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pointcloud.h
Go to the documentation of this file.
1
/*
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* This file is part of the rc_genicam_api package.
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*
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* Copyright (c) 2019 Roboception GmbH
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* All rights reserved
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*
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* Author: Heiko Hirschmueller
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RC_GENICAM_API_POINTCLOUD
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#define RC_GENICAM_API_POINTCLOUD
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#include "
image.h
"
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#include <string>
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#include <memory>
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namespace
rcg
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{
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/*
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Computes a point cloud from the given synchronized left and disparity image
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pair and stores it in ply ascii format.
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@param name Name of output file. If empty, a standard file name with
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timestamp is used.
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@param f Focal length factor (to be multiplicated with image width).
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@param t Baseline in m.
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@param scale Disparity scale factor.
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@param left Left camera image. The image must have format Mono8 or
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YCbCr411_8.
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@param disp Corresponding disparity image, possibly downscaled by an
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integer factor. The image must be in format Coord3D_C16.
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@param conf Optional corresponding confidence image in the same size as
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disp. The image must be in format Confidence8.
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@param error Optional corresponding error image in the same size as disp.
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The image must be in format Error8.
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*/
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void
storePointCloud
(std::string name,
double
f,
double
t,
double
scale,
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std::shared_ptr<const Image>
left
,
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std::shared_ptr<const Image> disp,
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std::shared_ptr<const Image> conf=0,
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std::shared_ptr<const Image> error=0);
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}
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#endif
rcg
Definition:
buffer.cc:47
image.h
left
LOG4CPP_EXPORT CategoryStream & left(CategoryStream &os)
left manipulator
rcg::storePointCloud
void storePointCloud(std::string name, double f, double t, double scale, std::shared_ptr< const Image > left, std::shared_ptr< const Image > disp, std::shared_ptr< const Image > conf, std::shared_ptr< const Image > error)
Definition:
pointcloud.cc:86
rc_genicam_api
Author(s): Heiko Hirschmueller
autogenerated on Wed Dec 4 2024 03:10:11