Point Cloud Library (PCL)  1.9.1-dev
disparity_to_cloud.h
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37 
38 #pragma once
39 
40 #include <pcl/cuda/point_cloud.h>
41 #include <pcl/cuda/io/cloud_to_pcl.h>
42 #include <pcl/io/openni_camera/openni_image.h>
43 #include <pcl/io/openni_camera/openni_depth_image.h>
44 //#include <pcl/CameraInfo.h>
45 //#include <pcl/PCLImage.h>
46 
47 #include <cstdint>
48 
49 namespace pcl
50 {
51 namespace cuda
52 {
53  /** \brief Compute the XYZ values for a point based on disparity information. */
54  struct ComputeXYZ
55  {
56  int width, height;
58  float constant;
59  float bad_point;
60 
61  ComputeXYZ (int w, int h, int cx, int cy, float con) :
62  width(w), height(h), center_x(cx), center_y(cy), constant(con)
63  {
64  bad_point = std::numeric_limits<float>::quiet_NaN ();
65  }
66 
67  template <typename Tuple> __inline__ __host__ __device__ PointXYZRGB
68  operator () (const Tuple &t);
69  };
70 
71  /** \brief Compute the XYZ and RGB values for a point based on disparity information. */
73  {
74  int width, height;
76  float constant;
77  float bad_point;
78 
79  ComputeXYZRGB (int w, int h, int cx, int cy, float con) :
80  width(w), height(h), center_x(cx), center_y(cy), constant(con)
81  {
82  bad_point = std::numeric_limits<float>::quiet_NaN ();
83  }
84 
85  template <typename Tuple> __inline__ __host__ __device__ PointXYZRGB
86  operator () (const Tuple &t);
87  };
88 
89  /** \brief Disparity to PointCloudAOS generator.
90  */
92  {
93  public:
94 // // compute using ROS images, Device output
95 // void
96 // compute (const pcl::PCLImage::ConstPtr &depth_image,
97 // const pcl::PCLImage::ConstPtr &rgb_image,
98 // const pcl::CameraInfo::ConstPtr &info,
99 // PointCloudAOS<Device>::Ptr &output);
100 //
101 // // compute using ROS images, Host output
102 // void
103 // compute (const pcl::PCLImage::ConstPtr &depth_image,
104 // const pcl::PCLImage::ConstPtr &rgb_image,
105 // const pcl::CameraInfo::ConstPtr &info,
106 // PointCloudAOS<Host>::Ptr &output);
107 
108  // compute using OpenNI images, Device output
109  template <template <typename> class Storage> void
110  compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
111  const boost::shared_ptr<openni_wrapper::Image>& image,
112  float constant,
113  typename PointCloudAOS<Storage>::Ptr &output,
114  bool downsample = false, int stride = 2, int smoothing_nr_iterations = 0, int smoothing_filter_size = 2);
115 
116  template <template <typename> class Storage> void
117  compute (const std::uint16_t* depth_image,
118  const OpenNIRGB* rgb_image,
119  int width, int height,
120  float constant,
121  typename PointCloudAOS<Storage>::Ptr &output,
122  int smoothing_nr_iterations = 0, int smoothing_filter_size = 2);
123 
124  // compute using OpenNI images, Host output
125 /* void
126  compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
127  const boost::shared_ptr<openni_wrapper::Image>& image,
128  float constant,
129  PointCloudAOS<Host>::Ptr &output);*/
130 
131  // ...
132 // void
133 // compute (const pcl::PCLImage::ConstPtr &depth_image,
134 // const pcl::CameraInfo::ConstPtr &info,
135 // PointCloudAOS<Device>::Ptr &output);
136 //
137 // void
138 // compute (const pcl::PCLImage::ConstPtr &depth_image,
139 // const pcl::CameraInfo::ConstPtr &info,
140 // PointCloudAOS<Host>::Ptr &output);
141 
142  void
143  compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
144  float constant,
146 
147  void
148  compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
149  float constant,
150  PointCloudAOS<Host>::Ptr &output);
151  };
152 
153 } // namespace
154 } // namespace
ComputeXYZ(int w, int h, int cx, int cy, float con)
Disparity to PointCloudAOS generator.
boost::shared_ptr< PointCloudAOS< Storage > > Ptr
Definition: point_cloud.h:199
Compute the XYZ and RGB values for a point based on disparity information.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
ComputeXYZRGB(int w, int h, int cx, int cy, float con)
Compute the XYZ values for a point based on disparity information.
Default point xyz-rgb structure.
Definition: point_types.h:48
#define PCL_EXPORTS
Definition: pcl_macros.h:241
__inline__ __host__ __device__ PointXYZRGB operator()(const Tuple &t)
Simple structure holding RGB data.
Definition: point_cloud.h:55