openni_image.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once
 
#include <pcl/pcl_config.h>
#include <pcl/memory.h>
#ifdef HAVE_OPENNI
 
#include <pcl/pcl_exports.h>
#include "openni.h"
#include "openni_exception.h"
 
namespace openni_wrapper
{
 
  /**
   * @brief Image class containing just a reference to image meta data. Thus this class
   * just provides an interface to fill a RGB or Grayscale image buffer.
   * @author Suat Gedikli
   * @date 02.january 2011
   * @param[in] image_meta_data
   * @ingroup io
   */
  class PCL_EXPORTS Image
  {
  public:
    using Ptr = pcl::shared_ptr<Image>;
    using ConstPtr = pcl::shared_ptr<const Image>;
 
    enum Encoding
    {
      BAYER_GRBG,
      YUV422,
      RGB
    };
 
    /**
     * @author Suat Gedikli
     * @brief Constructor
     * @param[in] image_meta_data the actual image data from the OpenNI driver
     */
    inline Image (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) noexcept;
 
    /**
     * @author Suat Gedikli
     * @brief virtual Destructor that never throws an exception.
     */
    inline virtual ~Image () noexcept;
 
    /**
     * @author Suat Gedikli
     * @param[in] input_width width of input image
     * @param[in] input_height height of input image
     * @param[in] output_width width of desired output image
     * @param[in] output_height height of desired output image
     * @return whether the resizing is supported or not.
     */
    virtual bool isResizingSupported (unsigned input_width, unsigned input_height,
                                      unsigned output_width, unsigned output_height) const = 0;
 
    /**
     * @author Suat Gedikli
     * @brief fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion
     * @param[in] width desired width of output image.
     * @param[in] height desired height of output image.
     * @param[in,out] rgb_buffer the output RGB buffer.
     * @param[in] rgb_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
     */
    virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer,
                          unsigned rgb_line_step = 0) const = 0;
 
    /**
     * @author Suat Gedikli
     * @brief returns the encoding of the native data.
     * @return encoding
     */
    virtual Encoding getEncoding () const = 0;
 
    /**
     * @author Suat Gedikli
     * @brief fills a user given buffer with the raw values.
     * @param[in,out] rgb_buffer
     */
    inline void
    fillRaw (unsigned char* rgb_buffer) const noexcept
    {
      memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
    }
 
    /**
     * @author Suat Gedikli
     * @brief fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion
     * @param[in] width desired width of output image.
     * @param[in] height desired height of output image.
     * @param[in,out] gray_buffer the output gray buffer.
     * @param[in] gray_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
     */
    virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
                                unsigned gray_line_step = 0) const = 0;
 
    /**
     * @author Suat Gedikli
     * @return width of the image
     */
    inline unsigned getWidth () const noexcept;
 
    /**
     * @author Suat Gedikli
     * @return height of the image
     */
    inline unsigned getHeight () const noexcept;
 
    /**
     * @author Suat Gedikli
     * @return frame id of the image.
     * @note frame ids are ascending, but not necessarily synch'ed with other streams
     */
    inline unsigned getFrameID () const noexcept;
 
    /**
     * @author Suat Gedikli
     * @return the time stamp of the image
     * @note the time value is not synche'ed with the system time
     */
    inline unsigned long getTimeStamp () const noexcept;
 
    /**
     * @author Suat Gedikli
     * @return the actual data in native OpenNI format.
     */
    inline const xn::ImageMetaData& getMetaData () const noexcept;
 
  protected:
    pcl::shared_ptr<xn::ImageMetaData> image_md_;
  } ;
 
  Image::Image (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) noexcept
  : image_md_ (std::move(image_meta_data))
  {
  }
 
  Image::~Image () noexcept = default;
 
  unsigned
  Image::getWidth () const noexcept
  {
    return image_md_->XRes ();
  }
 
  unsigned
  Image::getHeight () const noexcept
  {
    return image_md_->YRes ();
  }
 
  unsigned
  Image::getFrameID () const noexcept
  {
    return image_md_->FrameID ();
  }
 
  unsigned long
  Image::getTimeStamp () const noexcept
  {
    return static_cast<unsigned long> (image_md_->Timestamp ());
  }
 
  const xn::ImageMetaData&
  Image::getMetaData () const noexcept
  {
    return *image_md_;
  }
} // namespace
#endif