MultiSenseUtilities.hh File Reference

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

Include dependency graph for MultiSenseUtilities.hh:

Go to the source code of this file.

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 >

Namespaces
	multisense

Functions
MULTISENSE_API std::string	multisense::to_string (const Status &status)
	Convert a status object to a user readable string. More...
MULTISENSE_API bool	multisense::write_image (const Image &image, const std::filesystem::path &path)
	Write a image to a specific path on disk. More...
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, float invalid_value=0)
	Create a depth image from a image frame. More...
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. More...
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. More...
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. More...
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. More...
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 ASCII ply file. More...

Detailed Description

Copyright 2013-2025 Carnegie Robotics, LLC 4501 Hatfield Street, Pittsburgh, PA 15201 http://www.carnegierobotics.com

All rights reserved.

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.