filename
std::vector< std::vector< float > >	cloud
std::vector< std::vector< int > >	cloudRgb
std::vector< std::vector< int > >	cloudRgbMapping
std::vector< bool >	validValues
std::vector< bool >	reconstructionSteps
std::vector< std::vector< float > >	cloudOutput
bool	printUndefined
bool	reconstructionStepsAdded
int	undefinedColor [3]
int	mirrorX
int	mirrorY
int	mirrorZ

Detailed Description

C++-class which saves a point-cloud of Microsoft's Kinect to a ply-file. It supports per-vertex-color and the ability of mirroring the cloud along x-, y- and z-axis. It is also possible to export the points which don't have an corresponding color at the RGB-image in a custom color.

Author:: Daniel Wunderlich (d.wunderlich@stud.uni-heidelberg.de)

Version:: 0.8

Date:: 2011-01-26

Member Enumeration Documentation

enum CloudWriter::CloudMirror

Mirror-possibilities of CloudWriter.

Enumerator:

MIRROR_X	Mirror along x-axis
MIRROR_Y	Mirror along y-axis
MIRROR_Z	Mirror along z-axis

Constructor & Destructor Documentation

CloudWriter::CloudWriter ( const std::string filenamePrefix )

Constructor of the CloudWriter-class.

Parameters:

filenamePrefix Prefix of filename.

CloudWriter::~CloudWriter ( )

Destructor of the CloudWriter-class.

Member Function Documentation

void CloudWriter::addCloud ( std::vector< std::vector< float > > cloud )

Adds a point-cloud to the CloudWriter. This cloud should be computed by KinectCloud before.

Parameters:

cloud Vector of $640 \times 480$ 3-dimensional points.

void CloudWriter::addCloudRgb ( std::vector< std::vector< int > > cloudRgb )

Adds a vector of RGB-colors to the CloudWriter.This vector should be computed by KinectCloud before.

Parameters:

cloudRgb Vector of $640 \times 480$ colors. Each color is specified in -, - and -values with $R, G, B \in [1, 255]$ .

void CloudWriter::addCloudRgbMapping ( std::vector< std::vector< int > > cloudRgbMapping )

Adds a vector of depth-RGB-mapping values to the CloudWriter. These values should be computed by KinectCloud::computeRgbMapping(std::vector< std::vector<float> > rgbCam) before.

Parameters:

cloudRgbMapping Vector of $640 \times 480$ 2-dimensional mapping-values.

void CloudWriter::addReconstructionSteps ( std::vector< bool > reconstructionSteps )

Adds a vector of reconstruction-steps-flags to the CloudWriter. Get these points with KinectCloud::getReconstructionSteps().

Parameters:

reconstructionSteps Vector of 5 booleans which indicate, if the equivalent reconstruction-step was done.

See also:: KinectCloud::getReconstructionSteps()

void CloudWriter::addValidValues ( std::vector< bool > validValues )

Adds a vector of valid-points-flags to the CloudWriter. Get these points with KinectCloud::getValidValues().

Parameters:

validValues Vector of $640 \times 480$ booleans which indicate, if the corresponding vector is valid ( ).

void CloudWriter::createFilename ( ) [private]

Generates the filename

void CloudWriter::createOutput ( ) [private]

Generates the ply-output

void CloudWriter::setMirror ( CloudMirror mirror )

Mirrors the point-cloud along the given axis. Multiple calls possible.

Parameters:

mirror The mirror-axis.

void CloudWriter::setUndefined ( bool printUndefined )

Sets if points of the point-cloud, which don't have an equivalent color at the RGB-image should be added to the final point-cloud. They will be added with a custom color, specified with setUndefinedColor(int color[3]).

Parameters:

printUndefined True, if points with undefined color should be added to the exported file. False, if not.

void CloudWriter::setUndefinedColor ( int color[3] )

Sets the color of points with undefined color.

Parameters:

color RGB-color with $R, G, B \in [1, 255]$ .

void CloudWriter::writeCloud ( )

Writes the cloud to the ply-file.