Point Cloud Library (PCL) 1.12.0
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image_depth.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011 Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
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38
39#pragma once
40
41#include <chrono>
42
43#include <pcl/pcl_config.h>
44#include <pcl/pcl_exports.h>
45
46#include<pcl/io/image_metadata_wrapper.h>
47
48namespace pcl
49{
50 namespace io
51 {
52 /** \brief This class provides methods to fill a depth or disparity image.
53 */
54 class PCL_EXPORTS DepthImage
55 {
56 public:
59
60 using Clock = std::chrono::high_resolution_clock;
61 using Timestamp = std::chrono::high_resolution_clock::time_point;
62
63 /** \brief Constructor
64 * \param[in] depth_metadata the actual data from the OpenNI library
65 * \param[in] baseline the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for
66 * Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
67 * \param[in] focal_length focal length of the "stereo" frame.
68 * \param[in] shadow_value defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
69 * \param[in] no_sample_value defines which values in the depth data are indicating that no depth (disparity) could be determined .
70 * \attention The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.
71 */
72 DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value);
73 DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value, Timestamp time);
74
75 /** \brief Destructor. Never throws an exception. */
77
78 /** \brief 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
79 * \return the actual depth data of type openni::VideoFrameRef.
80 */
82 getMetaData () const;
83
84 /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
85 * \param[in] width the width of the desired disparity image.
86 * \param[in] height the height of the desired disparity image.
87 * \param[in,out] disparity_buffer the float pointer to the actual memory buffer to be filled with the disparity values.
88 * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
89 * width in bytes (not floats) of the original width of the depth buffer.
90 */
91 void
92 fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;
93
94 /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
95 * \param[in] width width the width of the desired depth image.
96 * \param[in] height height the height of the desired depth image.
97 * \param[in,out] depth_buffer the float pointer to the actual memory buffer to be filled with the depth values.
98 * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
99 * width in bytes (not floats) of the original width of the depth buffer.
100 */
101 void
102 fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;
103
104 /** \brief fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
105 * \param[in] width width the width of the desired raw image.
106 * \param[in] height height the height of the desired raw image.
107 * \param[in,out] depth_buffer the unsigned short pointer to the actual memory buffer to be filled with the raw values.
108 * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
109 * width in bytes (not floats) of the original width of the depth buffer.
110 */
111 void
112 fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;
113
114 /** \brief method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
115 * \return baseline in meters
116 */
117 float
118 getBaseline () const;
119
120 /** \brief method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
121 * \return focal length in pixels
122 */
123 float
125
126 /** \brief method to access the shadow value, that indicates pixels lying in shadow in the depth image.
127 * \return shadow value
128 */
129 std::uint64_t
131
132 /** \brief method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
133 * \return no-sample value
134 */
135 std::uint64_t
137
138 /** \return the width of the depth image */
139 unsigned
140 getWidth () const;
141
142 /** \return the height of the depth image */
143 unsigned
144 getHeight () const;
145
146 /** \return an ascending id for the depth frame
147 * \attention not necessarily synchronized with other streams
148 */
149 unsigned
150 getFrameID () const;
151
152 /** \return a ascending timestamp for the depth frame
153 * \attention its not the system time, thus can not be used directly to synchronize different sensors.
154 * But definitely synchronized with other streams
155 */
156 std::uint64_t
157 getTimestamp () const;
158
161
162 // Get a const pointer to the raw depth buffer
163 const unsigned short*
165
166 // Data buffer size in bytes
167 int
168 getDataSize () const;
169
170 // Size of each row, including any padding
171 inline unsigned
172 getStep() const
173 {
174 return (getDataSize() / getHeight());
175 }
176
177 protected:
179
182 std::uint64_t shadow_value_;
183 std::uint64_t no_sample_value_;
185 };
186
187}} // namespace
Iterator class for point clouds with or without given indices.
This class provides methods to fill a depth or disparity image.
Definition image_depth.h:55
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-sc...
std::uint64_t getShadowValue() const
method to access the shadow value, that indicates pixels lying in shadow in the depth image.
float getBaseline() const
method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
pcl::io::FrameWrapper::Ptr wrapper_
DepthImage(FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value)
Constructor.
unsigned getHeight() const
std::chrono::high_resolution_clock Clock
Definition image_depth.h:60
unsigned getStep() const
std::uint64_t getNoSampleValue() const
method to access the no-sample value, that indicates pixels where no disparity could be determined fo...
std::uint64_t shadow_value_
const FrameWrapper::Ptr getMetaData() const
method to access the internal data structure from OpenNI.
int getDataSize() const
std::uint64_t no_sample_value_
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.
unsigned getWidth() const
float getFocalLength() const
method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
std::chrono::high_resolution_clock::time_point Timestamp
Definition image_depth.h:61
std::uint64_t getTimestamp() const
DepthImage(FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value, Timestamp time)
Timestamp getSystemTimestamp() const
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-sc...
~DepthImage()
Destructor.
unsigned getFrameID() const
const unsigned short * getData()
shared_ptr< FrameWrapper > Ptr