Point Cloud Library (PCL) 1.13.1
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image.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011 Willow Garage, Inc.
5 *
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of the copyright holder(s) nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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34 *
35 */
36
37#pragma once
38
39#include <pcl/io/image_metadata_wrapper.h>
40#include <pcl/memory.h>
41#include <pcl/pcl_config.h>
42#include <pcl/pcl_macros.h>
43
44#include <chrono>
45
46namespace pcl
47{
48 namespace io
49 {
50
51 /**
52 * @brief Image interface class providing an interface to fill a RGB or Grayscale image buffer.
53 * @param[in] image_metadata
54 * @ingroup io
55 */
56 class PCL_EXPORTS Image
57 {
58 public:
59 using Ptr = shared_ptr<Image>;
60 using ConstPtr = shared_ptr<const Image>;
61
62 using Clock = std::chrono::high_resolution_clock;
63 using Timestamp = std::chrono::high_resolution_clock::time_point;
64
71
72 Image (FrameWrapper::Ptr image_metadata)
73 : wrapper_ (std::move(image_metadata))
74 , timestamp_ (Clock::now ())
75 {}
76
77 Image (FrameWrapper::Ptr image_metadata, Timestamp time)
78 : wrapper_ (std::move(image_metadata))
79 , timestamp_ (time)
80 {}
81
82 /**
83 * @brief virtual Destructor that never throws an exception.
84 */
85 inline virtual ~Image () = default;
86
87 /**
88 * @param[in] input_width width of input image
89 * @param[in] input_height height of input image
90 * @param[in] output_width width of desired output image
91 * @param[in] output_height height of desired output image
92 * @return whether the resizing is supported or not.
93 */
94 virtual bool
95 isResizingSupported (unsigned input_width, unsigned input_height,
96 unsigned output_width, unsigned output_height) const = 0;
97
98 /**
99 * @brief fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion
100 * @param[in] width desired width of output image.
101 * @param[in] height desired height of output image.
102 * @param[in,out] rgb_buffer the output RGB buffer.
103 * @param[in] rgb_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
104 */
105 virtual void
106 fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step = 0) const = 0;
107
108 /**
109 * @brief returns the encoding of the native data.
110 * @return encoding
111 */
112 virtual Encoding
113 getEncoding () const = 0;
114
115 /**
116 * @brief fills a user given buffer with the raw values.
117 * @param[in,out] rgb_buffer
118 */
119 virtual void
120 fillRaw (unsigned char* rgb_buffer) const
121 {
122 memcpy (rgb_buffer, wrapper_->getData (), wrapper_->getDataSize ());
123 }
124
125 /**
126 * @brief fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion
127 * @param[in] width desired width of output image.
128 * @param[in] height desired height of output image.
129 * @param[in,out] gray_buffer the output gray buffer.
130 * @param[in] gray_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
131 */
132 virtual void
133 fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
134 unsigned gray_line_step = 0) const = 0;
135
136 /**
137 * @return width of the image
138 */
139 unsigned
140 getWidth () const
141 {
142 return (wrapper_->getWidth ());
143 }
144
145 /**
146 * @return height of the image
147 */
148 unsigned
149 getHeight () const
150 {
151 return (wrapper_->getHeight ());
152 }
153
154 /**
155 * @return frame id of the image.
156 * @note frame ids are ascending, but not necessarily synchronized with other streams
157 */
158 unsigned
159 getFrameID () const
160 {
161 return (wrapper_->getFrameID ());
162 }
163
164 /**
165 * @return the timestamp of the image
166 * @note the time value is not synchronized with the system time
167 */
168 std::uint64_t
170 {
171 return (wrapper_->getTimestamp ());
172 }
173
174
175 /**
176 * @return the timestamp of the image
177 * @note the time value *is* synchronized with the system time.
178 */
179 Timestamp
181 {
182 return (timestamp_);
183 }
184
185 // Get a const pointer to the raw depth buffer
186 const void*
188 {
189 return (wrapper_->getData ());
190 }
191
192 // Data buffer size in bytes
193 int
194 getDataSize () const
195 {
196 return (wrapper_->getDataSize ());
197 }
198
199 // Size of each row, including any padding
200 inline unsigned
201 getStep() const
202 {
203 return (getDataSize() / getHeight());
204 }
205
206 protected:
209 };
210
211 } // namespace
212}
213
shared_ptr< FrameWrapper > Ptr
Image interface class providing an interface to fill a RGB or Grayscale image buffer.
Definition image.h:57
Timestamp getSystemTimestamp() const
Definition image.h:180
unsigned getWidth() const
Definition image.h:140
Timestamp timestamp_
Definition image.h:208
virtual bool isResizingSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const =0
Image(FrameWrapper::Ptr image_metadata, Timestamp time)
Definition image.h:77
shared_ptr< Image > Ptr
Definition image.h:59
unsigned getFrameID() const
Definition image.h:159
unsigned getStep() const
Definition image.h:201
shared_ptr< const Image > ConstPtr
Definition image.h:60
unsigned getHeight() const
Definition image.h:149
std::uint64_t getTimestamp() const
Definition image.h:169
virtual void fillGrayscale(unsigned width, unsigned height, unsigned char *gray_buffer, unsigned gray_line_step=0) const =0
fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and a...
FrameWrapper::Ptr wrapper_
Definition image.h:207
virtual ~Image()=default
virtual Destructor that never throws an exception.
std::chrono::high_resolution_clock::time_point Timestamp
Definition image.h:63
Image(FrameWrapper::Ptr image_metadata)
Definition image.h:72
virtual void fillRGB(unsigned width, unsigned height, unsigned char *rgb_buffer, unsigned rgb_line_step=0) const =0
fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an...
const void * getData()
Definition image.h:187
std::chrono::high_resolution_clock Clock
Definition image.h:62
int getDataSize() const
Definition image.h:194
virtual void fillRaw(unsigned char *rgb_buffer) const
fills a user given buffer with the raw values.
Definition image.h:120
virtual Encoding getEncoding() const =0
returns the encoding of the native data.
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A structure representing RGB color information.