update svn to r758

josch · Nov 7, 2012 · 8b4640b · 8b4640b
1 parent e469fd8
commit 8b4640b
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diff --git a/.svn/pristine/05/05b9b05125a32df2c413114fa1e0ea92fda0d134.svn-base b/.svn/pristine/05/05b9b05125a32df2c413114fa1e0ea92fda0d134.svn-base
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+#pragma once
+
+#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
+#include <cxcore.h>
+#include <highgui.h>
+#elif (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
+#include <opencv/cv.h>
+#else
+#include <opencv2/opencv.hpp>
+#endif
+
+#include <libconfig.h>
+
+#include "cvpmd.h"
+
+#include "slam6d/icp6Dminimizer.h"
+
+struct PMDFiles {
+    FILE *i; // intens
+    FILE *a; // ampl
+    FILE *p; // 3d pts
+    FILE *h; // pmd image headers
+};
+
+struct TrackingSettings {
+    int winSz;
+    double quality;
+    int minFeatures;
+    int maxFeatures;
+    int minDist;
+    IplImage *pyr;
+    IplImage *pyrPrev;
+    IplImage *iCamPrev;
+    CvPoint2D32f *pts[2];
+    char *ptsStatus;
+    int trackingFlags;
+};
+
+struct PMDCam {
+    PMD *_pmd;
+    CvCapture *_capture;
+    PMDFiles _f;
+    CvMat *intrinsicPMD;
+    CvMat *intrinsicCam;
+    CvMat *distortionPMD;
+    CvMat *distortionCam;
+    CvMat *rotation;
+    CvMat *translation;
+    // Undistortion maps
+    IplImage *_mapXCam;
+    IplImage *_mapYCam;
+    IplImage *_mapXPMD;
+    IplImage *_mapYPMD;
+    // Data
+    IplImage *_iCamColorUBuffer;
+    IplImage *iCamColor;
+    IplImage *iCam;
+    IplImage *_iCamColorU;
+    IplImage *iPMDI;
+    IplImage *_iPMDIU;
+    IplImage *iPMDA;
+    IplImage *_iPMDAU;
+    CvPoint3D32f **pts;
+    unsigned int timestamp;
+    unsigned int timestampUsec;
+    // Pose Estimation
+    icp6Dminimizer *icp;
+    int minPts4Pose;
+    double maxError;
+    int minConsensusPts;
+    int savePoses;   
+    // Settings
+    ImageHeaderInformation *header;
+    int synchronous;
+    int hybrid;
+    int _offlineMode;
+    int historyLen;
+    TrackingSettings _track;
+    double sigmaDepth;
+    double sigmaColor;
+    double dpThreshold;
+
+};
+
+PMDCam *initPMDCam(const char *confPath);
+int grabData(PMDCam *pmdc);
+
+