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openni_ir_image.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011 Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef __OPENNI_IR_IMAGE__
#define __OPENNI_IR_IMAGE__
#include <pcl/pcl_macros.h>
#include <pcl/memory.h>
#include "openni.h"
#include "openni_exception.h"
namespace openni_wrapper
{
/**
* @brief Class containing just a reference to IR meta data.
* @author Patrick Mihelich <mihelich@willowgarage.com>, Suat Gedikli <gedikli@willowgarage.com>
*/
class PCL_EXPORTS IRImage
{
public:
using Ptr = pcl::shared_ptr<IRImage>;
using ConstPtr = pcl::shared_ptr<const IRImage>;
inline IRImage (pcl::shared_ptr<xn::IRMetaData> ir_meta_data) noexcept;
inline virtual ~IRImage () noexcept;
void fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
inline unsigned getWidth () const noexcept;
inline unsigned getHeight () const noexcept;
inline unsigned getFrameID () const noexcept;
inline unsigned long getTimeStamp () const noexcept;
inline const xn::IRMetaData& getMetaData () const noexcept;
protected:
pcl::shared_ptr<xn::IRMetaData> ir_md_;
};
IRImage::IRImage (pcl::shared_ptr<xn::IRMetaData> ir_meta_data) noexcept
: ir_md_ (std::move(ir_meta_data))
{
}
IRImage::~IRImage () noexcept = default;
unsigned IRImage::getWidth () const noexcept
{
return ir_md_->XRes ();
}
unsigned IRImage::getHeight () const noexcept
{
return ir_md_->YRes ();
}
unsigned IRImage::getFrameID () const noexcept
{
return ir_md_->FrameID ();
}
unsigned long IRImage::getTimeStamp () const noexcept
{
return static_cast<unsigned long> (ir_md_->Timestamp ());
}
const xn::IRMetaData& IRImage::getMetaData () const noexcept
{
return *ir_md_;
}
} // namespace
#endif //__OPENNI_IR_IMAGE__
openni_wrapper::IRImage::Ptr
pcl::shared_ptr< IRImage > Ptr
Definition openni_ir_image.h:54
openni_wrapper::IRImage::~IRImage
virtual ~IRImage() noexcept
openni_wrapper::IRImage::IRImage
IRImage(pcl::shared_ptr< xn::IRMetaData > ir_meta_data) noexcept
Definition openni_ir_image.h:72
openni_wrapper::IRImage::getTimeStamp
unsigned long getTimeStamp() const noexcept
Definition openni_ir_image.h:94
openni_wrapper::IRImage::ir_md_
pcl::shared_ptr< xn::IRMetaData > ir_md_
Definition openni_ir_image.h:69
openni_wrapper::IRImage::ConstPtr
pcl::shared_ptr< const IRImage > ConstPtr
Definition openni_ir_image.h:55
openni_wrapper::IRImage::getFrameID
unsigned getFrameID() const noexcept
Definition openni_ir_image.h:89
openni_wrapper::IRImage::fillRaw
void fillRaw(unsigned width, unsigned height, unsigned short *ir_buffer, unsigned line_step=0) const
openni_wrapper::IRImage::getWidth
unsigned getWidth() const noexcept
Definition openni_ir_image.h:79
openni_wrapper::IRImage::getHeight
unsigned getHeight() const noexcept
Definition openni_ir_image.h:84
openni_wrapper::IRImage::getMetaData
const xn::IRMetaData & getMetaData() const noexcept
Definition openni_ir_image.h:99
memory.h
Defines functions, macros and traits for allocating and using memory.
openni_wrapper
Definition openni_depth_image.h:52
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.