MarsSDK
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Depth image stream from the camera. More...
#include <MarsSDK.h>
Public Member Functions | |
~DepthStream () | |
Destructor to delete memory allocation for instance of DepthStream. | |
int | update () |
Updates the stream's contents from the camera. More... | |
float * | getFrame () |
Returns the depth data. Uses the frame from the latest call to DepthStream::update(). More... | |
unsigned char * | getColorFrame () |
Returns the depth frame's color, calculated from the ColorStream's data through image registration. Uses the frame from the latest call to DepthStream::update(). More... | |
unsigned short * | getIrFrame () |
Returns the infrared data. Uses the frame from the latest call to DepthStream::update(). More... | |
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int | getWidth () |
Returns the Stream's width, in pixels. More... | |
int | getHeight () |
Returns the Stream's height, in pixels. More... | |
int | getSize () |
Returns the Stream's size, in pixels. More... | |
Private Member Functions | |
DepthStream (CLibTof *_camera) | |
Constructor to create a new instance of DepthStream. More... | |
Private Attributes | |
float * | depthFrame |
Depth frame buffer. Pixel elements can be accessed as (location * 3) + axis, where axis is 0 = x, 1 = y, 2 = z. | |
unsigned char * | colorFrame |
Depth frame color from image registration. Pixel elements can be accessed as (location * 3) + color, where color is 0 = r, 1 = g, 2 = b. | |
unsigned short * | irFrame |
Infrared frame buffer Each pixel is stored as 16-bit grayscale. | |
Friends | |
class | Mars |
Additional Inherited Members | |
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CLibTof * | camera |
Instance of camera in external Sunny Mars API. | |
int | width |
Stream's width, in pixels. | |
int | height |
Stream's height, in pixels. | |
int | size |
Stream's size, in pixels. | |
Depth image stream from the camera.
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private |
Constructor to create a new instance of DepthStream.
[in] | _camera | Instance of camera. |
unsigned char * DepthStream::getColorFrame | ( | ) |
Returns the depth frame's color, calculated from the ColorStream's data through image registration. Uses the frame from the latest call to DepthStream::update().
float * DepthStream::getFrame | ( | ) |
Returns the depth data. Uses the frame from the latest call to DepthStream::update().
unsigned short * DepthStream::getIrFrame | ( | ) |
Returns the infrared data. Uses the frame from the latest call to DepthStream::update().
int DepthStream::update | ( | ) |
Updates the stream's contents from the camera.