openni_image.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __OPENNI_IMAGE__
#define __OPENNI_IMAGE__

#include <pcl/pcl_exports.h>
#include "openni.h"
#include "openni_exception.h"
#include <pcl/io/boost.h>

namespace openni_wrapper
{

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

    typedef enum
    {
      BAYER_GRBG,
      YUV422,
      RGB
    } Encoding;

    inline Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ();

    inline virtual ~Image () throw ();

    virtual bool isResizingSupported (unsigned input_width, unsigned input_height,
                                      unsigned output_width, unsigned output_height) const = 0;

    virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer,
                          unsigned rgb_line_step = 0) const = 0;

    virtual Encoding getEncoding () const = 0;

    inline void
    fillRaw (unsigned char* rgb_buffer) const throw ()
    {
      memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
    }

    virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
                                unsigned gray_line_step = 0) const = 0;

    inline unsigned getWidth () const throw ();

    inline unsigned getHeight () const throw ();

    inline unsigned getFrameID () const throw ();

    inline unsigned long getTimeStamp () const throw ();

    inline const xn::ImageMetaData& getMetaData () const throw ();

  protected:
    boost::shared_ptr<xn::ImageMetaData> image_md_;
  } ;

  Image::Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ()
  : image_md_ (image_meta_data)
  {
  }

  Image::~Image () throw () { }

  unsigned
  Image::getWidth () const throw ()
  {
    return image_md_->XRes ();
  }

  unsigned
  Image::getHeight () const throw ()
  {
    return image_md_->YRes ();
  }

  unsigned
  Image::getFrameID () const throw ()
  {
    return image_md_->FrameID ();
  }

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

  const xn::ImageMetaData&
  Image::getMetaData () const throw ()
  {
    return *image_md_;
  }
} // namespace
#endif
#endif //__OPENNI_IMAGE__