43 #include <pcl/pcl_config.h>
44 #include <pcl/pcl_exports.h>
46 #include<pcl/io/image_metadata_wrapper.h>
57 using Ptr = shared_ptr<DepthImage>;
60 using Clock = std::chrono::high_resolution_clock;
61 using Timestamp = std::chrono::high_resolution_clock::time_point;
72 DepthImage (
FrameWrapper::Ptr depth_metadata,
float baseline,
float focal_length, std::uint64_t shadow_value, std::uint64_t no_sample_value);
92 fillDisparityImage (
unsigned width,
unsigned height,
float* disparity_buffer,
unsigned line_step = 0)
const;
102 fillDepthImage (
unsigned width,
unsigned height,
float* depth_buffer,
unsigned line_step = 0)
const;
112 fillDepthImageRaw (
unsigned width,
unsigned height,
unsigned short* depth_buffer,
unsigned line_step = 0)
const;
118 getBaseline ()
const;
124 getFocalLength ()
const;
130 getShadowValue ()
const;
136 getNoSampleValue ()
const;
157 getTimestamp ()
const;
160 getSystemTimestamp ()
const;
163 const unsigned short*
168 getDataSize ()
const;
174 return (getDataSize() / getHeight());