openni2_convert.cpp
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *      Author: Julius Kammerl (jkammerl@willowgarage.com)
00030  */
00031 
00032 #include "openni2_camera/openni2_convert.h"
00033 #include "openni2_camera/openni2_exception.h"
00034 
00035 #include <boost/make_shared.hpp>
00036 
00037 #include <string>
00038 
00039 namespace openni2_wrapper
00040 {
00041 
00042 const OpenNI2DeviceInfo openni2_convert(const openni::DeviceInfo* pInfo)
00043 {
00044   if (!pInfo)
00045     THROW_OPENNI_EXCEPTION("openni2_convert called with zero pointer\n");
00046 
00047   OpenNI2DeviceInfo output;
00048 
00049   output.name_       = pInfo->getName();
00050   output.uri_        = pInfo->getUri();
00051   output.vendor_     = pInfo->getVendor();
00052   output.product_id_ = pInfo->getUsbProductId();
00053   output.vendor_id_  = pInfo->getUsbVendorId();
00054 
00055   return output;
00056 }
00057 
00058 
00059 const OpenNI2VideoMode openni2_convert(const openni::VideoMode& input)
00060 {
00061   OpenNI2VideoMode output;
00062 
00063   output.x_resolution_ = input.getResolutionX();
00064   output.y_resolution_ = input.getResolutionY();
00065   output.frame_rate_ = input.getFps();
00066   output.pixel_format_ = static_cast<PixelFormat>(input.getPixelFormat());
00067 
00068   return output;
00069 }
00070 
00071 const openni::VideoMode openni2_convert(const OpenNI2VideoMode& input)
00072 {
00073 
00074   openni::VideoMode output;
00075 
00076   output.setResolution(input.x_resolution_, input.y_resolution_);
00077   output.setFps(input.frame_rate_);
00078   output.setPixelFormat(static_cast<openni::PixelFormat>(input.pixel_format_));
00079 
00080   return output;
00081 }
00082 
00083 
00084 const std::vector<OpenNI2VideoMode> openni2_convert(const openni::Array<openni::VideoMode>& input)
00085 {
00086   std::vector<OpenNI2VideoMode> output;
00087 
00088   int size = input.getSize();
00089 
00090   output.reserve(size);
00091 
00092   for (int i=0; i<size; ++i)
00093     output.push_back(openni2_convert(input[i]));
00094 
00095   return output;
00096 }
00097 
00098 }
00099 
00100 


openni2_camera
Author(s): Julius Kammerl
autogenerated on Tue Oct 3 2017 03:16:54