Point Cloud Library (PCL)  1.3.1
openni_ir_image.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011 Willow Garage, Inc.
00005  *    Patrick Mihelich <mihelich@willowgarage.com>
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00037 #ifndef __OPENNI_IR_IMAGE__
00038 #define __OPENNI_IR_IMAGE__
00039 
00040 #include <XnCppWrapper.h>
00041 #include <pcl/pcl_macros.h>
00042 #include "openni_exception.h"
00043 #include <boost/shared_ptr.hpp>
00044 
00045 namespace openni_wrapper
00046 {
00047 
00051 class PCL_EXPORTS IRImage
00052 {
00053 public:
00054   typedef boost::shared_ptr<IRImage> Ptr;
00055   typedef boost::shared_ptr<const IRImage> ConstPtr;
00056 
00057   inline IRImage (boost::shared_ptr<xn::IRMetaData> ir_meta_data) throw ();
00058   inline virtual ~IRImage () throw ();
00059 
00060   void fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
00061 
00062   inline unsigned getWidth () const throw ();
00063   inline unsigned getHeight () const throw ();
00064   inline unsigned getFrameID () const throw ();
00065   inline unsigned long getTimeStamp () const throw ();
00066   inline const xn::IRMetaData& getMetaData () const throw ();
00067 
00068 protected:
00069   boost::shared_ptr<xn::IRMetaData> ir_md_;
00070 };
00071 
00072 IRImage::IRImage (boost::shared_ptr<xn::IRMetaData> ir_meta_data) throw ()
00073 : ir_md_ (ir_meta_data)
00074 {
00075 }
00076 
00077 IRImage::~IRImage () throw ()
00078 {
00079 }
00080 
00081 unsigned IRImage::getWidth () const throw ()
00082 {
00083   return ir_md_->XRes ();
00084 }
00085 
00086 unsigned IRImage::getHeight () const throw ()
00087 {
00088   return ir_md_->YRes ();
00089 }
00090 
00091 unsigned IRImage::getFrameID () const throw ()
00092 {
00093   return ir_md_->FrameID ();
00094 }
00095 
00096 unsigned long IRImage::getTimeStamp () const throw ()
00097 {
00098   return (unsigned long) ir_md_->Timestamp ();
00099 }
00100 
00101 const xn::IRMetaData& IRImage::getMetaData () const throw ()
00102 {
00103   return *ir_md_;
00104 }
00105 } // namespace
00106 #endif //__OPENNI_IR_IMAGE__
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