openni_ir_image.h

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/*
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 *  Copyright (c) 2011 Willow Garage, Inc.
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#ifndef __OPENNI_IR_IMAGE__
#define __OPENNI_IR_IMAGE__

#include <XnCppWrapper.h>
#include <pcl/pcl_macros.h>
#include "openni_exception.h"
#include <boost/shared_ptr.hpp>

namespace openni_wrapper
{

class PCL_EXPORTS IRImage
{
public:
  typedef boost::shared_ptr<IRImage> Ptr;
  typedef boost::shared_ptr<const IRImage> ConstPtr;

  inline IRImage (boost::shared_ptr<xn::IRMetaData> ir_meta_data) throw ();
  inline virtual ~IRImage () throw ();

  void fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;

  inline unsigned getWidth () const throw ();
  inline unsigned getHeight () const throw ();
  inline unsigned getFrameID () const throw ();
  inline unsigned long getTimeStamp () const throw ();
  inline const xn::IRMetaData& getMetaData () const throw ();

protected:
  boost::shared_ptr<xn::IRMetaData> ir_md_;
};

IRImage::IRImage (boost::shared_ptr<xn::IRMetaData> ir_meta_data) throw ()
: ir_md_ (ir_meta_data)
{
}

IRImage::~IRImage () throw ()
{
}

unsigned IRImage::getWidth () const throw ()
{
  return ir_md_->XRes ();
}

unsigned IRImage::getHeight () const throw ()
{
  return ir_md_->YRes ();
}

unsigned IRImage::getFrameID () const throw ()
{
  return ir_md_->FrameID ();
}

unsigned long IRImage::getTimeStamp () const throw ()
{
  return static_cast<unsigned long> (ir_md_->Timestamp ());
}

const xn::IRMetaData& IRImage::getMetaData () const throw ()
{
        return *ir_md_;
}
} // namespace
#endif //__OPENNI_IR_IMAGE__