39 #include <pcl/pcl_config.h>
40 #include <pcl/memory.h>
43 #include <pcl/pcl_exports.h>
45 #include "openni_exception.h"
61 using Ptr = pcl::shared_ptr<Image>;
76 inline Image (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) noexcept;
82 inline virtual ~
Image () noexcept;
92 virtual
bool isResizingSupported (
unsigned input_width,
unsigned input_height,
93 unsigned output_width,
unsigned output_height) const = 0;
103 virtual
void fillRGB (
unsigned width,
unsigned height,
unsigned char* rgb_buffer,
104 unsigned rgb_line_step = 0) const = 0;
111 virtual Encoding getEncoding () const = 0;
119 fillRaw (
unsigned char* rgb_buffer) const noexcept
121 memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
132 virtual void fillGrayscale (
unsigned width,
unsigned height,
unsigned char* gray_buffer,
133 unsigned gray_line_step = 0)
const = 0;
139 inline unsigned getWidth () const noexcept;
145 inline
unsigned getHeight () const noexcept;
152 inline
unsigned getFrameID () const noexcept;
159 inline
unsigned long getTimeStamp () const noexcept;
165 inline const xn::ImageMetaData& getMetaData () const noexcept;
168 pcl::shared_ptr<xn::ImageMetaData> image_md_;
172 : image_md_ (std::move(image_meta_data))
181 return image_md_->XRes ();
187 return image_md_->YRes ();
193 return image_md_->FrameID ();
199 return static_cast<unsigned long> (image_md_->Timestamp ());
202 const xn::ImageMetaData&
Image class containing just a reference to image meta data.
unsigned getHeight() const noexcept
virtual ~Image() noexcept
virtual Destructor that never throws an exception.
pcl::shared_ptr< const Image > ConstPtr
unsigned getFrameID() const noexcept
const xn::ImageMetaData & getMetaData() const noexcept
pcl::shared_ptr< Image > Ptr
unsigned long getTimeStamp() const noexcept