adi_3dtof_adtf31xx_frame_info.h

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/******************************************************************************
Copyright (c), 2023 - Analog Devices Inc. All Rights Reserved.
This software is PROPRIETARY & CONFIDENTIAL to Analog Devices, Inc.
and its licensors.
******************************************************************************/
#ifndef ADI_3DTOF_ADTF31XX_FRAME_INFO_H
#define ADI_3DTOF_ADTF31XX_FRAME_INFO_H
 
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <cstring>
class ADI3DToFADTF31xxFrameInfo
{
public:
  ADI3DToFADTF31xxFrameInfo(int image_width, int image_height)
  {
    // Create the node.
    depth_frame_ = nullptr;
    ab_frame_ = nullptr;
    xyz_frame_ = nullptr;
    conf_frame_ = nullptr;
    image_width_ = image_width;
    image_height_ = image_height;
 
    depth_frame_ = new unsigned short[image_width * image_height];
    ab_frame_ = new unsigned short[image_width * image_height];
    xyz_frame_ = new short[image_width * image_height * 3];
    conf_frame_ = new unsigned short[image_width * image_height];
 
    // Worst case, RVL compression can take ~1.5x the input data.
    compressed_depth_frame_ = new unsigned char[3 * image_width * image_height];
    compressed_ab_frame_ = new unsigned char[3 * image_width * image_height];
    compressed_depth_frame_size_ = 0;
    compressed_ab_frame_size_ = 0;
    frame_timestamp_ = ros::Time::now();
  }
 
  ~ADI3DToFADTF31xxFrameInfo()
  {
    if (depth_frame_ != nullptr)
    {
      delete[] depth_frame_;
    }
    if (ab_frame_ != nullptr)
    {
      delete[] ab_frame_;
    }
    if (xyz_frame_ != nullptr)
    {
      delete[] xyz_frame_;
    }
    if (conf_frame_ != nullptr)
    {
      delete[] conf_frame_;
    }
    if (compressed_depth_frame_ != nullptr)
    {
      delete[] compressed_depth_frame_;
    }
    if (compressed_ab_frame_ != nullptr)
    {
      delete[] compressed_ab_frame_;
    }
  }
 
  unsigned short* getDepthFrame() const
  {
    return depth_frame_;
  }
 
  unsigned short* getABFrame() const
  {
    return ab_frame_;
  }
 
  short* getXYZFrame() const
  {
    return xyz_frame_;
  }
 
  unsigned short* getConfFrame() const
  {
    return conf_frame_;
  }
 
  unsigned char* getCompressedDepthFrame() const
  {
    return compressed_depth_frame_;
  }
 
  unsigned char* getCompressedABFrame() const
  {
    return compressed_ab_frame_;
  }
 
  ros::Time* getFrameTimestampPtr()
  {
    return &frame_timestamp_;
  }
 
  ros::Time getFrameTimestamp() const
  {
    return frame_timestamp_;
  }
 
  int getCompressedDepthFrameSize() const
  {
    return compressed_depth_frame_size_;
  }
 
  int getCompressedABFrameSize() const
  {
    return compressed_ab_frame_size_;
  }
 
  void setCompressedDepthFrameSize(int compressed_depth_frame_size)
  {
    compressed_depth_frame_size_ = compressed_depth_frame_size;
  }
 
  void setCompressedABFrameSize(int compressed_ab_frame_size)
  {
    compressed_ab_frame_size_ = compressed_ab_frame_size;
  }
 
  // Assignment operator
  ADI3DToFADTF31xxFrameInfo& operator=(const ADI3DToFADTF31xxFrameInfo& rhs)
  {
    image_width_ = rhs.image_width_;
    image_height_ = rhs.image_height_;
    memcpy(depth_frame_, rhs.depth_frame_, sizeof(depth_frame_[0]) * image_width_ * image_height_);
    memcpy(ab_frame_, rhs.ab_frame_, sizeof(ab_frame_[0]) * image_width_ * image_height_);
    memcpy(xyz_frame_, rhs.xyz_frame_, sizeof(xyz_frame_[0]) * image_width_ * image_height_ * 3);
    memcpy(conf_frame_, rhs.conf_frame_, sizeof(conf_frame_[0]) * image_width_ * image_height_);
    compressed_depth_frame_size_ = rhs.compressed_depth_frame_size_;
    compressed_ab_frame_size_ = rhs.compressed_ab_frame_size_;
    memcpy(compressed_depth_frame_, rhs.compressed_depth_frame_,
           sizeof(compressed_depth_frame_[0]) * compressed_depth_frame_size_);
    memcpy(compressed_ab_frame_, rhs.compressed_ab_frame_, sizeof(compressed_ab_frame_[0]) * compressed_ab_frame_size_);
    frame_timestamp_ = rhs.frame_timestamp_;
    return *this;
  }
 
private:
  unsigned short* depth_frame_;
  unsigned short* ab_frame_;
  short* xyz_frame_;
  unsigned short* conf_frame_;
  unsigned char* compressed_depth_frame_;
  unsigned char* compressed_ab_frame_;
  int compressed_depth_frame_size_;
  int compressed_ab_frame_size_;
  int image_width_;
  int image_height_;
  ros::Time frame_timestamp_;
};
 
#endif