thirdParty/PCL 1.12.0/include/pcl-1.12/pcl/io/image_ir.h

/*
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#pragma once

#include <chrono>

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>

#include <pcl/io/image_metadata_wrapper.h>

namespace pcl
{
  namespace io
  {

    /**
    * @brief Class containing just a reference to IR meta data.
    */
    class PCL_EXPORTS IRImage
    {
      public:
        using Ptr = shared_ptr<IRImage>;
        using ConstPtr = shared_ptr<const IRImage>;

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

        IRImage (FrameWrapper::Ptr ir_metadata);
        IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time);

        ~IRImage () noexcept
        {}

        void
        fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;

        unsigned
        getWidth () const;

        unsigned
        getHeight () const;

        unsigned
        getFrameID () const;

        std::uint64_t
        getTimestamp () const;

        Timestamp
        getSystemTimestamp () const;

        // 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
        const unsigned short*
        getData ();

        // Data buffer size in bytes
        int
        getDataSize () const;

        // Size of each row, including any padding
        inline unsigned
        getStep() const
        {
          return (getDataSize() / getHeight());
        }

        /** \brief method to access the internal data structure wrapper, which needs to be cast to an 
        * approperate subclass before the getMetadata(..) function is available to access the native data type.
        */
        const FrameWrapper::Ptr
        getMetaData () const;

      protected:
        FrameWrapper::Ptr wrapper_;
        Timestamp timestamp_;
    };

  } // namespace
}