YARP
Yet Another Robot Platform
 
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PointCloudUtils.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_SIG_POINTCLOUDUTILS_H
7#define YARP_SIG_POINTCLOUDUTILS_H
8
9#include <yarp/sig/Image.h>
11#include <yarp/sig/PointCloud.h>
12
13namespace yarp::sig::utils {
14
18};
19
20struct PCL_ROI
21{
22 size_t min_x {0};
23 size_t max_x {0};
24 size_t min_y {0};
25 size_t max_y {0};
26};
27
37 const yarp::sig::IntrinsicParams& intrinsic);
38
51 const yarp::sig::IntrinsicParams& intrinsic,
53 size_t step_x,
54 size_t step_y);
55
66template<typename T1, typename T2>
68 const yarp::sig::ImageOf<T2>& color,
69 const yarp::sig::IntrinsicParams& intrinsic,
71} // namespace yarp::sig::utils
72
74
75#endif // YARP_SIG_POINTCLOUDUTILS_H
Typed image class.
Definition Image.h:616
The PointCloud class.
Definition PointCloud.h:22
yarp::sig::PointCloud< yarp::sig::DataXYZ > depthToPC(const yarp::sig::ImageOf< yarp::sig::PixelFloat > &depth, const yarp::sig::IntrinsicParams &intrinsic)
depthToPC, compute the PointCloud given depth image and the intrinsic parameters of the camera.
yarp::sig::PointCloud< T1 > depthRgbToPC(const yarp::sig::ImageOf< yarp::sig::PixelFloat > &depth, const yarp::sig::ImageOf< T2 > &color, const yarp::sig::IntrinsicParams &intrinsic, const yarp::sig::utils::OrganizationType organizationType=yarp::sig::utils::OrganizationType::Organized)
depthRgbToPC, compute the colored PointCloud given depth image, color image and the intrinsic paramet...
The IntrinsicParams struct to handle the intrinsic parameter of cameras(RGB and RGBD either).
#define YARP_sig_API
Definition api.h:18