openni_image.h
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00001 /*
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00036 #include <pcl/pcl_config.h>
00037 #ifdef HAVE_OPENNI
00038 
00039 #ifndef __OPENNI_IMAGE__
00040 #define __OPENNI_IMAGE__
00041 
00042 #include <XnCppWrapper.h>
00043 #include <pcl/pcl_exports.h>
00044 #include "openni_exception.h"
00045 #include <boost/shared_ptr.hpp>
00046 
00047 namespace openni_wrapper
00048 {
00049 
00058   class PCL_EXPORTS Image
00059   {
00060   public:
00061     typedef boost::shared_ptr<Image> Ptr;
00062     typedef boost::shared_ptr<const Image> ConstPtr;
00063 
00064     typedef enum
00065     {
00066       BAYER_GRBG,
00067       YUV422,
00068       RGB
00069     } Encoding;
00070 
00076     inline Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ();
00077 
00082     inline virtual ~Image () throw ();
00083 
00092     virtual bool isResizingSupported (unsigned input_width, unsigned input_height,
00093                                       unsigned output_width, unsigned output_height) const = 0;
00094 
00103     virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer,
00104                           unsigned rgb_line_step = 0) const = 0;
00105 
00111     virtual Encoding getEncoding () const = 0;
00112 
00118     inline void
00119     fillRaw (unsigned char* rgb_buffer) const throw ()
00120     {
00121       memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
00122     }
00123 
00132     virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
00133                                 unsigned gray_line_step = 0) const = 0;
00134 
00139     inline unsigned getWidth () const throw ();
00140 
00145     inline unsigned getHeight () const throw ();
00146 
00152     inline unsigned getFrameID () const throw ();
00153 
00159     inline unsigned long getTimeStamp () const throw ();
00160 
00165     inline const xn::ImageMetaData& getMetaData () const throw ();
00166 
00167   protected:
00168     boost::shared_ptr<xn::ImageMetaData> image_md_;
00169   } ;
00170 
00171   Image::Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ()
00172   : image_md_ (image_meta_data)
00173   {
00174   }
00175 
00176   Image::~Image () throw () { }
00177 
00178   unsigned
00179   Image::getWidth () const throw ()
00180   {
00181     return image_md_->XRes ();
00182   }
00183 
00184   unsigned
00185   Image::getHeight () const throw ()
00186   {
00187     return image_md_->YRes ();
00188   }
00189 
00190   unsigned
00191   Image::getFrameID () const throw ()
00192   {
00193     return image_md_->FrameID ();
00194   }
00195 
00196   unsigned long
00197   Image::getTimeStamp () const throw ()
00198   {
00199     return static_cast<unsigned long> (image_md_->Timestamp ());
00200   }
00201 
00202   const xn::ImageMetaData&
00203   Image::getMetaData () const throw ()
00204   {
00205     return *image_md_;
00206   }
00207 } // namespace
00208 #endif
00209 #endif //__OPENNI_IMAGE__


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:02