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00005 #ifndef _THERMALVIS_CLOUDPROC_H_
00006 #define _THERMALVIS_CLOUDPROC_H_
00007
00008 #include "improc.hpp"
00009 #include "pcl_resources.hpp"
00010
00011 #define DPM_GRAY 0
00012 #define DPM_AXES 1
00013
00014 void findThermalCloudPercentiles(pcl::PointCloud<pcl::RGB>::Ptr& thermalCloud, double *vals, double *percentiles, unsigned int num);
00015
00016 class cCloudScheme : public cScheme {
00017
00018 public:
00019
00027 void falsify_cloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr& ioCloud, pcl::PointCloud<pcl::RGB>::Ptr& thermalCloud, double minTemp = 20.0, double maxTemp = 45.0, int deadPointMode = DPM_GRAY, double volumeSize = 3.0, double minConfidence = 0.001, bool clampOutliers = true);
00028 void falsify_cloud(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr& ioCloud, pcl::PointCloud<pcl::RGB>::Ptr& thermalCloud, double minTemp = 20.0, double maxTemp = 45.0, int deadPointMode = DPM_GRAY, double volumeSize = 3.0, double minConfidence = 0.001, bool clampOutliers = true);
00029
00033 void confidence_cloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr& ioCloud, pcl::PointCloud<pcl::RGB>::Ptr& thermalCloud);
00034
00046 void fuse_cloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr& ioCloud, pcl::PointCloud<pcl::RGB>::Ptr& colorCloud, pcl::PointCloud<pcl::RGB>::Ptr& thermalCloud, double minTemp = 20.0, double maxTemp = 45.0, int deadPointMode = DPM_GRAY, double volumeSize = 3.0, double minConfidence = 0.001, bool clampOutliers = true, double *params = NULL);
00047 void fuse_cloud(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr& ioCloud, pcl::PointCloud<pcl::RGB>::Ptr& colorCloud, pcl::PointCloud<pcl::RGB>::Ptr& thermalCloud, double minTemp = 20.0, double maxTemp = 45.0, int deadPointMode = DPM_GRAY, double volumeSize = 3.0, double minConfidence = 0.001, bool clampOutliers = true, double *params = NULL);
00048
00049 };
00050
00051 #endif