manifoldsdk
eb750f9fe0
1.Added camera point cloud extrinsic parameter rendering function 2.add image_compressed 3.fix imshow error about slam pointcloud
84 lines
2.0 KiB
C++
84 lines
2.0 KiB
C++
/*
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Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co)
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#ifndef RGBCLOUD_H
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#define RGBCLOUD_H
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#include <vector>
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#include <string>
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#include <Eigen/Dense>
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#include "lidar_api.h"
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namespace GlobalCameraParams {
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extern float g_fx;
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extern float g_fy;
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extern float g_cx;
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extern float g_cy;
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extern float g_skew;
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extern float g_k2;
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extern float g_k3;
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extern float g_k4;
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extern float g_k5;
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extern float g_k6;
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extern float g_k7;
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extern Eigen::Matrix4f g_T_camera_lidar;
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}
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class rawCloudRender {
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public:
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bool init(const std::string& yamlFilePath);
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void nv12buffer_2_rgb(buffer_List_t &image, std::vector<std::vector<float>>& rgb_image);
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void render(std::vector<std::vector<float>>& rgb_image, capture_Image_List_t* pcdStream, int pcdIdx, std::vector<float>& rgbCloud_flat);
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void print_camera_calib();
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int getImageWidth() const { return image_width_; }
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int getImageHeight() const { return image_height_; }
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private:
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std::string model_type_;
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std::string camera_name_;
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int image_width_;
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int image_height_;
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int frame_size_;
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bool opencv_available_;
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// 4x4 transformation matrix (T_camera_lidar)
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Eigen::Matrix4f T_camera_lidar_;
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float k2_;
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float k3_;
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float k4_;
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float k5_;
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float k6_;
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float k7_;
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float p1_;
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float p2_;
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float A11_fx_;
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float A12_skew_;
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float A22_fy_;
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float u0_cx_;
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float v0_cy_;
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bool isFast_;
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int numDiff_;
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float maxIncidentAngle_;
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};
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#endif // RGBCLOUD_H
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