Point Cloud Library (PCL)  1.3.1
openni_image.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00005  *    Suat Gedikli <gedikli@willowgarage.com>
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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__
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