openni_ir_image.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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#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__