KinectFusion.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __KINECT_FUSION_HPP__
#define __KINECT_FUSION_HPP__
 
#include <memory>
 
#include <yarp/os/Searchable.h>
#include <yarp/sig/Image.h>
#include <yarp/sig/IntrinsicParams.h>
#include <yarp/sig/Matrix.h>
#include <yarp/sig/PointCloud.h>
 
namespace roboticslab
{
 
class KinectFusion
{
public:
    virtual ~KinectFusion() = default;
 
    virtual void getCloud(yarp::sig::PointCloudXYZNormalRGBA & cloudWithNormals) const = 0;
 
    virtual void getPoints(yarp::sig::PointCloudXYZ & cloud) const = 0;
 
    virtual void getPose(yarp::sig::Matrix & pose) const = 0;
 
    virtual bool update(const yarp::sig::ImageOf<yarp::sig::PixelFloat> & depthFrame, const yarp::sig::FlexImage & colorFrame = {}) = 0;
 
    virtual void reset() = 0;
 
    virtual void render(yarp::sig::FlexImage & image) const = 0;
};
 
std::unique_ptr<KinectFusion> makeKinFu(const yarp::os::Searchable & config,
                                        const yarp::sig::IntrinsicParams & intrinsic,
                                        int width, int height);
 
#ifdef HAVE_DYNAFU
std::unique_ptr<KinectFusion> makeDynaFu(const yarp::os::Searchable & config,
                                         const yarp::sig::IntrinsicParams & intrinsic,
                                         int width, int height);
#endif
 
#ifdef HAVE_KINFU_LS
std::unique_ptr<KinectFusion> makeKinFuLargeScale(const yarp::os::Searchable & config,
                                                  const yarp::sig::IntrinsicParams & intrinsic,
                                                  int width, int height);
#endif
 
#ifdef HAVE_COLORED_KINFU
std::unique_ptr<KinectFusion> makeColoredKinFu(const yarp::os::Searchable & config,
                                               const yarp::sig::IntrinsicParams & depthIntrinsic,
                                               const yarp::sig::IntrinsicParams & colorIntrinsic,
                                               int depthWidth, int depthHeight,
                                               int colorWidth, int colorHeight);
#endif
 
} // namespace roboticslab
 
#endif // __KINECT_FUSION_HPP__