Point Cloud Library (PCL)  1.3.1
openni_depth_image.h
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00001 /*
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00005  *    Suat Gedikli <gedikli@willowgarage.com>
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00037 #include <pcl/pcl_config.h>
00038 #ifdef HAVE_OPENNI
00039 
00040 #ifndef __OPENNI_DEPTH_IMAGE__
00041 #define __OPENNI_DEPTH_IMAGE__
00042 
00043 #include <XnCppWrapper.h>
00044 
00045 #include <pcl/pcl_macros.h>
00046 #include "openni_exception.h"
00047 #include <boost/shared_ptr.hpp>
00048 
00049 namespace openni_wrapper
00050 {
00056 class PCL_EXPORTS DepthImage
00057 {
00058 public:
00059   typedef boost::shared_ptr<DepthImage> Ptr;
00060   typedef boost::shared_ptr<const DepthImage> ConstPtr;
00061 
00062   inline DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ();
00063   inline virtual ~DepthImage () throw ();
00064 
00065   inline const xn::DepthMetaData& getDepthMetaData () const throw ();
00066   void fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;
00067   void fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;
00068   void fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;
00069 
00070   inline float getBaseline () const throw ();
00071   inline float getFocalLength () const throw ();
00072   inline XnUInt64 getShadowValue () const throw ();
00073   inline XnUInt64 getNoSampleValue () const throw ();
00074   inline unsigned getWidth () const throw ();
00075   inline unsigned getHeight () const throw ();
00076   inline unsigned getFrameID () const throw ();
00077   inline unsigned long getTimeStamp () const throw ();
00078 protected:
00079   boost::shared_ptr<xn::DepthMetaData> depth_md_;
00080   float baseline_;
00081   float focal_length_;
00082   XnUInt64 shadow_value_;
00083   XnUInt64 no_sample_value_;
00084 };
00085 
00086 DepthImage::DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
00087 : depth_md_ (depth_meta_data)
00088 , baseline_ (baseline)
00089 , focal_length_ (focal_length)
00090 , shadow_value_ (shadow_value)
00091 , no_sample_value_ (no_sample_value)
00092 {
00093 }
00094 
00095 DepthImage::~DepthImage () throw ()
00096 {
00097 }
00098 
00099 const xn::DepthMetaData& DepthImage::getDepthMetaData () const throw ()
00100 {
00101   return *depth_md_;
00102 }
00103 
00104 float DepthImage::getBaseline () const throw ()
00105 {
00106   return baseline_;
00107 }
00108 
00109 float DepthImage::getFocalLength () const throw ()
00110 {
00111   return focal_length_;
00112 }
00113 
00114 XnUInt64 DepthImage::getShadowValue () const throw ()
00115 {
00116   return shadow_value_;
00117 }
00118 
00119 XnUInt64 DepthImage::getNoSampleValue () const throw ()
00120 {
00121   return no_sample_value_;
00122 }
00123 
00124 unsigned DepthImage::getWidth () const throw ()
00125 {
00126   return depth_md_->XRes ();
00127 }
00128 
00129 unsigned DepthImage::getHeight () const throw ()
00130 {
00131   return depth_md_->YRes ();
00132 }
00133 
00134 unsigned DepthImage::getFrameID () const throw ()
00135 {
00136   return depth_md_->FrameID ();
00137 }
00138 
00139 unsigned long DepthImage::getTimeStamp () const throw ()
00140 {
00141   return (unsigned long) depth_md_->Timestamp ();
00142 }
00143 } // namespace
00144 #endif
00145 #endif //__OPENNI_DEPTH_IMAGE
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