iLab Neuromorphic Robotics Toolkit  0.1
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nrt::RGBDmessage Class Reference

#include <nrt/Core/Messages/RGBDmessage.H>

A splittable message to pass RGB + Depth data + metadata, e.g., from a Kinect sensor.

Definition at line 77 of file RGBDmessage.H.

Inheritance diagram for nrt::RGBDmessage:
nrt::CompositeMessage< NRT_MESSAGEFIELD(rgbd::rgb), NRT_MESSAGEFIELD(rgbd::depth), NRT_MESSAGEFIELD(rgbd::meta)> nrt::MessageBase

Public Member Functions

Dims< int32 > maxDims () const
 Return the larger of the rgb or depth dims.
 
template<typename promo = void>
GenericImage interpolatedRGB (Dims< int32 > const &newdims) const
 Return an interpolated version of the rgb image, also possibly pixel-promoted.
 
template<typename promo = void>
GenericImage interpolatedDepth (Dims< int32 > const &newdims) const
 Return an interpolated version of the depth image, also possibly pixel-promoted.
 
Image< PixGray< float > > depthInMeters (float const scale=0.001F) const
 Return the depth map calibrated in meters with quiet_NaN values if shadow or nosample. More...
 
Image< PixGray< float > > interpolatedDepthInMeters (Dims< int32 > const &newdims, float const scale=0.001F) const
 Return the interpolated depth map calibrated in meters with quiet_NaN values if shadow or nosample. More...
 
template<typename promo >
nrt::GenericImage interpolatedRGB (nrt::Dims< nrt::int32 > const &newdims) const
 
template<typename promo >
nrt::GenericImage interpolatedDepth (nrt::Dims< nrt::int32 > const &newdims) const
 

Additional Inherited Members

- Public Types inherited from nrt::CompositeMessage< NRT_MESSAGEFIELD(rgbd::rgb), NRT_MESSAGEFIELD(rgbd::depth), NRT_MESSAGEFIELD(rgbd::meta)>
typedef std::tuple< Fields...> TupleType
 Type for our fields, as a tuple.
 
typedef std::tuple< typename
Fields::DataType...> 
DataTypes
 Tuple type of the underlying data types of all our fields.
 
typedef std::tuple
< std::shared_ptr
< nrt::SplitMessagePoster
< typename Fields::DataType > >... > 
SplitPostersTuple
 Tuple type of our split posters.
 
typedef std::tuple
< std::shared_ptr
< nrt::SplitMessageSubscriber
< typename Fields::DataType > >... > 
SplitSubscribersTuple
 Tuple type of our split subscribers.
 
- Static Public Attributes inherited from nrt::CompositeMessage< NRT_MESSAGEFIELD(rgbd::rgb), NRT_MESSAGEFIELD(rgbd::depth), NRT_MESSAGEFIELD(rgbd::meta)>
static constexpr size_t msgsize
 Number of fields.
 
static bool const isComposite
 We are a composite message (i.e., can be split)
 

Member Function Documentation

Image<PixGray<float> > nrt::RGBDmessage::depthInMeters ( float const  scale = 0.001F) const

Return the depth map calibrated in meters with quiet_NaN values if shadow or nosample.

Scale converts from raw to meters, default assumes raw is in mm

Image<PixGray<float> > nrt::RGBDmessage::interpolatedDepthInMeters ( Dims< int32 > const &  newdims,
float const  scale = 0.001F 
) const

Return the interpolated depth map calibrated in meters with quiet_NaN values if shadow or nosample.

Scale converts from raw to meters, default assumes raw is in mm


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