Point Cloud Library (PCL)  1.10.1-dev
image_ir.h
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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 #include <pcl/io/boost.h>
44 
45 #include <pcl/io/image_metadata_wrapper.h>
46 
47 namespace pcl
48 {
49  namespace io
50  {
51 
52  /**
53  * @brief Class containing just a reference to IR meta data.
54  */
56  {
57  public:
60 
61  using Clock = std::chrono::high_resolution_clock;
62  using Timestamp = std::chrono::high_resolution_clock::time_point;
63 
64  IRImage (FrameWrapper::Ptr ir_metadata);
65  IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time);
66 
67  ~IRImage () noexcept
68  {}
69 
70  void
71  fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
72 
73  unsigned
74  getWidth () const;
75 
76  unsigned
77  getHeight () const;
78 
79  unsigned
80  getFrameID () const;
81 
82  std::uint64_t
83  getTimestamp () const;
84 
85  Timestamp
86  getSystemTimestamp () const;
87 
88  // 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
89  const unsigned short*
90  getData ();
91 
92  // Data buffer size in bytes
93  int
94  getDataSize () const;
95 
96  // Size of each row, including any padding
97  inline unsigned
98  getStep() const
99  {
100  return (getDataSize() / getHeight());
101  }
102 
103  /** \brief method to access the internal data structure wrapper, which needs to be cast to an
104  * approperate subclass before the getMetadata(..) function is available to access the native data type.
105  */
106  const FrameWrapper::Ptr
107  getMetaData () const;
108 
109  protected:
112  };
113 
114  } // namespace
115 }
Timestamp timestamp_
Definition: image_ir.h:111
std::chrono::high_resolution_clock::time_point Timestamp
Definition: image_ir.h:62
Defines functions, macros and traits for allocating and using memory.
Class containing just a reference to IR meta data.
Definition: image_ir.h:55
shared_ptr< IRImage > Ptr
Definition: image_ir.h:58
~IRImage() noexcept
Definition: image_ir.h:67
std::chrono::high_resolution_clock Clock
Definition: image_ir.h:61
unsigned getStep() const
Definition: image_ir.h:98
shared_ptr< FrameWrapper > Ptr
shared_ptr< const IRImage > ConstPtr
Definition: image_ir.h:59
FrameWrapper::Ptr wrapper_
Definition: image_ir.h:110
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81
#define PCL_EXPORTS
Definition: pcl_macros.h:276
Defines all the PCL and non-PCL macros used.