43 #include <pcl/pcl_config.h>
44 #include <pcl/pcl_exports.h>
45 #include <pcl/io/boost.h>
47 #include<pcl/io/image_metadata_wrapper.h>
61 using Clock = std::chrono::high_resolution_clock;
62 using Timestamp = std::chrono::high_resolution_clock::time_point;
73 DepthImage (
FrameWrapper::Ptr depth_metadata,
float baseline,
float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value);
93 fillDisparityImage (
unsigned width,
unsigned height,
float* disparity_buffer,
unsigned line_step = 0)
const;
103 fillDepthImage (
unsigned width,
unsigned height,
float* depth_buffer,
unsigned line_step = 0)
const;
113 fillDepthImageRaw (
unsigned width,
unsigned height,
unsigned short* depth_buffer,
unsigned line_step = 0)
const;
119 getBaseline ()
const;
125 getFocalLength ()
const;
131 getShadowValue ()
const;
137 getNoSampleValue ()
const;
158 getTimestamp ()
const;
161 getSystemTimestamp ()
const;
164 const unsigned short*
169 getDataSize ()
const;
175 return (getDataSize() / getHeight());