Point Cloud Library (PCL)
1.7.0
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This class provides methods to fill a depth or disparity image. More...
#include <pcl/io/openni_camera/openni_depth_image.h>
Public Types | |
typedef boost::shared_ptr < DepthImage > | Ptr |
typedef boost::shared_ptr < const DepthImage > | ConstPtr |
Public Member Functions | |
DepthImage (boost::shared_ptr< xn::DepthMetaData > depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw () | |
Constructor. | |
virtual | ~DepthImage () throw () |
Destructor. | |
const xn::DepthMetaData & | getDepthMetaData () const throw () |
method to access the internal data structure from OpenNI. | |
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. | |
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. | |
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. | |
float | getBaseline () const throw () |
method to access the baseline of the "stereo" frame that was used to retrieve the depth image. | |
float | getFocalLength () const throw () |
method to access the focal length of the "stereo" frame that was used to retrieve the depth image. | |
XnUInt64 | getShadowValue () const throw () |
method to access the shadow value, that indicates pixels lying in shadow in the depth image. | |
XnUInt64 | getNoSampleValue () const throw () |
method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image. | |
unsigned | getWidth () const throw () |
unsigned | getHeight () const throw () |
unsigned | getFrameID () const throw () |
unsigned long | getTimeStamp () const throw () |
Protected Attributes | |
boost::shared_ptr < xn::DepthMetaData > | depth_md_ |
float | baseline_ |
float | focal_length_ |
XnUInt64 | shadow_value_ |
XnUInt64 | no_sample_value_ |
This class provides methods to fill a depth or disparity image.
Definition at line 56 of file openni_depth_image.h.
typedef boost::shared_ptr<const DepthImage> openni_wrapper::DepthImage::ConstPtr |
Definition at line 60 of file openni_depth_image.h.
typedef boost::shared_ptr<DepthImage> openni_wrapper::DepthImage::Ptr |
Definition at line 59 of file openni_depth_image.h.
openni_wrapper::DepthImage::DepthImage | ( | boost::shared_ptr< xn::DepthMetaData > | depth_meta_data, |
float | baseline, | ||
float | focal_length, | ||
XnUInt64 | shadow_value, | ||
XnUInt64 | no_sample_value | ||
) | throw () [inline] |
Constructor.
[in] | depth_meta_data | 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 . |
Definition at line 165 of file openni_depth_image.h.
openni_wrapper::DepthImage::~DepthImage | ( | ) | throw () [inline, virtual] |
void openni_wrapper::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.
[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. |
void openni_wrapper::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.
[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. |
void openni_wrapper::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.
[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. |
float openni_wrapper::DepthImage::getBaseline | ( | ) | const throw () [inline] |
method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
Definition at line 181 of file openni_depth_image.h.
const xn::DepthMetaData & openni_wrapper::DepthImage::getDepthMetaData | ( | ) | const throw () [inline] |
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
Definition at line 175 of file openni_depth_image.h.
float openni_wrapper::DepthImage::getFocalLength | ( | ) | const throw () [inline] |
method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
Definition at line 187 of file openni_depth_image.h.
unsigned openni_wrapper::DepthImage::getFrameID | ( | ) | const throw () [inline] |
Definition at line 217 of file openni_depth_image.h.
unsigned openni_wrapper::DepthImage::getHeight | ( | ) | const throw () [inline] |
Definition at line 211 of file openni_depth_image.h.
XnUInt64 openni_wrapper::DepthImage::getNoSampleValue | ( | ) | const throw () [inline] |
method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
Definition at line 199 of file openni_depth_image.h.
XnUInt64 openni_wrapper::DepthImage::getShadowValue | ( | ) | const throw () [inline] |
method to access the shadow value, that indicates pixels lying in shadow in the depth image.
Definition at line 193 of file openni_depth_image.h.
unsigned long openni_wrapper::DepthImage::getTimeStamp | ( | ) | const throw () [inline] |
Definition at line 223 of file openni_depth_image.h.
unsigned openni_wrapper::DepthImage::getWidth | ( | ) | const throw () [inline] |
Definition at line 205 of file openni_depth_image.h.
float openni_wrapper::DepthImage::baseline_ [protected] |
Definition at line 159 of file openni_depth_image.h.
boost::shared_ptr<xn::DepthMetaData> openni_wrapper::DepthImage::depth_md_ [protected] |
Definition at line 158 of file openni_depth_image.h.
float openni_wrapper::DepthImage::focal_length_ [protected] |
Definition at line 160 of file openni_depth_image.h.
XnUInt64 openni_wrapper::DepthImage::no_sample_value_ [protected] |
Definition at line 162 of file openni_depth_image.h.
XnUInt64 openni_wrapper::DepthImage::shadow_value_ [protected] |
Definition at line 161 of file openni_depth_image.h.