Point Cloud Library (PCL)
1.11.1
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43 #include <pcl/pcl_config.h>
44 #include <pcl/pcl_exports.h>
45 #include <pcl/io/boost.h>
47 #include<pcl/io/image_metadata_wrapper.h>
58 using Ptr = shared_ptr<DepthImage>;
61 using Clock = std::chrono::high_resolution_clock;
62 using Timestamp = std::chrono::high_resolution_clock::time_point;
93 fillDisparityImage (
unsigned width,
unsigned height,
float* disparity_buffer,
unsigned line_step = 0)
const;
103 fillDepthImage (
unsigned width,
unsigned height,
float* depth_buffer,
unsigned line_step = 0)
const;
113 fillDepthImageRaw (
unsigned width,
unsigned height,
unsigned short* depth_buffer,
unsigned line_step = 0)
const;
164 const unsigned short*
175 return (getDataSize() / getHeight());
unsigned getWidth() const
shared_ptr< const DepthImage > ConstPtr
shared_ptr< FrameWrapper > Ptr
std::uint64_t getTimestamp() const
pcl::io::FrameWrapper::Ptr wrapper_
unsigned getFrameID() const
DepthImage(FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value)
Constructor.
std::chrono::high_resolution_clock Clock
std::chrono::high_resolution_clock::time_point Timestamp
std::uint64_t getShadowValue() const
method to access the shadow value, that indicates pixels lying in shadow in the depth image.
DepthImage(FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value, Timestamp time)
std::uint64_t no_sample_value_
void fillDisparityImage(unsigned width, unsigned height, float *disparity_buffer, unsigned line_step=0) const
fills a user given block of memory with the disparity values with additional nearest-neighbor down-sc...
This class provides methods to fill a depth or disparity image.
void fillDepthImage(unsigned width, unsigned height, float *depth_buffer, unsigned line_step=0) const
fills a user given block of memory with the disparity values with additional nearest-neighbor down-sc...
std::uint64_t shadow_value_
const unsigned short * getData()
float getBaseline() const
method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
std::uint64_t getNoSampleValue() const
method to access the no-sample value, that indicates pixels where no disparity could be determined fo...
void fillDepthImageRaw(unsigned width, unsigned height, unsigned short *depth_buffer, unsigned line_step=0) const
fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
const FrameWrapper::Ptr getMetaData() const
method to access the internal data structure from OpenNI.
Timestamp getSystemTimestamp() const
unsigned getHeight() const
float getFocalLength() const
method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
shared_ptr< DepthImage > Ptr