39 #include <pcl/pcl_config.h> 41 #ifndef PCL_IO_IMAGE_DEPTH_H_ 42 #define PCL_IO_IMAGE_DEPTH_H_ 44 #include <pcl/pcl_exports.h> 45 #include <pcl/io/boost.h> 46 #include <boost/chrono.hpp> 48 #include<pcl/io/image_metadata_wrapper.h> 59 typedef boost::shared_ptr<DepthImage>
Ptr;
60 typedef boost::shared_ptr<const DepthImage>
ConstPtr;
62 typedef boost::chrono::high_resolution_clock
Clock;
63 typedef boost::chrono::high_resolution_clock::time_point
Timestamp;
74 DepthImage (
FrameWrapper::Ptr depth_metadata,
float baseline,
float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value);
75 DepthImage (
FrameWrapper::Ptr depth_metadata,
float baseline,
float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value, Timestamp time);
94 fillDisparityImage (
unsigned width,
unsigned height,
float* disparity_buffer,
unsigned line_step = 0)
const;
104 fillDepthImage (
unsigned width,
unsigned height,
float* depth_buffer,
unsigned line_step = 0)
const;
114 fillDepthImageRaw (
unsigned width,
unsigned height,
unsigned short* depth_buffer,
unsigned line_step = 0)
const;
120 getBaseline ()
const;
126 getFocalLength ()
const;
132 getShadowValue ()
const;
138 getNoSampleValue ()
const;
159 getTimestamp ()
const;
162 getSystemTimestamp ()
const;
165 const unsigned short*
170 getDataSize ()
const;
176 return (getDataSize() / getHeight());
191 #endif // PCL_IO_IMAGE_DEPTH_H_ boost::chrono::high_resolution_clock Clock
pcl::uint64_t no_sample_value_
boost::shared_ptr< FrameWrapper > Ptr
pcl::io::FrameWrapper::Ptr wrapper_
This file defines compatibility wrappers for low level I/O functions.
pcl::uint64_t shadow_value_
boost::shared_ptr< DepthImage > Ptr
boost::chrono::high_resolution_clock::time_point Timestamp
This class provides methods to fill a depth or disparity image.
boost::shared_ptr< const DepthImage > ConstPtr