image_utils.hpp

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/*
 * SPDX-FileCopyrightText: 2019-2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2019-2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_IMAGE_UTILS_HPP
#define SE_IMAGE_UTILS_HPP
 
#include <Eigen/Core>
#include <cstdint>
#include <string>
 
 
 
namespace se {
int save_depth_png(const float* depth_image_data,
                   const Eigen::Vector2i& depth_image_res,
                   const std::string& filename,
                   const float scale = 1000.0f);
 
 
 
int save_depth_png(const uint16_t* depth_image_data,
                   const Eigen::Vector2i& depth_image_res,
                   const std::string& filename);
 
 
 
int load_depth_png(float** depth_image_data,
                   Eigen::Vector2i& depth_image_res,
                   const std::string& filename,
                   const float inverse_scale = 1.0f / 1000.0f);
 
 
 
int load_depth_png(uint16_t** depth_image_data,
                   Eigen::Vector2i& depth_image_res,
                   const std::string& filename);
 
 
 
int save_depth_pgm(const float* depth_image_data,
                   const Eigen::Vector2i& depth_image_res,
                   const std::string& filename,
                   const float scale = 1000.0f);
 
 
 
int save_depth_pgm(const uint16_t* depth_image_data,
                   const Eigen::Vector2i& depth_image_res,
                   const std::string& filename);
 
 
 
int load_depth_pgm(float** depth_image_data,
                   Eigen::Vector2i& depth_image_res,
                   const std::string& filename,
                   const float inverse_scale = 1.0f / 1000.0f);
 
 
 
int load_depth_pgm(uint16_t** depth_image_data,
                   Eigen::Vector2i& depth_image_res,
                   const std::string& filename);
 
 
 
static inline Eigen::Vector2i round_pixel(const Eigen::Vector2f& pixel_f);
 
} // namespace se
 
#include "impl/image_utils_impl.hpp"
 
#endif // SE_IMAGE_UTILS_HPP