Class slamcore::ImageInterface¶

class slamcore::ImageInterface : public ObjectInterface, public virtual MeasurementPointInterface<camera_clock>¶

Representing a single video frame.

Public Types

using Ptr = std::shared_ptr<ImageInterface>¶

using CPtr = std::shared_ptr<const ImageInterface>¶

using MeasurementPointT = MeasurementPointInterface<camera_clock>¶

Public Functions

inline virtual ObjectType type() const¶: Type of the object.

virtual ~ImageInterface() = default¶

virtual ImageFormat getFormat() const = 0¶: Get the internal image data format.

virtual std::size_t getWidth() const = 0¶: Get image width in pixels.

virtual std::size_t getHeight() const = 0¶: Get image height in pixels.

virtual std::size_t getPitch() const = 0¶: Get image line stride in bytes.

virtual std::size_t getBytesPerPixel() const = 0¶: Bytes per pixel.

virtual std::size_t getBufferSize() const = 0¶: Get image total buffer size in bytes.

inline virtual camera_duration getExposureTime() const¶: [OPTIONAL] Get image exposure time.

inline virtual float getGain() const¶: [OPTIONAL] Get image gain.

inline virtual bool getAutoExposureEnabled() const¶: [OPTIONAL] Get image auto-exposure state.

inline virtual float getLaserPower() const¶: [OPTIONAL] Get IR laser projector state at the time of capture.

virtual bool isValid() const = 0¶: Check if the image contains valid data.

virtual const uint8_t *getData() const = 0¶: Returns the internal buffer with image data.