7 #include <boost/optional.hpp> 8 #include <boost/filesystem.hpp> 10 #include <Eigen/Dense> 24 static Image readFromSceneXML(
const tinyxml2::XMLElement *imageNode,
const boost::filesystem::path &sceneRoot);
26 Image(
const Camera &camera,
const boost::filesystem::path &hdrFilename,
const boost::filesystem::path &attribFilename);
28 inline const Camera &getCamera()
const {
return m_camera; }
29 inline unsigned getFrameIdx()
const {
return m_frameIdx; }
30 inline const std::string &getCameraName()
const {
return m_cameraName; }
32 inline const boost::filesystem::path &getHDRFilename()
const {
return m_hdrFilename; }
33 inline const boost::filesystem::path &getAttribFilename()
const {
return m_attribFilename; }
35 typedef Eigen::Array<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> FloatArray;
36 typedef Eigen::Array<std::uint32_t, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> UIntArray;
37 FloatArray readDistanceMap()
const;
38 FloatArray readZBuffer(
unsigned subsamplingStride = 1)
const;
39 FloatArray computeZBuffer(
const FloatArray &distanceMap,
unsigned subsamplingStride = 1)
const;
40 UIntArray readObjectID()
const;
42 void extractPointcloud(std::vector<Eigen::Vector3f> &position, std::vector<unsigned> *objectId =
nullptr,
unsigned subsamplingStride = 1)
const;
45 unsigned m_frameIdx = ~0u;
46 std::string m_cameraName;
48 boost::filesystem::path m_hdrFilename;
49 boost::filesystem::path m_attribFilename;
51 boost::optional<float> m_focalLength;
52 boost::optional<float> m_sensorWidth;
53 boost::optional<float> m_fNumber;
Definition: CameraPathEvaluation.cpp:10
Internal and external camera parameters.
Definition: Camera.h:17