openni_image.h
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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
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00036  */
00037 #ifndef __OPENNI_IMAGE__
00038 #define __OPENNI_IMAGE__
00039 
00040 #include <XnCppWrapper.h>
00041 #include "openni_exception.h"
00042 #include <boost/shared_ptr.hpp>
00043 
00044 namespace openni_wrapper
00045 {
00046 
00054 class Image
00055 {
00056 public:
00057   typedef boost::shared_ptr<Image> Ptr;
00058   typedef boost::shared_ptr<const Image> ConstPtr;
00059 
00060   typedef enum
00061   {
00062     BAYER_GRBG,
00063     YUV422,
00064     RGB
00065   } Encoding;
00066 
00067   inline Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ();
00068   inline virtual ~Image () throw ();
00069   virtual bool isResizingSupported (unsigned input_width, unsigned input_height,
00070                                     unsigned output_width, unsigned output_height) const = 0;
00071   virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer,
00072                         unsigned rgb_line_step = 0) const throw (OpenNIException) = 0;
00073 
00074   virtual Encoding getEncoding () const = 0;
00075 
00076   inline void 
00077   fillRaw (unsigned char* rgb_buffer) const throw (OpenNIException)
00078   {
00079     memcpy (rgb_buffer, image_md_->WritableData(), image_md_->DataSize ());
00080   }
00081 
00082   virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
00083                               unsigned gray_line_step = 0) const throw (OpenNIException) = 0;
00084 
00085   inline unsigned getWidth () const throw ();
00086   inline unsigned getHeight () const throw ();
00087   inline unsigned getFrameID () const throw ();
00088   inline unsigned long getTimeStamp () const throw ();
00089   inline const xn::ImageMetaData& getMetaData () const throw ();
00090   inline const boost::shared_ptr<xn::ImageMetaData> getMetaDataPtr () const;
00091 
00092 protected:
00093   boost::shared_ptr<xn::ImageMetaData> image_md_;
00094 };
00095 
00096 Image::Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ()
00097 : image_md_ (image_meta_data)
00098 {
00099 }
00100 
00101 Image::~Image () throw ()
00102 {
00103 }
00104 
00105 unsigned Image::getWidth () const throw ()
00106 {
00107   return image_md_->XRes ();
00108 }
00109 
00110 unsigned Image::getHeight () const throw ()
00111 {
00112   return image_md_->YRes ();
00113 }
00114 
00115 unsigned Image::getFrameID () const throw ()
00116 {
00117   return image_md_->FrameID ();
00118 }
00119 
00120 unsigned long Image::getTimeStamp () const throw ()
00121 {
00122   return (unsigned long) image_md_->Timestamp ();
00123 }
00124 
00125 const xn::ImageMetaData& Image::getMetaData () const throw ()
00126 {
00127         return *image_md_;
00128 }
00129 
00130 const boost::shared_ptr<xn::ImageMetaData> Image::getMetaDataPtr () const
00131 {
00132   return image_md_;
00133 }
00134 } // namespace
00135 #endif //__OPENNI_IMAGE__


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Thu Jun 6 2019 20:16:13