Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011 Willow Garage, Inc. 00005 * 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the copyright holder(s) nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 */ 00036 #ifndef __OPENNI_IR_IMAGE__ 00037 #define __OPENNI_IR_IMAGE__ 00038 00039 #include <pcl/pcl_macros.h> 00040 #include "openni.h" 00041 #include "openni_exception.h" 00042 #include <pcl/io/boost.h> 00043 00044 namespace openni_wrapper 00045 { 00046 00047 /** 00048 * @brief Class containing just a reference to IR meta data. 00049 * @author Patrick Mihelich <mihelich@willowgarage.com>, Suat Gedikli <gedikli@willowgarage.com> 00050 */ 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 static_cast<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__