#include <array>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <vector>
#include "MultiSenseTypes.hh"

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Classes
struct	multisense::Point< Color >
	Make sure our Points and point clouds are packed for applications which might need to handle the underlying raw data. More...

struct	multisense::Point< void >
	Single point definition with no color. More...

struct	multisense::PointCloud< Color >
	A pointcloud containing a collection of colorized points. More...

struct	multisense::Pixel
	Pixel coordinates in a image. More...

class	multisense::QMatrix

Namespaces
namespace	multisense

Functions
MULTISENSE_API std::string	multisense::to_string (const Status &status)
	Convert a status object to a user readable string.

MULTISENSE_API bool	multisense::write_image (const Image &image, const std::filesystem::path &path)
	Write a image to a specific path on disk.

MULTISENSE_API std::optional< Image >	multisense::create_depth_image (const ImageFrame &frame, const Image::PixelFormat &depth_format, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW, bool compute_in_aux_frame=false, float invalid_value=0)
	Create a depth image from a image frame.

MULTISENSE_API std::optional< Point< void > >	multisense::get_aux_3d_point (const ImageFrame &frame, const Pixel &rectified_aux_pixel, size_t max_pixel_search_window, double pixel_epsilon, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW)
	for a given pixel in the aux image, return the corresponding 3D point associated with the aux pixel

MULTISENSE_API std::optional< Image >	multisense::create_bgr_from_ycbcr420 (const Image &luma, const Image &chroma, const DataSource &output_source)
	Convert a YCbCr420 luma + chroma image into a BGR color image.

MULTISENSE_API std::optional< Image >	multisense::create_bgr_image (const ImageFrame &frame, const DataSource &output_source)
	Convert a YCbCr420 luma + chroma image into a BGR color image.

template<typename Color >
MULTISENSE_API std::optional< PointCloud< Color > >	multisense::create_color_pointcloud (const Image &disparity, const std::optional< Image > &color, double max_range, const StereoCalibration &calibration)
	Create a point cloud from a image frame and a color source.

template<typename Color >
MULTISENSE_API std::optional< PointCloud< Color > >	multisense::create_color_pointcloud (const ImageFrame &frame, double max_range, const DataSource &color_source=DataSource::UNKNOWN, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW)
	Create a point cloud from a image frame and a color source.

MULTISENSE_API std::optional< PointCloud< void > >	multisense::create_pointcloud (const ImageFrame &frame, double max_range, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW)

template<typename Color >
MULTISENSE_API bool	multisense::write_pointcloud_ply (const PointCloud< Color > &point_cloud, const std::filesystem::path &path)
	Write a point cloud to a ply file.

Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Carnegie Robotics, LLC nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Significant history (date, user, job code, action): 2025-01-15, malva.nosp@m.rado.nosp@m.@carn.nosp@m.egie.nosp@m.robot.nosp@m.ics..nosp@m.com, IRAD, Created file.

Definition in file MultiSenseUtilities.hh.

Classes

Namespaces

Functions

Detailed Description