Point Cloud Library (PCL) 1.12.0
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image_ir.h
1/*
2* Software License Agreement (BSD License)
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4* Copyright (c) 2011 Willow Garage, Inc.
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36
37#pragma once
38
39#include <chrono>
40
41#include <pcl/memory.h>
42#include <pcl/pcl_macros.h>
43
44#include <pcl/io/image_metadata_wrapper.h>
45
46namespace pcl
47{
48 namespace io
49 {
50
51 /**
52 * @brief Class containing just a reference to IR meta data.
53 */
54 class PCL_EXPORTS IRImage
55 {
56 public:
59
60 using Clock = std::chrono::high_resolution_clock;
61 using Timestamp = std::chrono::high_resolution_clock::time_point;
62
65
68
69 void
70 fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
71
72 unsigned
73 getWidth () const;
74
75 unsigned
76 getHeight () const;
77
78 unsigned
79 getFrameID () const;
80
81 std::uint64_t
82 getTimestamp () const;
83
86
87 // Get a const pointer to the raw depth buffer. If the data is accessed just read-only, then this method is faster than a fillXXX method
88 const unsigned short*
90
91 // Data buffer size in bytes
92 int
93 getDataSize () const;
94
95 // Size of each row, including any padding
96 inline unsigned
97 getStep() const
98 {
99 return (getDataSize() / getHeight());
100 }
101
102 /** \brief method to access the internal data structure wrapper, which needs to be cast to an
103 * approperate subclass before the getMetadata(..) function is available to access the native data type.
104 */
106 getMetaData () const;
107
108 protected:
111 };
112
113 } // namespace
114}
Iterator class for point clouds with or without given indices.
shared_ptr< FrameWrapper > Ptr
Class containing just a reference to IR meta data.
Definition image_ir.h:55
IRImage(FrameWrapper::Ptr ir_metadata)
unsigned getStep() const
Definition image_ir.h:97
unsigned getHeight() const
IRImage(FrameWrapper::Ptr ir_metadata, Timestamp time)
const FrameWrapper::Ptr getMetaData() const
method to access the internal data structure wrapper, which needs to be cast to an approperate subcla...
std::chrono::high_resolution_clock Clock
Definition image_ir.h:60
std::uint64_t getTimestamp() const
unsigned getFrameID() const
const unsigned short * getData()
unsigned getWidth() const
Timestamp getSystemTimestamp() const
void fillRaw(unsigned width, unsigned height, unsigned short *ir_buffer, unsigned line_step=0) const
~IRImage() noexcept
Definition image_ir.h:66
Timestamp timestamp_
Definition image_ir.h:110
std::chrono::high_resolution_clock::time_point Timestamp
Definition image_ir.h:61
FrameWrapper::Ptr wrapper_
Definition image_ir.h:109
int getDataSize() const
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.