openni_image.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *    Suat Gedikli <gedikli@willowgarage.com>
 *
 *  All rights reserved.
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 *  are met:
 *
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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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#ifndef __OPENNI_IMAGE__
#define __OPENNI_IMAGE__

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

namespace openni_wrapper
{

class 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 throw (OpenNIException) = 0;

  virtual Encoding getEncoding () const = 0;

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

  virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
                              unsigned gray_line_step = 0) const throw (OpenNIException) = 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 ();
  inline const boost::shared_ptr<xn::ImageMetaData> getMetaDataPtr () const;

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 (unsigned long) image_md_->Timestamp ();
}

const xn::ImageMetaData& Image::getMetaData () const throw ()
{
        return *image_md_;
}

const boost::shared_ptr<xn::ImageMetaData> Image::getMetaDataPtr () const
{
  return image_md_;
}
} // namespace
#endif //__OPENNI_IMAGE__