Point Cloud Library (PCL)  1.12.1-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 
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:
57  using Ptr = shared_ptr<IRImage>;
58  using ConstPtr = shared_ptr<const IRImage>;
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 = default;
67 
68  void
69  fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
70 
71  unsigned
72  getWidth () const;
73 
74  unsigned
75  getHeight () const;
76 
77  unsigned
78  getFrameID () const;
79 
80  std::uint64_t
81  getTimestamp () const;
82 
83  Timestamp
84  getSystemTimestamp () const;
85 
86  // 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
87  const unsigned short*
88  getData ();
89 
90  // Data buffer size in bytes
91  int
92  getDataSize () const;
93 
94  // Size of each row, including any padding
95  inline unsigned
96  getStep() const
97  {
98  return (getDataSize() / getHeight());
99  }
100 
101  /** \brief method to access the internal data structure wrapper, which needs to be cast to an
102  * approperate subclass before the getMetadata(..) function is available to access the native data type.
103  */
104  const FrameWrapper::Ptr
105  getMetaData () const;
106 
107  protected:
110  };
111 
112  } // namespace
113 }
shared_ptr< FrameWrapper > Ptr
Class containing just a reference to IR meta data.
Definition: image_ir.h:55
shared_ptr< const IRImage > ConstPtr
Definition: image_ir.h:58
IRImage(FrameWrapper::Ptr ir_metadata)
IRImage(FrameWrapper::Ptr ir_metadata, Timestamp time)
const FrameWrapper::Ptr getMetaData() const
method to access the internal data structure wrapper, which needs to be cast to an approperate subcla...
std::chrono::high_resolution_clock Clock
Definition: image_ir.h:60
Timestamp timestamp_
Definition: image_ir.h:109
std::chrono::high_resolution_clock::time_point Timestamp
Definition: image_ir.h:61
shared_ptr< IRImage > Ptr
Definition: image_ir.h:57
FrameWrapper::Ptr wrapper_
Definition: image_ir.h:108
~IRImage() noexcept=default
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323