Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011 Willow Garage, Inc. 00005 * Suat Gedikli <gedikli@willowgarage.com> 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 #include <pcl/pcl_config.h> 00038 #ifdef HAVE_OPENNI 00039 00040 #ifndef __OPENNI_IMAGE__ 00041 #define __OPENNI_IMAGE__ 00042 00043 #include <XnCppWrapper.h> 00044 #include "openni_exception.h" 00045 #include <boost/shared_ptr.hpp> 00046 00047 namespace openni_wrapper 00048 { 00049 00058 class Image 00059 { 00060 public: 00061 typedef boost::shared_ptr<Image> Ptr; 00062 typedef boost::shared_ptr<const Image> ConstPtr; 00063 00064 typedef enum 00065 { 00066 BAYER_GRBG, 00067 YUV422, 00068 RGB 00069 } Encoding; 00070 00071 inline Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw (); 00072 inline virtual ~Image () throw (); 00073 virtual bool isResizingSupported (unsigned input_width, unsigned input_height, 00074 unsigned output_width, unsigned output_height) const = 0; 00075 virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, 00076 unsigned rgb_line_step = 0) const = 0; 00077 00078 virtual Encoding getEncoding () const = 0; 00079 00080 inline void 00081 fillRaw (unsigned char* rgb_buffer) const throw () 00082 { 00083 memcpy (rgb_buffer, image_md_->Data(), image_md_->DataSize ()); 00084 } 00085 00086 virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, 00087 unsigned gray_line_step = 0) const = 0; 00088 00089 inline unsigned getWidth () const throw (); 00090 inline unsigned getHeight () const throw (); 00091 inline unsigned getFrameID () const throw (); 00092 inline unsigned long getTimeStamp () const throw (); 00093 inline const xn::ImageMetaData& getMetaData () const throw (); 00094 00095 protected: 00096 boost::shared_ptr<xn::ImageMetaData> image_md_; 00097 }; 00098 00099 Image::Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw () 00100 : image_md_ (image_meta_data) 00101 { 00102 } 00103 00104 Image::~Image () throw () 00105 { 00106 } 00107 00108 unsigned Image::getWidth () const throw () 00109 { 00110 return image_md_->XRes (); 00111 } 00112 00113 unsigned Image::getHeight () const throw () 00114 { 00115 return image_md_->YRes (); 00116 } 00117 00118 unsigned Image::getFrameID () const throw () 00119 { 00120 return image_md_->FrameID (); 00121 } 00122 00123 unsigned long Image::getTimeStamp () const throw () 00124 { 00125 return (unsigned long) image_md_->Timestamp (); 00126 } 00127 00128 const xn::ImageMetaData& Image::getMetaData () const throw () 00129 { 00130 return *image_md_; 00131 } 00132 } // namespace 00133 #endif 00134 #endif //__OPENNI_IMAGE__