Point Cloud Library (PCL)  1.10.0-dev
image_ir.h
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36 
37 #pragma once
38 
39 #include <chrono>
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/io/boost.h>
43 
44 #include <pcl/io/image_metadata_wrapper.h>
45 
46 namespace pcl
47 {
48  namespace io
49  {
50 
51  /**
52  * @brief Class containing just a reference to IR meta data.
53  */
55  {
56  public:
59 
60  using Clock = std::chrono::high_resolution_clock;
61  using Timestamp = std::chrono::high_resolution_clock::time_point;
62 
63  IRImage (FrameWrapper::Ptr ir_metadata);
64  IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time);
65 
66  ~IRImage () noexcept
67  {}
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 
84  Timestamp
85  getSystemTimestamp () const;
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*
89  getData ();
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  */
105  const FrameWrapper::Ptr
106  getMetaData () const;
107 
108  protected:
111  };
112 
113  } // namespace
114 }
Timestamp timestamp_
Definition: image_ir.h:110
std::chrono::high_resolution_clock::time_point Timestamp
Definition: image_ir.h:61
Class containing just a reference to IR meta data.
Definition: image_ir.h:54
shared_ptr< IRImage > Ptr
Definition: image_ir.h:57
~IRImage() noexcept
Definition: image_ir.h:66
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
std::chrono::high_resolution_clock Clock
Definition: image_ir.h:60
unsigned getStep() const
Definition: image_ir.h:97
shared_ptr< FrameWrapper > Ptr
shared_ptr< const IRImage > ConstPtr
Definition: image_ir.h:58
FrameWrapper::Ptr wrapper_
Definition: image_ir.h:109
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
#define PCL_EXPORTS
Definition: pcl_macros.h:253
Defines all the PCL and non-PCL macros used.