Point Cloud Library (PCL)  1.12.1-dev
openni_ir_image.h
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36 #ifndef __OPENNI_IR_IMAGE__
37 #define __OPENNI_IR_IMAGE__
38 
39 #include <pcl/pcl_macros.h>
40 #include <pcl/memory.h>
41 #include "openni.h"
42 #include "openni_exception.h"
43 
44 namespace openni_wrapper
45 {
46 
47 /**
48  * @brief Class containing just a reference to IR meta data.
49  * @author Patrick Mihelich <mihelich@willowgarage.com>, Suat Gedikli <gedikli@willowgarage.com>
50  */
52 {
53 public:
54  using Ptr = pcl::shared_ptr<IRImage>;
55  using ConstPtr = pcl::shared_ptr<const IRImage>;
56 
57  inline IRImage (pcl::shared_ptr<xn::IRMetaData> ir_meta_data) noexcept;
58  inline virtual ~IRImage () noexcept;
59 
60  void fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
61 
62  inline unsigned getWidth () const throw ();
63  inline unsigned getHeight () const throw ();
64  inline unsigned getFrameID () const throw ();
65  inline unsigned long getTimeStamp () const throw ();
66  inline const xn::IRMetaData& getMetaData () const throw ();
67 
68 protected:
69  pcl::shared_ptr<xn::IRMetaData> ir_md_;
70 };
71 
72 IRImage::IRImage (pcl::shared_ptr<xn::IRMetaData> ir_meta_data) noexcept
73 : ir_md_ (std::move(ir_meta_data))
74 {
75 }
76 
77 IRImage::~IRImage () noexcept = default;
78 
79 unsigned IRImage::getWidth () const throw ()
80 {
81  return ir_md_->XRes ();
82 }
83 
84 unsigned IRImage::getHeight () const throw ()
85 {
86  return ir_md_->YRes ();
87 }
88 
89 unsigned IRImage::getFrameID () const throw ()
90 {
91  return ir_md_->FrameID ();
92 }
93 
94 unsigned long IRImage::getTimeStamp () const throw ()
95 {
96  return static_cast<unsigned long> (ir_md_->Timestamp ());
97 }
98 
99 const xn::IRMetaData& IRImage::getMetaData () const throw ()
100 {
101  return *ir_md_;
102 }
103 } // namespace
104 #endif //__OPENNI_IR_IMAGE__
Class containing just a reference to IR meta data.
unsigned long getTimeStamp() const
unsigned getHeight() const
pcl::shared_ptr< IRImage > Ptr
virtual ~IRImage() noexcept
const xn::IRMetaData & getMetaData() const
pcl::shared_ptr< const IRImage > ConstPtr
unsigned getFrameID() const
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323