A set of two images, which are usually the left camera image and the disparity map. More...

#include <visiontransfer/imagepair.h>

Public Types
enum	ImageFormat { FORMAT_8_BIT_MONO, FORMAT_8_BIT_RGB, FORMAT_12_BIT_MONO }
	Image formats that can be transferred. More...

enum	ImageFormat_Deprecated { FORMAT_8_BIT = ImageFormat::FORMAT_8_BIT_MONO, FORMAT_12_BIT = ImageFormat::FORMAT_12_BIT_MONO }

Public Member Functions
	ImagePair ()
	Default constructor creating an image pair with no pixel data. More...

	ImagePair (const ImagePair &other)
	Copy constructor creating a shallow copy of the image pair. More...

ImagePair &	operator= (ImagePair const &other)

void	setWidth (int w)
	Sets a new width for both images. More...

void	setHeight (int h)
	Sets a new width for both images. More...

void	setRowStride (int imageNumber, int stride)
	Sets a new row stride for the pixel data of one image. More...

void	setPixelFormat (int imageNumber, ImageFormat format)
	Sets the pixel format for the given image. More...

void	setPixelData (int imageNumber, unsigned char *pixelData)
	Sets the pixel data for the given image. More...

void	setQMatrix (const float *q)
	Sets the pointer to the disparity-to-depth mapping matrix q. More...

void	setSequenceNumber (unsigned int num)
	Sets the sequence number for this image pair. More...

void	setTimestamp (int seconds, int microsec)
	Sets the time at which this image pair has been captured. More...

void	setDisparityRange (int minimum, int maximum)
	Sets the value range for the disparity map contained in this image pair. More...

void	setImageDisparityPair (bool dispPair)
	Sets whether this is a left camera image and disparity map pair, or two raw camera images. More...

int	getWidth () const
	Returns the width of each image. More...

int	getHeight () const
	Returns the height of each image. More...

int	getRowStride (int imageNumber) const
	Returns the row stride for the pixel data of one image. More...

ImageFormat	getPixelFormat (int imageNumber) const
	Returns the pixel format for the given image. More...

unsigned char *	getPixelData (int imageNumber) const
	Returns the pixel data for the given image. More...

const float *	getQMatrix () const
	Returns a pointer to the disparity-to-depth mapping matrix q. More...

unsigned int	getSequenceNumber () const
	Returns the sequence number for this image pair. More...

void	getTimestamp (int &seconds, int &microsec) const
	Returns the time at which this image pair has been captured. More...

void	getDisparityRange (int &minimum, int &maximum) const
	Gets the value range for the disparity map contained in this image pair. If the image pair does not contain any disparity data then the disparity range is undefined. More...

void	writePgmFile (int imageNumber, const char *fileName) const
	Writes one image of the pair to a PGM or PPM file. More...

bool	isImageDisparityPair () const
	Returns true if this is a left camera image and disparity map pair. More...

void	copyTo (ImagePair &dest)
	Makes a deep copy of this image pair. More...

int	getBytesPerPixel (int imageNumber) const
	Returns the number of bytes that are required to store one image pixel. More...

Static Public Member Functions
static int	getBytesPerPixel (ImageFormat format)
	Returns the number of bytes that are required to store one image pixel with the given pixel format. More...

Detailed Description

A set of two images, which are usually the left camera image and the disparity map.

Both images must be of equal width and height, but are allowed to have a different pixel formats. Please note that the class does not manage the pixel data but only keeps pointers. You thus need to ensure that the pixel data remains valid for as long as this object persists.

Definition at line 31 of file imagepair.h.

Member Enumeration Documentation

enum ImagePair::ImageFormat

Image formats that can be transferred.

Enumerator
FORMAT_8_BIT_MONO	8-bit greyscale format
FORMAT_8_BIT_RGB	8-bit RGB format
FORMAT_12_BIT_MONO	12-bit greyscale format plus 4 bits of padding (hence a total of 16 bits).

Definition at line 36 of file imagepair.h.

enum ImagePair::ImageFormat_Deprecated

Deprecated:: Please use the new format constants in ImageFormat.

Definition at line 51 of file imagepair.h.

Constructor & Destructor Documentation

ImagePair::ImagePair ( )

Default constructor creating an image pair with no pixel data.

Definition at line 27 of file imagepair.cpp.

ImagePair::ImagePair ( const ImagePair & other )

Copy constructor creating a shallow copy of the image pair.

Definition at line 39 of file imagepair.cpp.

Member Function Documentation

void ImagePair::copyTo ( ImagePair & dest )

Makes a deep copy of this image pair.

Definition at line 142 of file imagepair.cpp.

int ImagePair::getBytesPerPixel ( int imageNumber ) const

inline

Returns the number of bytes that are required to store one image pixel.

Definition at line 275 of file imagepair.h.

int ImagePair::getBytesPerPixel ( ImageFormat format )

static

Returns the number of bytes that are required to store one image pixel with the given pixel format.

Definition at line 166 of file imagepair.cpp.

void ImagePair::getDisparityRange	(	int &	minimum,
		int &	maximum
	)		const

inline

Gets the value range for the disparity map contained in this image pair. If the image pair does not contain any disparity data then the disparity range is undefined.

Parameters

minimum	Minimum disparity value.
maximum	Maximum disparity value.

Definition at line 245 of file imagepair.h.

int ImagePair::getHeight ( ) const

inline

Returns the height of each image.

Definition at line 178 of file imagepair.h.

unsigned char* ImagePair::getPixelData ( int imageNumber ) const

inline

Returns the pixel data for the given image.

Parameters

imageNumber Number of the image for which to receive the pixel data (0 or 1).

Definition at line 208 of file imagepair.h.

ImageFormat ImagePair::getPixelFormat ( int imageNumber ) const

inline

Returns the pixel format for the given image.

Parameters

imageNumber Number of the image for which to receive the pixel format (0 or 1).

Definition at line 197 of file imagepair.h.

const float* ImagePair::getQMatrix ( ) const

inline

Returns a pointer to the disparity-to-depth mapping matrix q.

Definition at line 216 of file imagepair.h.

int ImagePair::getRowStride ( int imageNumber ) const

inline

Returns the row stride for the pixel data of one image.

Parameters

imageNumber Number of the image for which to receive the row stride (0 or 1).

Definition at line 186 of file imagepair.h.

unsigned int ImagePair::getSequenceNumber ( ) const

inline

Returns the sequence number for this image pair.

Definition at line 223 of file imagepair.h.

void ImagePair::getTimestamp	(	int &	seconds,
		int &	microsec
	)		const

inline

Returns the time at which this image pair has been captured.

Parameters

seconds	The time stamp with a resolution of one second.
microsec	The fractional seconds part of the time stamp with a resolution of 1 microsecond.

Definition at line 232 of file imagepair.h.

int ImagePair::getWidth ( ) const

inline

Returns the width of each image.

Definition at line 173 of file imagepair.h.

bool ImagePair::isImageDisparityPair ( ) const

inline

Returns true if this is a left camera image and disparity map pair.

Definition at line 262 of file imagepair.h.

void ImagePair::setDisparityRange	(	int	minimum,
		int	maximum
	)

inline

Sets the value range for the disparity map contained in this image pair.

Parameters

minimum	Minimum disparity value.
maximum	Maximum disparity value.

Definition at line 157 of file imagepair.h.

void ImagePair::setHeight ( int h )

inline

Sets a new width for both images.

Definition at line 77 of file imagepair.h.

void ImagePair::setImageDisparityPair ( bool dispPair )

inline

Sets whether this is a left camera image and disparity map pair, or two raw camera images.

Definition at line 166 of file imagepair.h.

void ImagePair::setPixelData	(	int	imageNumber,
		unsigned char *	pixelData
	)

inline

Sets the pixel data for the given image.

Parameters

imageNumber	Number of the image for which to set the pixel data (0 or 1).
pixelData	The pixel data that shall be set.

Definition at line 116 of file imagepair.h.

void ImagePair::setPixelFormat	(	int	imageNumber,
		ImageFormat	format
	)

inline

Sets the pixel format for the given image.

Parameters

imageNumber	Number of the image for which to set the pixel format (0 or 1).
format	The pixel format that shall be set.

Definition at line 98 of file imagepair.h.

void ImagePair::setQMatrix ( const float * q )

inline

Sets the pointer to the disparity-to-depth mapping matrix q.

No data is copied. The data which q is pointing to has to remain valid for as long as this object exists.

Definition at line 127 of file imagepair.h.

void ImagePair::setRowStride	(	int	imageNumber,
		int	stride
	)

inline

Sets a new row stride for the pixel data of one image.

Parameters

imageNumber	Number of the image for which to set the row stride (0 or 1).
stride	The row stride that shall be set.

Definition at line 86 of file imagepair.h.

void ImagePair::setSequenceNumber ( unsigned int num )

inline

Sets the sequence number for this image pair.

Definition at line 134 of file imagepair.h.

void ImagePair::setTimestamp	(	int	seconds,
		int	microsec
	)

inline

Sets the time at which this image pair has been captured.

Parameters

seconds	The time stamp with a resolution of one second.
microsec	The fractional seconds part of the time stamp with a resolution of 1 microsecond.

Definition at line 145 of file imagepair.h.

void ImagePair::setWidth ( int w )

inline

Sets a new width for both images.

Definition at line 72 of file imagepair.h.

void ImagePair::writePgmFile	(	int	imageNumber,
		const char *	fileName
	)		const

Writes one image of the pair to a PGM or PPM file.

Parameters

imageNumber	The number of the image that shall be written.
File	name of the PGM or PPM file that shall be created.

Definition at line 93 of file imagepair.cpp.

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

visiontransfer/imagepair.h
visiontransfer/imagepair.cpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation