40 #include <pcl/cuda/point_cloud.h>
41 #include <pcl/cuda/io/cloud_to_pcl.h>
42 #include <pcl/io/openni_camera/openni_image.h>
43 #include <pcl/io/openni_camera/openni_depth_image.h>
62 width(w), height(h), center_x(cx), center_y(cy), constant(con)
64 bad_point = std::numeric_limits<float>::quiet_NaN ();
67 template <
typename Tuple> __inline__ __host__ __device__
PointXYZRGB
80 width(w), height(h), center_x(cx), center_y(cy), constant(con)
82 bad_point = std::numeric_limits<float>::quiet_NaN ();
85 template <
typename Tuple> __inline__ __host__ __device__
PointXYZRGB
109 template <
template <
typename>
class Storage>
void
114 bool downsample =
false,
int stride = 2,
int smoothing_nr_iterations = 0,
int smoothing_filter_size = 2);
116 template <
template <
typename>
class Storage>
void
117 compute (
const std::uint16_t* depth_image,
119 int width,
int height,
122 int smoothing_nr_iterations = 0,
int smoothing_filter_size = 2);
ComputeXYZ(int w, int h, int cx, int cy, float con)
Disparity to PointCloudAOS generator.
Compute the XYZ and RGB values for a point based on disparity information.
shared_ptr< PointCloudAOS< Storage > > Ptr
ComputeXYZRGB(int w, int h, int cx, int cy, float con)
pcl::shared_ptr< Image > Ptr
Compute the XYZ values for a point based on disparity information.
pcl::shared_ptr< DepthImage > Ptr
__inline__ __host__ __device__ PointXYZRGB operator()(const Tuple &t)
Default point xyz-rgb structure.
__inline__ __host__ __device__ PointXYZRGB operator()(const Tuple &t)
Simple structure holding RGB data.