38 #ifndef PCL_CUDA_DISPARITY_TO_CLOUD_H_
39 #define PCL_CUDA_DISPARITY_TO_CLOUD_H_
41 #include <pcl/cuda/point_cloud.h>
42 #include <pcl/cuda/io/cloud_to_pcl.h>
43 #include <pcl/io/openni_camera/openni_image.h>
44 #include <pcl/io/openni_camera/openni_depth_image.h>
48 #include <boost/cstdint.hpp>
63 width(w), height(h), center_x(cx), center_y(cy), constant(con)
65 bad_point = std::numeric_limits<float>::quiet_NaN ();
68 template <
typename Tuple> __inline__ __host__ __device__
PointXYZRGB
81 width(w), height(h), center_x(cx), center_y(cy), constant(con)
83 bad_point = std::numeric_limits<float>::quiet_NaN ();
86 template <
typename Tuple> __inline__ __host__ __device__
PointXYZRGB
110 template <
template <
typename>
class Storage>
void
111 compute (
const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
112 const boost::shared_ptr<openni_wrapper::Image>& image,
115 bool downsample =
false,
int stride = 2,
int smoothing_nr_iterations = 0,
int smoothing_filter_size = 2);
117 template <
template <
typename>
class Storage>
void
118 compute (
const boost::uint16_t* depth_image,
120 int width,
int height,
123 int smoothing_nr_iterations = 0,
int smoothing_filter_size = 2);
144 compute (
const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
149 compute (
const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
157 #endif //#ifndef PCL_CUDA_DISPARITY_TO_CLOUD_H_
ComputeXYZ(int w, int h, int cx, int cy, float con)
Disparity to PointCloudAOS generator.
Compute the XYZ and RGB values for a point based on disparity information.
This file defines compatibility wrappers for low level I/O functions.
ComputeXYZRGB(int w, int h, int cx, int cy, float con)
boost::shared_ptr< PointCloudAOS< Storage > > Ptr
Compute the XYZ values for a point based on disparity information.
__inline__ __host__ __device__ PointXYZRGB operator()(const Tuple &t)
Default point xyz-rgb structure.
__inline__ __host__ __device__ PointXYZRGB operator()(const Tuple &t)
Simple structure holding RGB data.