Image interface class providing an interface to fill a RGB or Grayscale image buffer. More...

#include <pcl/io/image.h>

Inheritance diagram for pcl::io::Image:

Collaboration diagram for pcl::io::Image:

Public Types
enum	Encoding { BAYER_GRBG , YUV422 , RGB }

using	Ptr = shared_ptr< Image >

using	ConstPtr = shared_ptr< const Image >

using	Clock = std::chrono::high_resolution_clock

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

Public Member Functions
	Image (FrameWrapper::Ptr image_metadata)

	Image (FrameWrapper::Ptr image_metadata, Timestamp time)

virtual	~Image ()=default
	virtual Destructor that never throws an exception. More...

virtual bool	isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const =0

virtual void	fillRGB (unsigned width, unsigned height, unsigned char *rgb_buffer, unsigned rgb_line_step=0) const =0
	fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion More...

virtual Encoding	getEncoding () const =0
	returns the encoding of the native data. More...

virtual void	fillRaw (unsigned char *rgb_buffer) const
	fills a user given buffer with the raw values. More...

virtual void	fillGrayscale (unsigned width, unsigned height, unsigned char *gray_buffer, unsigned gray_line_step=0) const =0
	fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion More...

unsigned	getWidth () const

unsigned	getHeight () const

unsigned	getFrameID () const

std::uint64_t	getTimestamp () const

Timestamp	getSystemTimestamp () const

const void *	getData ()

int	getDataSize () const

unsigned	getStep () const

Protected Attributes
FrameWrapper::Ptr	wrapper_

Timestamp	timestamp_

Detailed Description

Image interface class providing an interface to fill a RGB or Grayscale image buffer.

Parameters

[in] image_metadata

Definition at line 56 of file image.h.

Member Typedef Documentation

◆ Clock

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

Definition at line 62 of file image.h.

◆ ConstPtr

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

Definition at line 60 of file image.h.

◆ Ptr

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

Definition at line 59 of file image.h.

◆ Timestamp

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

Definition at line 63 of file image.h.

Member Enumeration Documentation

◆ Encoding

enum pcl::io::Image::Encoding

Enumerator
BAYER_GRBG
YUV422
RGB

Definition at line 65 of file image.h.

Constructor & Destructor Documentation

◆ Image() [1/2]

pcl::io::Image::Image ( FrameWrapper::Ptr image_metadata )

inline

Definition at line 72 of file image.h.

◆ Image() [2/2]

pcl::io::Image::Image	(	FrameWrapper::Ptr	image_metadata,
		Timestamp	time
	)

inline

Definition at line 77 of file image.h.

◆ ~Image()

virtual pcl::io::Image::~Image ( )

inlinevirtualdefault

virtual Destructor that never throws an exception.

Member Function Documentation

◆ fillGrayscale()

virtual void pcl::io::Image::fillGrayscale	(	unsigned	width,
		unsigned	height,
		unsigned char *	gray_buffer,
		unsigned	gray_line_step = `0`
	)		const

pure virtual

fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion

Parameters

[in]	width	desired width of output image.
[in]	height	desired height of output image.
[in,out]	gray_buffer	the output gray buffer.
[in]	gray_line_step	optional line step in bytes to allow the output in a rectangular subregion of the output buffer.

Implemented in pcl::io::ImageYUV422, and pcl::io::ImageRGB24.

◆ fillRaw()

virtual void pcl::io::Image::fillRaw ( unsigned char * rgb_buffer ) const

inlinevirtual

fills a user given buffer with the raw values.

Parameters

[in,out] rgb_buffer

Definition at line 120 of file image.h.

◆ fillRGB()

virtual void pcl::io::Image::fillRGB	(	unsigned	width,
		unsigned	height,
		unsigned char *	rgb_buffer,
		unsigned	rgb_line_step = `0`
	)		const

pure virtual

fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion

Parameters

[in]	width	desired width of output image.
[in]	height	desired height of output image.
[in,out]	rgb_buffer	the output RGB buffer.
[in]	rgb_line_step	optional line step in bytes to allow the output in a rectangular subregion of the output buffer.

Implemented in pcl::io::ImageYUV422, and pcl::io::ImageRGB24.

◆ getData()

const void* pcl::io::Image::getData ( )

inline

Definition at line 187 of file image.h.

◆ getDataSize()

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

inline

Definition at line 194 of file image.h.

◆ getEncoding()

virtual Encoding pcl::io::Image::getEncoding ( ) const

pure virtual

returns the encoding of the native data.

Returns: encoding

Implemented in pcl::io::ImageYUV422, and pcl::io::ImageRGB24.

◆ getFrameID()

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

inline

Returns: frame id of the image.

Note: frame ids are ascending, but not necessarily synchronized with other streams

Definition at line 159 of file image.h.

◆ getHeight()

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

inline

Returns: height of the image

Definition at line 149 of file image.h.

◆ getStep()

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

inline

Definition at line 201 of file image.h.

◆ getSystemTimestamp()

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

inline

Returns: the timestamp of the image

Note: the time value is synchronized with the system time.

Definition at line 180 of file image.h.

◆ getTimestamp()

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

inline

Returns: the timestamp of the image

Note: the time value is not synchronized with the system time

Definition at line 169 of file image.h.

◆ getWidth()

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

inline

Returns: width of the image

Definition at line 140 of file image.h.

◆ isResizingSupported()

virtual bool pcl::io::Image::isResizingSupported	(	unsigned	input_width,
		unsigned	input_height,
		unsigned	output_width,
		unsigned	output_height
	)		const

pure virtual

Parameters

[in]	input_width	width of input image
[in]	input_height	height of input image
[in]	output_width	width of desired output image
[in]	output_height	height of desired output image

Returns: whether the resizing is supported or not.

Implemented in pcl::io::ImageYUV422, and pcl::io::ImageRGB24.

Member Data Documentation

◆ timestamp_

Timestamp pcl::io::Image::timestamp_

protected

Definition at line 208 of file image.h.

◆ wrapper_

FrameWrapper::Ptr pcl::io::Image::wrapper_

protected

Definition at line 207 of file image.h.

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

pcl/io/image.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Clock

◆ ConstPtr

◆ Ptr

◆ Timestamp

Member Enumeration Documentation

◆ Encoding

Constructor & Destructor Documentation

◆ Image() [1/2]

◆ Image() [2/2]

◆ ~Image()

Member Function Documentation

◆ fillGrayscale()

◆ fillRaw()

◆ fillRGB()

◆ getData()

◆ getDataSize()

◆ getEncoding()

◆ getFrameID()

◆ getHeight()

◆ getStep()

◆ getSystemTimestamp()

◆ getTimestamp()

◆ getWidth()

◆ isResizingSupported()

Member Data Documentation

◆ timestamp_

◆ wrapper_