astra_convert.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * Copyright (c) 2016, Orbbec Ltd.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *      Author: Tim Liu (liuhua@orbbec.com)
 */
 
#include "astra_camera/astra_convert.h"
#include "astra_camera/astra_exception.h"
 
#include <boost/make_shared.hpp>
 
#include <string>
 
namespace astra_wrapper
{
 
const AstraDeviceInfo astra_convert(const openni::DeviceInfo* pInfo)
{
  if (!pInfo)
    THROW_OPENNI_EXCEPTION("astra_convert called with zero pointer\n");
 
  AstraDeviceInfo output;
 
  output.name_       = pInfo->getName();
  output.uri_        = pInfo->getUri();
  output.vendor_     = pInfo->getVendor();
  output.product_id_ = pInfo->getUsbProductId();
  output.vendor_id_  = pInfo->getUsbVendorId();
 
  return output;
}
 
 
const AstraVideoMode astra_convert(const openni::VideoMode& input)
{
  AstraVideoMode output;
 
  output.x_resolution_ = input.getResolutionX();
  output.y_resolution_ = input.getResolutionY();
  output.frame_rate_ = input.getFps();
  output.pixel_format_ = static_cast<PixelFormat>(input.getPixelFormat());
 
  return output;
}
 
const openni::VideoMode astra_convert(const AstraVideoMode& input)
{
  openni::VideoMode output;
 
  output.setResolution(input.x_resolution_, input.y_resolution_);
  output.setFps(input.frame_rate_);
  output.setPixelFormat(static_cast<openni::PixelFormat>(input.pixel_format_));
 
  return output;
}
 
 
const std::vector<AstraVideoMode> astra_convert(const openni::Array<openni::VideoMode>& input)
{
  std::vector<AstraVideoMode> output;
 
  int size = input.getSize();
 
  output.reserve(size);
 
  for (int i=0; i<size; ++i)
    output.push_back(astra_convert(input[i]));
 
  return output;
}
 
}