image_ir.h

/*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011 Willow Garage, Inc.
*
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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
}