PointCloudUtils.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_SIG_POINTCLOUDUTILS_H
#define YARP_SIG_POINTCLOUDUTILS_H
 
#include <yarp/sig/Image.h>
#include <yarp/sig/IntrinsicParams.h>
#include <yarp/sig/PointCloud.h>
 
namespace yarp::sig::utils {
 
enum class OrganizationType{
    Organized,
    Unorganized
};
 
struct PCL_ROI
{
    size_t min_x {0};
    size_t max_x {0};
    size_t min_y {0};
    size_t max_y {0};
};
 
YARP_sig_API yarp::sig::PointCloud<yarp::sig::DataXYZ> depthToPC(const yarp::sig::ImageOf<yarp::sig::PixelFloat>& depth,
                                                                 const yarp::sig::IntrinsicParams& intrinsic);
 
YARP_sig_API yarp::sig::PointCloud<yarp::sig::DataXYZ> depthToPC(const yarp::sig::ImageOf<yarp::sig::PixelFloat>& depth,
                                                                 const yarp::sig::IntrinsicParams& intrinsic,
                                                                 const yarp::sig::utils::PCL_ROI& roi,
                                                                 size_t step_x=1,
                                                                 size_t step_y=1,
                                                                 const std::string& output_order = "+X+Y+Z");
 
template<typename T1, typename T2>
yarp::sig::PointCloud<T1> depthRgbToPC(const yarp::sig::ImageOf<yarp::sig::PixelFloat>& depth,
                                       const yarp::sig::ImageOf<T2>& color,
                                       const yarp::sig::IntrinsicParams& intrinsic,
                                       const yarp::sig::utils::OrganizationType organizationType = yarp::sig::utils::OrganizationType::Organized,
                                       size_t step_x=1,
                                       size_t step_y=1,
                                       const std::string& output_order = "+X+Y+Z");
} // namespace yarp::sig::utils
 
#include <yarp/sig/PointCloudUtils-inl.h>
 
#endif // YARP_SIG_POINTCLOUDUTILS_H