openni_depth_image.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011 Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __OPENNI_DEPTH_IMAGE__
#define __OPENNI_DEPTH_IMAGE__

#include "openni.h"

//#include <pcl/pcl_macros.h> // <-- because current header is included in NVCC-compiled code and contains <Eigen/Core>. Consider <pcl/pcl_exports.h>
#include <pcl/pcl_exports.h>
#include "openni_exception.h"
#include <pcl/io/boost.h>

namespace openni_wrapper
{
  class PCL_EXPORTS DepthImage
  {
    public:
      typedef boost::shared_ptr<DepthImage> Ptr;
      typedef boost::shared_ptr<const DepthImage> ConstPtr;

      inline DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ();

      inline virtual ~DepthImage () throw ();

      inline const xn::DepthMetaData& 
      getDepthMetaData () const throw ();

      void 
      fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;

      void 
      fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;

      void 
      fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;

      inline float 
      getBaseline () const throw ();

      inline float 
      getFocalLength () const throw ();

      inline XnUInt64 
      getShadowValue () const throw ();

      inline XnUInt64 
      getNoSampleValue () const throw ();

      inline unsigned 
      getWidth () const throw ();

      inline unsigned 
      getHeight () const throw ();

      inline unsigned 
      getFrameID () const throw ();

      inline unsigned long 
      getTimeStamp () const throw ();

    protected:
      boost::shared_ptr<xn::DepthMetaData> depth_md_;
      float baseline_;
      float focal_length_;
      XnUInt64 shadow_value_;
      XnUInt64 no_sample_value_;
  } ;

  DepthImage::DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
  : depth_md_ (depth_meta_data)
  , baseline_ (baseline)
  , focal_length_ (focal_length)
  , shadow_value_ (shadow_value)
  , no_sample_value_ (no_sample_value) { }

  DepthImage::~DepthImage () throw () { }

  const xn::DepthMetaData&
  DepthImage::getDepthMetaData () const throw ()
  {
    return *depth_md_;
  }

  float
  DepthImage::getBaseline () const throw ()
  {
    return baseline_;
  }

  float
  DepthImage::getFocalLength () const throw ()
  {
    return focal_length_;
  }

  XnUInt64
  DepthImage::getShadowValue () const throw ()
  {
    return shadow_value_;
  }

  XnUInt64
  DepthImage::getNoSampleValue () const throw ()
  {
    return no_sample_value_;
  }

  unsigned
  DepthImage::getWidth () const throw ()
  {
    return depth_md_->XRes ();
  }

  unsigned
  DepthImage::getHeight () const throw ()
  {
    return depth_md_->YRes ();
  }

  unsigned
  DepthImage::getFrameID () const throw ()
  {
    return depth_md_->FrameID ();
  }

  unsigned long
  DepthImage::getTimeStamp () const throw ()
  {
    return static_cast<unsigned long> (depth_md_->Timestamp ());
  }
} // namespace
#endif
#endif //__OPENNI_DEPTH_IMAGE