C++-class for grabbing both depth-images and RGB-images. Due to the varying quality of Kinects depth-reconstruction, a desired number of depth-frames can be taken an the mean of the valid depth-values is used as the resulting depth-value. To prevent outliers, the standard deviation is used as a threshold of valid values. More...

#include <FrameGrabber.h>

Public Member Functions
	FrameGrabber (unsigned int numberFrames, unsigned int sdThreshold=5.0)
	Constructor of the FrameGrabber-class.
	~FrameGrabber ()
	Destructor of the FrameGrabber-class.
bool	addFrame (uint16_t *depth)
	Adds a Kinect depth-frame/image to the FrameGrabber-object.
void	addRgb (uint8_t *rgb)
	Adds a Kinect RGB-frame/image to the FrameGrabber-object.
void	computeZValues ()
	Computes the z-values (depth-values) of the image as the mean of all valid depth-values per pixel. Depth-values, which standard deviation is higher than specified at the constructor are sorted out additional.
int *	getZValues ()
	Get the z-values (depth-values).
int *	getRgbValues ()
	Get the RGB-values.
bool *	getValidValues ()
	Get the indicators of valid values.
int	getValidCount ()
	Get the total number of valid values.
Private Member Functions
float	computeSD (int index, int zMean, int validCount)
	Computes the standard deviation of one pixel's depth-values over all frames.
Private Attributes
unsigned int	numberFrames
int	countFrames
int	validCountTotal
float	sdThreshold
int	zValues [640 *480]
int	rgbValues [640 480 3]
bool	validValues [640 *480]
int(*	frames )[640 *480]

Detailed Description

C++-class for grabbing both depth-images and RGB-images. Due to the varying quality of Kinects depth-reconstruction, a desired number of depth-frames can be taken an the mean of the valid depth-values is used as the resulting depth-value. To prevent outliers, the standard deviation is used as a threshold of valid values.

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

Version:: 0.5

Date:: 2011-01-26

See also:: FrameGrabber

Constructor & Destructor Documentation

FrameGrabber::FrameGrabber	(	unsigned int	numberFrames,
		unsigned int	sdThreshold = `5.0`
	)

Constructor of the FrameGrabber-class.

Parameters:

numberFrames	The number of depth-images (frames) should be taken.
sdThreshold	Threshold for the maximum standard deviation of the z-values in each frame. If the threshold is exceeded, the z-value is not valid.

See also:: framegrabber-section

FrameGrabber::~FrameGrabber ( )

Destructor of the FrameGrabber-class.

Member Function Documentation

bool FrameGrabber::addFrame ( uint16_t * depth )

Adds a Kinect depth-frame/image to the FrameGrabber-object.

Parameters:

depth Depth-image of Microsoft's Kinect as used in the glview-example of OpenKinect.

Returns:: True, if the frame was added. False, if the number of desired frames specified at the constructor was already added.

void FrameGrabber::addRgb ( uint8_t * rgb )

Adds a Kinect RGB-frame/image to the FrameGrabber-object.

Parameters:

rgb	RGB-image of Microsoft's Kinect as used in the glview-example of OpenKinect.

float FrameGrabber::computeSD	(	int	index,
		int	zMean,
		int	validCount
	)		`[private]`

Computes the standard deviation of one pixel's depth-values over all frames.

Parameters:

index	Index of the pixel.
zMean	Mean of the pixel's valid z-values (depth-values).
validCount	Number of the pixel's valid z-values.

Returns:: Number of valid values.

void FrameGrabber::computeZValues ( )

Computes the z-values (depth-values) of the image as the mean of all valid depth-values per pixel. Depth-values, which standard deviation is higher than specified at the constructor are sorted out additional.

int * FrameGrabber::getRgbValues ( )

Get the RGB-values.

Returns:: int-Pointer to the $640 \times 480$ -dimensional RGB-value-array.

int FrameGrabber::getValidCount ( )

Get the total number of valid values.

Returns:: Number of valid values.

bool * FrameGrabber::getValidValues ( )

Get the indicators of valid values.

Returns:: bool-Pointer to a $640 \times 480$ -dimensional boolean-array, which indicates, if the depth-value at corresponding index is valid.

int * FrameGrabber::getZValues ( )

Get the z-values (depth-values).

Returns:: int-Pointer to the $640 \times 480$ -dimensional depth-value array.

Field Documentation

int FrameGrabber::countFrames [private]

Counts the number of frames already added to the FrameGrabber.

int(* FrameGrabber::frames)[640 *480] [private]

Buffer for all captured frames

unsigned int FrameGrabber::numberFrames [private]

Number of frames, which should be captured of the depth-stream.

int FrameGrabber::rgbValues[640 *480 *3] [private]

RGB-values

float FrameGrabber::sdThreshold [private]

Standard deviation threshold of valid depth-values.

int FrameGrabber::validCountTotal [private]

Counts the total number of valid depth-values.

bool FrameGrabber::validValues[640 *480] [private]

Valid values

int FrameGrabber::zValues[640 *480] [private]

z-values (depth-values)

The documentation for this class was generated from the following files:

/home/wu/Desktop/kiretu-0.8/FrameGrabber.h
/home/wu/Desktop/kiretu-0.8/FrameGrabber.cpp

FrameGrabber Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation