Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/io/include/pcl/io/openni_camera/openni_image.h
00001 /*
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00036 #include <pcl/pcl_config.h>
00037 #ifdef HAVE_OPENNI
00038 
00039 #ifndef __OPENNI_IMAGE__
00040 #define __OPENNI_IMAGE__
00041 
00042 #include <pcl/pcl_exports.h>
00043 #include "openni.h"
00044 #include "openni_exception.h"
00045 #include <pcl/io/boost.h>
00046 
00047 namespace openni_wrapper
00048 {
00049 
00050   /**
00051    * @brief Image class containing just a reference to image meta data. Thus this class
00052    * just provides an interface to fill a RGB or Grayscale image buffer.
00053    * @author Suat Gedikli
00054    * @date 02.january 2011
00055    * @param[in] image_meta_data
00056    * @ingroup io
00057    */
00058   class PCL_EXPORTS Image
00059   {
00060   public:
00061     typedef boost::shared_ptr<Image> Ptr;
00062     typedef boost::shared_ptr<const Image> ConstPtr;
00063 
00064     typedef enum
00065     {
00066       BAYER_GRBG,
00067       YUV422,
00068       RGB
00069     } Encoding;
00070 
00071     /**
00072      * @author Suat Gedikli
00073      * @brief Constructor
00074      * @param[in] image_meta_data the actual image data from the OpenNI driver
00075      */
00076     inline Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ();
00077 
00078     /**
00079      * @author Suat Gedikli
00080      * @brief virtual Destructor that never throws an exception.
00081      */
00082     inline virtual ~Image () throw ();
00083 
00084     /**
00085      * @author Suat Gedikli
00086      * @param[in] input_width width of input image
00087      * @param[in] input_height height of input image
00088      * @param[in] output_width width of desired output image
00089      * @param[in] output_height height of desired output image
00090      * @return wheter the resizing is supported or not.
00091      */
00092     virtual bool isResizingSupported (unsigned input_width, unsigned input_height,
00093                                       unsigned output_width, unsigned output_height) const = 0;
00094 
00095     /**
00096      * @author Suat Gedikli
00097      * @brief fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion
00098      * @param[in] width desired width of output image.
00099      * @param[in] height desired height of output image.
00100      * @param[in,out] rgb_buffer the output RGB buffer.
00101      * @param[in] rgb_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
00102      */
00103     virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer,
00104                           unsigned rgb_line_step = 0) const = 0;
00105 
00106     /**
00107      * @author Suat Gedikli
00108      * @brief returns the encoding of the native data.
00109      * @return encoding
00110      */
00111     virtual Encoding getEncoding () const = 0;
00112 
00113     /**
00114      * @author Suat Gedikli
00115      * @brief fills a user given buffer with the raw values.
00116      * @param[in,out] rgb_buffer
00117      */
00118     inline void
00119     fillRaw (unsigned char* rgb_buffer) const throw ()
00120     {
00121       memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
00122     }
00123 
00124     /**
00125      * @author Suat Gedikli
00126      * @brief fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion
00127      * @param[in] width desired width of output image.
00128      * @param[in] height desired height of output image.
00129      * @param[in,out] gray_buffer the output gray buffer.
00130      * @param[in] gray_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
00131      */
00132     virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
00133                                 unsigned gray_line_step = 0) const = 0;
00134 
00135     /**
00136      * @author Suat Gedikli
00137      * @return width of the image
00138      */
00139     inline unsigned getWidth () const throw ();
00140 
00141     /**
00142      * @author Suat Gedikli
00143      * @return height of the image
00144      */
00145     inline unsigned getHeight () const throw ();
00146 
00147     /**
00148      * @author Suat Gedikli
00149      * @return frame id of the image.
00150      * @note frame ids are ascending, but not necessarily synch'ed with other streams
00151      */
00152     inline unsigned getFrameID () const throw ();
00153 
00154     /**
00155      * @author Suat Gedikli
00156      * @return the time stamp of the image
00157      * @note the time value is not synche'ed with the system time
00158      */
00159     inline unsigned long getTimeStamp () const throw ();
00160 
00161     /**
00162      * @author Suat Gedikli
00163      * @return the actual data in native OpenNI format.
00164      */
00165     inline const xn::ImageMetaData& getMetaData () const throw ();
00166 
00167   protected:
00168     boost::shared_ptr<xn::ImageMetaData> image_md_;
00169   } ;
00170 
00171   Image::Image (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ()
00172   : image_md_ (image_meta_data)
00173   {
00174   }
00175 
00176   Image::~Image () throw () { }
00177 
00178   unsigned
00179   Image::getWidth () const throw ()
00180   {
00181     return image_md_->XRes ();
00182   }
00183 
00184   unsigned
00185   Image::getHeight () const throw ()
00186   {
00187     return image_md_->YRes ();
00188   }
00189 
00190   unsigned
00191   Image::getFrameID () const throw ()
00192   {
00193     return image_md_->FrameID ();
00194   }
00195 
00196   unsigned long
00197   Image::getTimeStamp () const throw ()
00198   {
00199     return static_cast<unsigned long> (image_md_->Timestamp ());
00200   }
00201 
00202   const xn::ImageMetaData&
00203   Image::getMetaData () const throw ()
00204   {
00205     return *image_md_;
00206   }
00207 } // namespace
00208 #endif
00209 #endif //__OPENNI_IMAGE__