AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
depthCameraSupport.h
1 #ifndef DEPTHCAMERASUPPORT_H
2 #define DEPTHCAMERASUPPORT_H
3 
4 #include <string>
5 #include <visp3/io/vpImageIo.h>
6 #include <pcl_ros/point_cloud.h>
7 
8 namespace DCAM {
9 
10 struct rs_intrinsics;
11 
12 void rs_deproject_pixel_to_point(float point[3], const rs_intrinsics &intrin, const float pixel[2], float depth);
13 bool makePointCloud(vpImage<uint16_t> &I_depth_raw, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
14 bool makePointCloud(cv::Mat I_depth_raw, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
15 
16 }
17 
18 #endif // DEPTHCAMERASUPPORT_H
Generated by   doxygen 1.8.11