rgbd_data.h

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#ifndef ED_RGBD_DATA_H_
#define ED_RGBD_DATA_H_
 
#include <pcl/point_types.h>
#include <rgbd/image.h>
#include <geolib/datatypes.h>
#include <pcl/pcl_base.h>
 
#include <vector>
 
namespace ed
{
 
typedef std::vector<int> PointCloudMask;
typedef pcl::IndicesPtr PointCloudMaskPtr;
typedef pcl::IndicesConstPtr PointCloudMaskConstPtr;
typedef std::vector<std::vector<int> > PointCloudToPixelsMapping;
 
// TODO: check if this works!
const static PointCloudMask NO_MASK( 1, -1 );
 
struct RGBDData
{
    rgbd::ImageConstPtr image;
 
    geo::Pose3D sensor_pose;
 
    pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud;
 
    pcl::PointCloud<pcl::PointNormal>::Ptr point_cloud_with_normals;
 
    PointCloudToPixelsMapping point_cloud_to_pixels_mapping;
};
 
}
 
#endif