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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 #ifndef __OPENNI_DEPTH_IMAGE__ 00038 #define __OPENNI_DEPTH_IMAGE__ 00039 00040 #include <XnCppWrapper.h> 00041 00042 #include "openni_exception.h" 00043 #include <boost/shared_ptr.hpp> 00044 00045 namespace openni_wrapper 00046 { 00052 class DepthImage 00053 { 00054 public: 00055 typedef boost::shared_ptr<DepthImage> Ptr; 00056 typedef boost::shared_ptr<const DepthImage> ConstPtr; 00057 00058 inline DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw (); 00059 inline virtual ~DepthImage () throw (); 00060 00061 inline const xn::DepthMetaData& getDepthMetaData () const throw (); 00062 void fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const throw (OpenNIException); 00063 void fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const throw (OpenNIException); 00064 void fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const throw (OpenNIException); 00065 00066 inline float getBaseline () const throw (); 00067 inline float getFocalLength () const throw (); 00068 inline XnUInt64 getShadowValue () const throw (); 00069 inline XnUInt64 getNoSampleValue () const throw (); 00070 inline unsigned getWidth () const throw (); 00071 inline unsigned getHeight () const throw (); 00072 inline unsigned getFrameID () const throw (); 00073 inline unsigned long getTimeStamp () const throw (); 00074 protected: 00075 boost::shared_ptr<xn::DepthMetaData> depth_md_; 00076 float baseline_; 00077 float focal_length_; 00078 XnUInt64 shadow_value_; 00079 XnUInt64 no_sample_value_; 00080 }; 00081 00082 DepthImage::DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw () 00083 : depth_md_ (depth_meta_data) 00084 , baseline_ (baseline) 00085 , focal_length_ (focal_length) 00086 , shadow_value_ (shadow_value) 00087 , no_sample_value_ (no_sample_value) 00088 { 00089 } 00090 00091 DepthImage::~DepthImage () throw () 00092 { 00093 } 00094 00095 const xn::DepthMetaData& DepthImage::getDepthMetaData () const throw () 00096 { 00097 return *depth_md_; 00098 } 00099 00100 float DepthImage::getBaseline () const throw () 00101 { 00102 return baseline_; 00103 } 00104 00105 float DepthImage::getFocalLength () const throw () 00106 { 00107 return focal_length_; 00108 } 00109 00110 XnUInt64 DepthImage::getShadowValue () const throw () 00111 { 00112 return shadow_value_; 00113 } 00114 00115 XnUInt64 DepthImage::getNoSampleValue () const throw () 00116 { 00117 return no_sample_value_; 00118 } 00119 00120 unsigned DepthImage::getWidth () const throw () 00121 { 00122 return depth_md_->XRes (); 00123 } 00124 00125 unsigned DepthImage::getHeight () const throw () 00126 { 00127 return depth_md_->YRes (); 00128 } 00129 00130 unsigned DepthImage::getFrameID () const throw () 00131 { 00132 return depth_md_->FrameID (); 00133 } 00134 00135 unsigned long DepthImage::getTimeStamp () const throw () 00136 { 00137 return (unsigned long) depth_md_->Timestamp (); 00138 } 00139 } // namespace 00140 #endif //__OPENNI_DEPTH_IMAGE