188 lines
8.2 KiB
C++
188 lines
8.2 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2011 Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <chrono>
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#include <pcl/pcl_config.h>
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#include <pcl/pcl_exports.h>
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#include<pcl/io/image_metadata_wrapper.h>
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namespace pcl
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{
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namespace io
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{
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/** \brief This class provides methods to fill a depth or disparity image.
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*/
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class PCL_EXPORTS DepthImage
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{
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public:
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using Ptr = shared_ptr<DepthImage>;
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using ConstPtr = shared_ptr<const DepthImage>;
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using Clock = std::chrono::high_resolution_clock;
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using Timestamp = std::chrono::high_resolution_clock::time_point;
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/** \brief Constructor
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* \param[in] depth_metadata the actual data from the OpenNI library
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* \param[in] baseline the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for
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* Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
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* \param[in] focal_length focal length of the "stereo" frame.
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* \param[in] shadow_value defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
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* \param[in] no_sample_value defines which values in the depth data are indicating that no depth (disparity) could be determined .
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* \attention The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.
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*/
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DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value);
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DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value, Timestamp time);
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/** \brief Destructor. Never throws an exception. */
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~DepthImage ();
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/** \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
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* \return the actual depth data of type openni::VideoFrameRef.
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*/
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const FrameWrapper::Ptr
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getMetaData () const;
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/** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
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* \param[in] width the width of the desired disparity image.
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* \param[in] height the height of the desired disparity image.
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* \param[in,out] disparity_buffer the float pointer to the actual memory buffer to be filled with the disparity values.
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* \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
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* width in bytes (not floats) of the original width of the depth buffer.
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*/
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void
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fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;
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/** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
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* \param[in] width width the width of the desired depth image.
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* \param[in] height height the height of the desired depth image.
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* \param[in,out] depth_buffer the float pointer to the actual memory buffer to be filled with the depth values.
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* \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
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* width in bytes (not floats) of the original width of the depth buffer.
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*/
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void
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fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;
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/** \brief fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
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* \param[in] width width the width of the desired raw image.
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* \param[in] height height the height of the desired raw image.
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* \param[in,out] depth_buffer the unsigned short pointer to the actual memory buffer to be filled with the raw values.
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* \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
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* width in bytes (not floats) of the original width of the depth buffer.
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*/
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void
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fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;
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/** \brief method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
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* \return baseline in meters
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*/
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float
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getBaseline () const;
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/** \brief method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
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* \return focal length in pixels
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*/
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float
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getFocalLength () const;
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/** \brief method to access the shadow value, that indicates pixels lying in shadow in the depth image.
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* \return shadow value
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*/
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std::uint64_t
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getShadowValue () const;
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/** \brief method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
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* \return no-sample value
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*/
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std::uint64_t
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getNoSampleValue () const;
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/** \return the width of the depth image */
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unsigned
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getWidth () const;
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/** \return the height of the depth image */
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unsigned
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getHeight () const;
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/** \return an ascending id for the depth frame
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* \attention not necessarily synchronized with other streams
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*/
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unsigned
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getFrameID () const;
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/** \return a ascending timestamp for the depth frame
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* \attention its not the system time, thus can not be used directly to synchronize different sensors.
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* But definitely synchronized with other streams
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*/
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std::uint64_t
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getTimestamp () const;
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Timestamp
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getSystemTimestamp () const;
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// Get a const pointer to the raw depth buffer
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const unsigned short*
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getData ();
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// Data buffer size in bytes
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int
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getDataSize () const;
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// Size of each row, including any padding
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inline unsigned
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getStep() const
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{
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return (getDataSize() / getHeight());
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}
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protected:
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pcl::io::FrameWrapper::Ptr wrapper_;
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float baseline_;
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float focal_length_;
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std::uint64_t shadow_value_;
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std::uint64_t no_sample_value_;
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Timestamp timestamp_;
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};
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}} // namespace
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