Program Listing for File image.h¶
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/*
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* Copyright (c) 2011 Willow Garage, Inc.
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#include <pcl/pcl_config.h>
#ifndef PCL_IO_IMAGE_H_
#define PCL_IO_IMAGE_H_
#include <pcl/pcl_exports.h>
#include <pcl/io/boost.h>
#include <boost/chrono.hpp>
#include <pcl/io/image_metadata_wrapper.h>
namespace pcl
{
namespace io
{
/**
* @brief Image interface class providing an interface to fill a RGB or Grayscale image buffer.
* @param[in] image_metadata
* @ingroup io
*/
class PCL_EXPORTS Image
{
public:
typedef boost::shared_ptr<Image> Ptr;
typedef boost::shared_ptr<const Image> ConstPtr;
typedef boost::chrono::high_resolution_clock Clock;
typedef boost::chrono::high_resolution_clock::time_point Timestamp;
typedef enum
{
BAYER_GRBG,
YUV422,
RGB
} Encoding;
Image (FrameWrapper::Ptr image_metadata)
: wrapper_ (image_metadata)
, timestamp_ (Clock::now ())
{}
Image (FrameWrapper::Ptr image_metadata, Timestamp time)
: wrapper_ (image_metadata)
, timestamp_ (time)
{}
/**
* @brief virtual Destructor that never throws an exception.
*/
inline virtual ~Image ()
{}
/**
* @param[in] input_width width of input image
* @param[in] input_height height of input image
* @param[in] output_width width of desired output image
* @param[in] output_height height of desired output image
* @return whether the resizing is supported or not.
*/
virtual bool
isResizingSupported (unsigned input_width, unsigned input_height,
unsigned output_width, unsigned output_height) const = 0;
/**
* @brief fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion
* @param[in] width desired width of output image.
* @param[in] height desired height of output image.
* @param[in,out] rgb_buffer the output RGB buffer.
* @param[in] rgb_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
*/
virtual void
fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step = 0) const = 0;
/**
* @brief returns the encoding of the native data.
* @return encoding
*/
virtual Encoding
getEncoding () const = 0;
/**
* @brief fills a user given buffer with the raw values.
* @param[in,out] rgb_buffer
*/
virtual void
fillRaw (unsigned char* rgb_buffer) const
{
memcpy (rgb_buffer, wrapper_->getData (), wrapper_->getDataSize ());
}
/**
* @brief fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion
* @param[in] width desired width of output image.
* @param[in] height desired height of output image.
* @param[in,out] gray_buffer the output gray buffer.
* @param[in] gray_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
*/
virtual void
fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
unsigned gray_line_step = 0) const = 0;
/**
* @return width of the image
*/
unsigned
getWidth () const
{
return (wrapper_->getWidth ());
}
/**
* @return height of the image
*/
unsigned
getHeight () const
{
return (wrapper_->getHeight ());
}
/**
* @return frame id of the image.
* @note frame ids are ascending, but not necessarily synchronized with other streams
*/
unsigned
getFrameID () const
{
return (wrapper_->getFrameID ());
}
/**
* @return the timestamp of the image
* @note the time value is not synchronized with the system time
*/
pcl::uint64_t
getTimestamp () const
{
return (wrapper_->getTimestamp ());
}
/**
* @return the timestamp of the image
* @note the time value *is* synchronized with the system time.
*/
Timestamp
getSystemTimestamp () const
{
return (timestamp_);
}
// Get a const pointer to the raw depth buffer
const void*
getData ()
{
return (wrapper_->getData ());
}
// Data buffer size in bytes
int
getDataSize () const
{
return (wrapper_->getDataSize ());
}
// Size of each row, including any padding
inline unsigned
getStep() const
{
return (getDataSize() / getHeight());
}
protected:
FrameWrapper::Ptr wrapper_;
Timestamp timestamp_;
};
} // namespace
}
#endif //PCL_IO_IMAGE_H_