rgbd::Image Class Reference

#include <image.h>

Public Member Functions
Image	clone () const
	Create a clone of this image. The depth and RGB images will be cloned, so the new image will not share data. More...
const image_geometry::PinholeCameraModel &	getCameraModel () const
	Get the camera model. More...
const cv::Mat &	getDepthImage () const
	Get the depth image. More...
const std::string &	getFrameId () const
	Get the frame_id. More...
const cv::Mat &	getRGBImage () const
	Get the RGB color image. More...
double	getTimestamp () const
	Get the timestamp. More...
	Image ()
	Empty constructor. More...
	Image (const cv::Mat &rgb_image, const cv::Mat &depth_image, const image_geometry::PinholeCameraModel &cam_model, const std::string &frame_id, double timestamp)
	Full constructor. More...
bool	operator!= (const rgbd::Image &other) const
	Non-equality operator. More...
bool	operator== (const rgbd::Image &other) const
	Equality operator. More...
void	setCameraInfo (sensor_msgs::CameraInfo cam_info)
	Set the camera model by using a camera info message. The frame_id and timestamp of the message will be emptied. More...
void	setCameraModel (const image_geometry::PinholeCameraModel &cam_model)
	Set the camera model. The frame_id and timestamp in the camera info inside the camera model will be emptied. More...
void	setDepthImage (const cv::Mat &depth_image)
	Set the depth image. More...
void	setFrameId (const std::string &frame_id)
	Set the frame_id. More...
void	setRGBImage (const cv::Mat &rgb_image)
	Set the BGR color image. More...
void	setTimestamp (double timestamp)
	Set the timestamp. More...

Protected Attributes
image_geometry::PinholeCameraModel	cam_model_
	Camera model Header in camera info should always be empty to prevent inconsistent behaviour of equality operators. More...
cv::Mat	depth_image_
std::string	frame_id_
cv::Mat	rgb_image_
double	timestamp_

Friends
class	ClientSHM
bool	convert (const rgbd_msgs::RGBDConstPtr &msg, rgbd::Image *&image)
	Convert rgbd message to an Image. More...
bool	deserialize (tue::serialization::InputArchive &a, Image &image)
std::ostream &	operator<< (std::ostream &out, const rgbd::Image &image)
bool	serialize (const Image &image, tue::serialization::OutputArchive &a, RGBStorageType rgb_type, DepthStorageType depth_type)

Detailed Description

Definition at line 43 of file image.h.

Constructor & Destructor Documentation

Image() [1/2]

rgbd::Image::Image

(

)

Empty constructor.

Definition at line 13 of file image.cpp.

Image() [2/2]

rgbd::Image::Image	(	const cv::Mat &	rgb_image,
		const cv::Mat &	depth_image,
		const image_geometry::PinholeCameraModel &	cam_model,
		const std::string &	frame_id,
		double	timestamp
	)

Full constructor.

Parameters

rgb_image	Resulting RGB color image.
depth_image	Resulting depth image.
cam_model	Camera model used to take the image.
frame_id	Frame_id in which the image is taken.
timestamp	timestamp of the image.

Definition at line 19 of file image.cpp.

Member Function Documentation

clone()

Image rgbd::Image::clone

(

)

const

Create a clone of this image. The depth and RGB images will be cloned, so the new image will not share data.

Returns

New image.

Definition at line 56 of file image.cpp.

getCameraModel()

const image_geometry::PinholeCameraModel& rgbd::Image::getCameraModel ( ) const

inline

Get the camera model.

Returns

Const reference to the camera model.

Definition at line 96 of file image.h.

getDepthImage()

const cv::Mat& rgbd::Image::getDepthImage ( ) const

inline

Get the depth image.

Returns

Const reference to the depth image.

Definition at line 72 of file image.h.

getFrameId()

const std::string& rgbd::Image::getFrameId ( ) const

inline

Get the frame_id.

Returns

Const reference to the frame_id.

Definition at line 84 of file image.h.

getRGBImage()

const cv::Mat& rgbd::Image::getRGBImage ( ) const

inline

Get the RGB color image.

Returns

Const reference to the RGB color image.

Definition at line 78 of file image.h.

getTimestamp()

double rgbd::Image::getTimestamp ( ) const

inline

Get the timestamp.

Returns

Copy of the timestamp.

Definition at line 90 of file image.h.

operator!=()

bool rgbd::Image::operator!= ( const rgbd::Image &  other ) const

inline

Non-equality operator.

Parameters

other

Other image to compare with.

Returns

non-equality

Definition at line 158 of file image.h.

operator==()

bool rgbd::Image::operator==

(

const rgbd::Image &

other

)

const

Equality operator.

Parameters

other

Other image to compare with.

Returns

equality

Definition at line 71 of file image.cpp.

setCameraInfo()

void rgbd::Image::setCameraInfo

(

sensor_msgs::CameraInfo

cam_info

)

Set the camera model by using a camera info message. The frame_id and timestamp of the message will be emptied.

Parameters

cam_info

The camera info message to construct the camera model.

Definition at line 34 of file image.cpp.

setCameraModel()

void rgbd::Image::setCameraModel

(

const image_geometry::PinholeCameraModel &

cam_model

)

Set the camera model. The frame_id and timestamp in the camera info inside the camera model will be emptied.

Parameters

cam_model

The camera model to set.

Definition at line 45 of file image.cpp.

setDepthImage()

void rgbd::Image::setDepthImage ( const cv::Mat &  depth_image )

inline

Set the depth image.

Parameters

depth_image

The depth image to set.

Definition at line 105 of file image.h.

setFrameId()

void rgbd::Image::setFrameId ( const std::string &  frame_id )

inline

Set the frame_id.

Parameters

frame_id

The frame_id to set.

Definition at line 117 of file image.h.

setRGBImage()

void rgbd::Image::setRGBImage ( const cv::Mat &  rgb_image )

inline

Set the BGR color image.

Parameters

depth_image

The BGR color image to set.

Definition at line 111 of file image.h.

setTimestamp()

void rgbd::Image::setTimestamp ( double  timestamp )

inline

Set the timestamp.

Parameters

timestamp

The timestamp to set.

Definition at line 123 of file image.h.

Friends And Related Function Documentation

ClientSHM

friend class ClientSHM

friend

Definition at line 45 of file image.h.

convert

bool convert ( const rgbd_msgs::RGBDConstPtr &  msg, rgbd::Image *&  image  )

friend

Convert rgbd message to an Image.

Parameters

msg	pointer to const rgbd message
image	raw pointer to an Image. In case it is a nullptr, a new instance will be created.

Returns

success

Definition at line 88 of file conversions.cpp.

deserialize

bool deserialize ( tue::serialization::InputArchive &  a, Image &  image  )

friend

Definition at line 174 of file serialization.cpp.

operator<<

std::ostream& operator<< ( std::ostream &  out, const rgbd::Image &  image  )

friend

Definition at line 106 of file image.cpp.

serialize

bool serialize ( const Image &  image, tue::serialization::OutputArchive &  a, RGBStorageType  rgb_type = RGB_STORAGE_JPG, DepthStorageType  depth_type = DEPTH_STORAGE_PNG  )

friend

Definition at line 23 of file serialization.cpp.

Member Data Documentation

cam_model_

image_geometry::PinholeCameraModel rgbd::Image::cam_model_

protected

Camera model Header in camera info should always be empty to prevent inconsistent behaviour of equality operators.

Definition at line 179 of file image.h.

depth_image_

cv::Mat rgbd::Image::depth_image_

protected

Definition at line 173 of file image.h.

frame_id_

std::string rgbd::Image::frame_id_

protected

Definition at line 181 of file image.h.

rgb_image_

cv::Mat rgbd::Image::rgb_image_

protected

Definition at line 172 of file image.h.

timestamp_

double rgbd::Image::timestamp_

protected

Definition at line 182 of file image.h.

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The documentation for this class was generated from the following files:

• image.h
• image.cpp