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/Dense>
#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