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00038 #include <openni_camera/openni_ir_image.h>
00039 #include <sstream>
00040 #include <limits>
00041 #include <iostream>
00042
00043 using namespace std;
00044
00045 namespace openni_wrapper
00046 {
00047 void IRImage::fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step) const throw (OpenNIException)
00048 {
00049 if (width > ir_md_->XRes () || height > ir_md_->YRes ())
00050 THROW_OPENNI_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", ir_md_->XRes (), ir_md_->YRes (), width, height);
00051
00052 if (ir_md_->XRes () % width != 0 || ir_md_->YRes () % height != 0)
00053 THROW_OPENNI_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", ir_md_->XRes (), ir_md_->YRes (), width, height);
00054
00055 if (line_step == 0)
00056 line_step = width * sizeof (unsigned short);
00057
00058
00059 if (width == ir_md_->XRes () && height == ir_md_->YRes () && (line_step == width * sizeof (unsigned short)))
00060 {
00061 memcpy (ir_buffer, ir_md_->Data(), ir_md_->DataSize ());
00062 return;
00063 }
00064
00065
00066 unsigned bufferSkip = line_step - width * sizeof (unsigned short);
00067
00068
00069 unsigned xStep = ir_md_->XRes () / width;
00070 unsigned ySkip = (ir_md_->YRes () / height - 1) * ir_md_->XRes ();
00071
00072 unsigned irIdx = 0;
00073
00074 for (unsigned yIdx = 0; yIdx < height; ++yIdx, irIdx += ySkip)
00075 {
00076 for (unsigned xIdx = 0; xIdx < width; ++xIdx, irIdx += xStep, ++ir_buffer)
00077 *ir_buffer = (unsigned short) (ir_md_->Data()[irIdx]);
00078
00079
00080 if (bufferSkip > 0)
00081 {
00082 char* cBuffer = reinterpret_cast<char*> (ir_buffer);
00083 ir_buffer = reinterpret_cast<unsigned short*> (cBuffer + bufferSkip);
00084 }
00085 }
00086 }
00087 }