depth_image_measurement.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef LOCALIZATION_MEASUREMENTS_DEPTH_IMAGE_MEASUREMENT_H_
#define LOCALIZATION_MEASUREMENTS_DEPTH_IMAGE_MEASUREMENT_H_
 
#include <localization_common/time.h>
#include <localization_measurements/depth_image.h>
#include <localization_measurements/measurement.h>
 
#include <opencv2/core.hpp>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
namespace localization_measurements {
struct DepthImageMeasurement : public Measurement {
  DepthImageMeasurement(const cv::Mat& image, const pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud,
                        const localization_common::Time timestamp)
      : Measurement(timestamp), depth_image(image, point_cloud) {}
  DepthImage depth_image;
};
}  // namespace localization_measurements
 
#endif  // LOCALIZATION_MEASUREMENTS_DEPTH_IMAGE_MEASUREMENT_H_