Point Cloud Library (PCL) 1.14.0
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image_ir.h
1/*
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2011 Willow Garage, Inc.
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6* All rights reserved.
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8* Redistribution and use in source and binary forms, with or without
9* modification, are permitted provided that the following conditions
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12* * Redistributions of source code must retain the above copyright
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14* * Redistributions in binary form must reproduce the above
15* copyright notice, this list of conditions and the following
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20* from this software without specific prior written permission.
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22* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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35*/
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:
57 using Ptr = shared_ptr<IRImage>;
58 using ConstPtr = shared_ptr<const IRImage>;
59
60 using Clock = std::chrono::high_resolution_clock;
61 using Timestamp = std::chrono::high_resolution_clock::time_point;
62
64 IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time);
65
66 ~IRImage () noexcept = default;
67
68 void
69 fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
70
71 unsigned
72 getWidth () const;
73
74 unsigned
75 getHeight () const;
76
77 unsigned
78 getFrameID () const;
79
80 std::uint64_t
81 getTimestamp () const;
82
84 getSystemTimestamp () const;
85
86 // 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
87 const unsigned short*
88 getData ();
89
90 // Data buffer size in bytes
91 int
92 getDataSize () const;
93
94 // Size of each row, including any padding
95 inline unsigned
96 getStep() const
97 {
98 return (getDataSize() / getHeight());
99 }
100
101 /** \brief method to access the internal data structure wrapper, which needs to be cast to an
102 * approperate subclass before the getMetadata(..) function is available to access the native data type.
103 */
105 getMetaData () const;
106
107 protected:
110 };
111
112 } // namespace
113}
shared_ptr< FrameWrapper > Ptr
Class containing just a reference to IR meta data.
Definition image_ir.h:55
shared_ptr< const IRImage > ConstPtr
Definition image_ir.h:58
IRImage(FrameWrapper::Ptr ir_metadata)
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
Timestamp timestamp_
Definition image_ir.h:109
std::chrono::high_resolution_clock::time_point Timestamp
Definition image_ir.h:61
shared_ptr< IRImage > Ptr
Definition image_ir.h:57
FrameWrapper::Ptr wrapper_
Definition image_ir.h:108
~IRImage() noexcept=default
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.