This class provides methods to fill a depth or disparity image. More...

#include <pcl/io/image_depth.h>

Collaboration diagram for pcl::io::DepthImage:

Public Types
using	Ptr = shared_ptr< DepthImage >

using	ConstPtr = shared_ptr< const DepthImage >

using	Clock = std::chrono::high_resolution_clock

using	Timestamp = std::chrono::high_resolution_clock::time_point

Public Member Functions
	DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value)
	Constructor. More...

	DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value, Timestamp time)

	~DepthImage ()
	Destructor. More...

const FrameWrapper::Ptr	getMetaData () const
	method to access the internal data structure from OpenNI. More...

void	fillDisparityImage (unsigned width, unsigned height, float *disparity_buffer, unsigned line_step=0) const
	fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling. More...

void	fillDepthImage (unsigned width, unsigned height, float *depth_buffer, unsigned line_step=0) const
	fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling. More...

void	fillDepthImageRaw (unsigned width, unsigned height, unsigned short *depth_buffer, unsigned line_step=0) const
	fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling. More...

float	getBaseline () const
	method to access the baseline of the "stereo" frame that was used to retrieve the depth image. More...

float	getFocalLength () const
	method to access the focal length of the "stereo" frame that was used to retrieve the depth image. More...

std::uint64_t	getShadowValue () const
	method to access the shadow value, that indicates pixels lying in shadow in the depth image. More...

std::uint64_t	getNoSampleValue () const
	method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image. More...

unsigned	getWidth () const

unsigned	getHeight () const

unsigned	getFrameID () const

std::uint64_t	getTimestamp () const

Timestamp	getSystemTimestamp () const

const unsigned short *	getData ()

int	getDataSize () const

unsigned	getStep () const

Protected Attributes
pcl::io::FrameWrapper::Ptr	wrapper_

float	baseline_

float	focal_length_

std::uint64_t	shadow_value_

std::uint64_t	no_sample_value_

Timestamp	timestamp_

Detailed Description

This class provides methods to fill a depth or disparity image.

Definition at line 54 of file image_depth.h.

Member Typedef Documentation

◆ Clock

using pcl::io::DepthImage::Clock = std::chrono::high_resolution_clock

Definition at line 60 of file image_depth.h.

◆ ConstPtr

using pcl::io::DepthImage::ConstPtr = shared_ptr<const DepthImage>

Definition at line 58 of file image_depth.h.

◆ Ptr

using pcl::io::DepthImage::Ptr = shared_ptr<DepthImage>

Definition at line 57 of file image_depth.h.

◆ Timestamp

using pcl::io::DepthImage::Timestamp = std::chrono::high_resolution_clock::time_point

Definition at line 61 of file image_depth.h.

Constructor & Destructor Documentation

◆ DepthImage() [1/2]

pcl::io::DepthImage::DepthImage	(	FrameWrapper::Ptr	depth_metadata,
		float	baseline,
		float	focal_length,
		std::uint64_t	shadow_value,
		std::uint64_t	no_sample_value
	)

Constructor.

Parameters

[in]	depth_metadata	the actual data from the OpenNI library
[in]	baseline	the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
[in]	focal_length	focal length of the "stereo" frame.
[in]	shadow_value	defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
[in]	no_sample_value	defines which values in the depth data are indicating that no depth (disparity) could be determined .

Attention: The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.

◆ DepthImage() [2/2]

pcl::io::DepthImage::DepthImage	(	FrameWrapper::Ptr	depth_metadata,
		float	baseline,
		float	focal_length,
		std::uint64_t	shadow_value,
		std::uint64_t	no_sample_value,
		Timestamp	time
	)

◆ ~DepthImage()

pcl::io::DepthImage::~DepthImage ( )

Destructor.

Never throws an exception.

Member Function Documentation

◆ fillDepthImage()

void pcl::io::DepthImage::fillDepthImage	(	unsigned	width,
		unsigned	height,
		float *	depth_buffer,
		unsigned	line_step = `0`
	)		const

fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.

Parameters

[in]	width	width the width of the desired depth image.
[in]	height	height the height of the desired depth image.
[in,out]	depth_buffer	the float pointer to the actual memory buffer to be filled with the depth values.
[in]	line_step	if only a rectangular sub region of the buffer needs to be filled, then line_step is the width in bytes (not floats) of the original width of the depth buffer.

◆ fillDepthImageRaw()

void pcl::io::DepthImage::fillDepthImageRaw	(	unsigned	width,
		unsigned	height,
		unsigned short *	depth_buffer,
		unsigned	line_step = `0`
	)		const

fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.

Parameters

[in]	width	width the width of the desired raw image.
[in]	height	height the height of the desired raw image.
[in,out]	depth_buffer	the unsigned short pointer to the actual memory buffer to be filled with the raw values.
[in]	line_step	if only a rectangular sub region of the buffer needs to be filled, then line_step is the width in bytes (not floats) of the original width of the depth buffer.

◆ fillDisparityImage()

void pcl::io::DepthImage::fillDisparityImage	(	unsigned	width,
		unsigned	height,
		float *	disparity_buffer,
		unsigned	line_step = `0`
	)		const

fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.

Parameters

[in]	width	the width of the desired disparity image.
[in]	height	the height of the desired disparity image.
[in,out]	disparity_buffer	the float pointer to the actual memory buffer to be filled with the disparity values.
[in]	line_step	if only a rectangular sub region of the buffer needs to be filled, then line_step is the width in bytes (not floats) of the original width of the depth buffer.

◆ getBaseline()

float pcl::io::DepthImage::getBaseline ( ) const

method to access the baseline of the "stereo" frame that was used to retrieve the depth image.

Returns: baseline in meters

◆ getData()

const unsigned short* pcl::io::DepthImage::getData ( )

◆ getDataSize()

int pcl::io::DepthImage::getDataSize ( ) const

◆ getFocalLength()

float pcl::io::DepthImage::getFocalLength ( ) const

method to access the focal length of the "stereo" frame that was used to retrieve the depth image.

Returns: focal length in pixels

◆ getFrameID()

unsigned pcl::io::DepthImage::getFrameID ( ) const

Returns: an ascending id for the depth frame

Attention: not necessarily synchronized with other streams

◆ getHeight()

unsigned pcl::io::DepthImage::getHeight ( ) const

Returns: the height of the depth image

◆ getMetaData()

const FrameWrapper::Ptr pcl::io::DepthImage::getMetaData ( ) const

method to access the internal data structure from OpenNI.

If the data is accessed just read-only, then this method is faster than a fillXXX method

Returns: the actual depth data of type openni::VideoFrameRef.

◆ getNoSampleValue()

std::uint64_t pcl::io::DepthImage::getNoSampleValue ( ) const

method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.

Returns: no-sample value

◆ getShadowValue()

std::uint64_t pcl::io::DepthImage::getShadowValue ( ) const

method to access the shadow value, that indicates pixels lying in shadow in the depth image.

Returns: shadow value

◆ getStep()

unsigned pcl::io::DepthImage::getStep ( ) const

inline

Definition at line 172 of file image_depth.h.

◆ getSystemTimestamp()

Timestamp pcl::io::DepthImage::getSystemTimestamp ( ) const

◆ getTimestamp()

std::uint64_t pcl::io::DepthImage::getTimestamp ( ) const

Returns: a ascending timestamp for the depth frame

Attention: its not the system time, thus can not be used directly to synchronize different sensors. But definitely synchronized with other streams

◆ getWidth()

unsigned pcl::io::DepthImage::getWidth ( ) const

Returns: the width of the depth image

Member Data Documentation

◆ baseline_

float pcl::io::DepthImage::baseline_

protected

Definition at line 180 of file image_depth.h.

◆ focal_length_

float pcl::io::DepthImage::focal_length_

protected

Definition at line 181 of file image_depth.h.

◆ no_sample_value_

std::uint64_t pcl::io::DepthImage::no_sample_value_

protected

Definition at line 183 of file image_depth.h.

◆ shadow_value_

std::uint64_t pcl::io::DepthImage::shadow_value_

protected

Definition at line 182 of file image_depth.h.

◆ timestamp_

Timestamp pcl::io::DepthImage::timestamp_

protected

Definition at line 184 of file image_depth.h.

◆ wrapper_

pcl::io::FrameWrapper::Ptr pcl::io::DepthImage::wrapper_

protected

Definition at line 178 of file image_depth.h.

The documentation for this class was generated from the following file:

pcl/io/image_depth.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Clock

◆ ConstPtr

◆ Ptr

◆ Timestamp

Constructor & Destructor Documentation

◆ DepthImage() [1/2]

◆ DepthImage() [2/2]

◆ ~DepthImage()

Member Function Documentation

◆ fillDepthImage()

◆ fillDepthImageRaw()

◆ fillDisparityImage()

◆ getBaseline()

◆ getData()

◆ getDataSize()

◆ getFocalLength()

◆ getFrameID()

◆ getHeight()

◆ getMetaData()

◆ getNoSampleValue()

◆ getShadowValue()

◆ getStep()

◆ getSystemTimestamp()

◆ getTimestamp()

◆ getWidth()

Member Data Documentation

◆ baseline_

◆ focal_length_

◆ no_sample_value_

◆ shadow_value_

◆ timestamp_

◆ wrapper_