File `image.hpp`

Core API objects - image.

Helper functions for slamcore::ImageFormat

template<class Archive> static inline void load_minimal(const Archive&, ImageFormat &obj, const std::string &value)

template<class Archive> static inline std::string save_minimal(const Archive&, const ImageFormat &obj)

static inline std::ostream &operator<<(std::ostream &os, const ImageFormat obj)

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

template<ImageFormat fmt> static inline std::size_t ImageFormatToBytesPerPixel()

static inline std::size_t ImageFormatToBytesPerPixel(const ImageFormat fmt)

template<ImageFormat fmt> static inline std::size_t ImageFormatToBytesPerChannel()

static inline std::size_t ImageFormatToBytesPerChannel(const ImageFormat fmt)

Enums

enum class ImageFormat : EnumBaseT 

Various internal image formats.

Values:

enumerator Custom: Undefined.

enumerator Mono_8: 8 bit per pixel

enumerator Mono_16: 16 bit per pixel

enumerator Mono_F: 32 bit float per pixel

enumerator RGB_8: 8 bit per component, RGB

enumerator RGBA_8: 8 bit per component, RGBA

enumerator RGB_F: 32 bit float per component, RGB

enumerator RGBA_F: 32 bit float per component, RGBA

enumerator JPEG: Binary JPEG data.

enumerator Mono_32: 32 bit per pixel

enumerator Mono_64: 64 bit per pixel

enumerator Count

template<> struct ImageFormatTraits<ImageFormat::Mono_8>

#include <image.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> struct ImageFormatTraits<ImageFormat::Mono_16>

#include <image.hpp>

Public Types

using ChannelType = uint16_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> struct ImageFormatTraits<ImageFormat::Mono_F>

#include <image.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> struct ImageFormatTraits<ImageFormat::RGB_8>

#include <image.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> struct ImageFormatTraits<ImageFormat::RGBA_8>

#include <image.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 4

template<> struct ImageFormatTraits<ImageFormat::RGB_F>

#include <image.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> struct ImageFormatTraits<ImageFormat::RGBA_F>

#include <image.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 4

template<> struct ImageFormatTraits<ImageFormat::Mono_32>

#include <image.hpp>

Public Types

using ChannelType = uint32_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> struct ImageFormatTraits<ImageFormat::Mono_64>

#include <image.hpp>

Public Types

using ChannelType = uint64_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<typename T> struct TypeTraits<T, typename enable_if_is_base_of<ImageInterface, T>::type>

#include <image.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::Image 

namespace slamcore

Helper functions for slamcore::ImageFormat

template<class Archive> static inline void load_minimal(const Archive&, ImageFormat &obj, const std::string &value)

template<class Archive> static inline std::string save_minimal(const Archive&, const ImageFormat &obj)

static inline std::ostream &operator<<(std::ostream &os, const ImageFormat obj)

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

template<ImageFormat fmt> static inline std::size_t ImageFormatToBytesPerPixel()

static inline std::size_t ImageFormatToBytesPerPixel(const ImageFormat fmt)

template<ImageFormat fmt> static inline std::size_t ImageFormatToBytesPerChannel()

static inline std::size_t ImageFormatToBytesPerChannel(const ImageFormat fmt)

Get information about the client library

Enums

enum class ImageFormat : EnumBaseT 

Various internal image formats.

Values:

enumerator Custom: Undefined.

enumerator Mono_8: 8 bit per pixel

enumerator Mono_16: 16 bit per pixel

enumerator Mono_F: 32 bit float per pixel

enumerator RGB_8: 8 bit per component, RGB

enumerator RGBA_8: 8 bit per component, RGBA

enumerator RGB_F: 32 bit float per component, RGB

enumerator RGBA_F: 32 bit float per component, RGBA

enumerator JPEG: Binary JPEG data.

enumerator Mono_32: 32 bit per pixel

enumerator Mono_64: 64 bit per pixel

enumerator Count

template<ImageFormat fmt> struct ImageFormatTraits

#include <image.hpp>

Traits specific to the corresponding slamcore::ImageFormat they are templated for Supports storing information for the following properties:

Channels - numbers of associated channels
ChannelType - e.g., float / double, …

template<> Mono_16 >

#include <image.hpp>

Public Types

using ChannelType = uint16_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_32 >

#include <image.hpp>

Public Types

using ChannelType = uint32_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_64 >

#include <image.hpp>

Public Types

using ChannelType = uint64_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_8 >

#include <image.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> Mono_F >

#include <image.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 1

template<> RGB_8 >

#include <image.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> RGB_F >

#include <image.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 3

template<> RGBA_8 >

#include <image.hpp>

Public Types

using ChannelType = uint8_t

Public Static Attributes

static constexpr std::size_t Channels = 4

template<> RGBA_F >

#include <image.hpp>

Public Types

using ChannelType = float

Public Static Attributes

static constexpr std::size_t Channels = 4

class ImageInterface : public MeasurementPoint<camera_clock>

#include <image.hpp>

Representing a single video frame.

Public Types

using Ptr = std::shared_ptr<ImageInterface>

using CPtr = std::shared_ptr<const ImageInterface>

using MeasurementPointT = MeasurementPoint<camera_clock>

Public Functions

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.

template<typename T> type >

#include <image.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::Image

File image.hpp

File `image.hpp`