PointCloudUtils.h

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_SIG_POINTCLOUDUTILS_H
#define YARP_SIG_POINTCLOUDUTILS_H
 
#include <yarp/sig/Image.h>
#include <yarp/sig/IntrinsicParams.h>
#include <yarp/sig/PointCloud.h>
 
namespace yarp {
namespace sig{
namespace utils
{
 
struct PCL_ROI
{
    size_t min_x {0};
    size_t max_x {0};
    size_t min_y {0};
    size_t max_y {0};
};
 
YARP_sig_API yarp::sig::PointCloud<yarp::sig::DataXYZ> depthToPC(const yarp::sig::ImageOf<yarp::sig::PixelFloat>& depth,
                                                                 const yarp::sig::IntrinsicParams& intrinsic);
 
YARP_sig_API yarp::sig::PointCloud<yarp::sig::DataXYZ> depthToPC(const yarp::sig::ImageOf<yarp::sig::PixelFloat>& depth,
                                                                 const yarp::sig::IntrinsicParams& intrinsic,
                                                                 const yarp::sig::utils::PCL_ROI& roi,
                                                                 size_t step_x,
                                                                 size_t step_y);
 
template<typename T1, typename T2>
yarp::sig::PointCloud<T1> depthRgbToPC(const yarp::sig::ImageOf<yarp::sig::PixelFloat>& depth,
                                       const yarp::sig::ImageOf<T2>& color,
                                       const yarp::sig::IntrinsicParams& intrinsic);
} // namespace utils
} // namespace sig
} // namespace yarp
 
#include <yarp/sig/PointCloudUtils-inl.h>
 
#endif // YARP_SIG_POINTCLOUDUTILS_H