Point Cloud Library (PCL)  1.9.1-dev
openni_depth_image.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_config.h>
42 #ifdef HAVE_OPENNI
43 
44 #include "openni.h"
45 
46 //#include <pcl/pcl_macros.h> // <-- because current header is included in NVCC-compiled code and contains <Eigen/Core>. Consider <pcl/pcl_exports.h>
47 #include <pcl/pcl_exports.h>
48 #include "openni_exception.h"
49 #include <pcl/io/boost.h>
50 
51 namespace openni_wrapper
52 {
53  /** \brief This class provides methods to fill a depth or disparity image.
54  * \author Suat Gedikli
55  */
57  {
58  public:
59  using Ptr = boost::shared_ptr<DepthImage>;
60  using ConstPtr = boost::shared_ptr<const DepthImage>;
61 
62  /** \brief Constructor
63  * \param[in] depth_meta_data the actual data from the OpenNI library
64  * \param[in] baseline the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for
65  * Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
66  * \param[in] focal_length focal length of the "stereo" frame.
67  * \param[in] shadow_value defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
68  * \param[in] no_sample_value defines which values in the depth data are indicating that no depth (disparity) could be determined .
69  * \attention The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.
70  */
71  inline DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ();
72 
73  /** \brief Destructor. Never throws an exception. */
74  inline virtual ~DepthImage () throw ();
75 
76  /** \brief method to access the internal data structure from OpenNI. If the data is accessed just read-only, then this method is faster than a fillXXX method
77  * \return the actual depth data of type xn::DepthMetaData.
78  */
79  inline const xn::DepthMetaData&
80  getDepthMetaData () const throw ();
81 
82  /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
83  * \param[in] width the width of the desired disparity image.
84  * \param[in] height the height of the desired disparity image.
85  * \param[in,out] disparity_buffer the float pointer to the actual memory buffer to be filled with the disparity values.
86  * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
87  * width in bytes (not floats) of the original width of the depth buffer.
88  */
89  void
90  fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;
91 
92  /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
93  * \param[in] width width the width of the desired depth image.
94  * \param[in] height height the height of the desired depth image.
95  * \param[in,out] depth_buffer the float pointer to the actual memory buffer to be filled with the depth values.
96  * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
97  * width in bytes (not floats) of the original width of the depth buffer.
98  */
99  void
100  fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;
101 
102  /** \brief fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
103  * \param[in] width width the width of the desired raw image.
104  * \param[in] height height the height of the desired raw image.
105  * \param[in,out] depth_buffer the unsigned short pointer to the actual memory buffer to be filled with the raw values.
106  * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
107  * width in bytes (not floats) of the original width of the depth buffer.
108  */
109  void
110  fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;
111 
112  /** \brief method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
113  * \return baseline in meters
114  */
115  inline float
116  getBaseline () const throw ();
117 
118  /** \brief method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
119  * \return focal length in pixels
120  */
121  inline float
122  getFocalLength () const throw ();
123 
124  /** \brief method to access the shadow value, that indicates pixels lying in shadow in the depth image.
125  * \return shadow value
126  */
127  inline XnUInt64
128  getShadowValue () const throw ();
129 
130  /** \brief method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
131  * \return no-sample value
132  */
133  inline XnUInt64
134  getNoSampleValue () const throw ();
135 
136  /** \return the width of the depth image */
137  inline unsigned
138  getWidth () const throw ();
139 
140  /** \return the height of the depth image */
141  inline unsigned
142  getHeight () const throw ();
143 
144  /** \return an ascending id for the depth frame
145  * \attention not necessarily synchronized with other streams
146  */
147  inline unsigned
148  getFrameID () const throw ();
149 
150  /** \return a ascending timestamp for the depth frame
151  * \attention its not the system time, thus can not be used directly to synchronize different sensors.
152  * But definitely synchronized with other streams
153  */
154  inline unsigned long
155  getTimeStamp () const throw ();
156 
157  protected:
158  boost::shared_ptr<xn::DepthMetaData> depth_md_;
159  float baseline_;
160  float focal_length_;
161  XnUInt64 shadow_value_;
162  XnUInt64 no_sample_value_;
163  } ;
164 
165  DepthImage::DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
166  : depth_md_ (std::move(depth_meta_data))
167  , baseline_ (baseline)
168  , focal_length_ (focal_length)
169  , shadow_value_ (shadow_value)
170  , no_sample_value_ (no_sample_value) { }
171 
172  DepthImage::~DepthImage () throw () { }
173 
174  const xn::DepthMetaData&
176  {
177  return *depth_md_;
178  }
179 
180  float
181  DepthImage::getBaseline () const throw ()
182  {
183  return baseline_;
184  }
185 
186  float
187  DepthImage::getFocalLength () const throw ()
188  {
189  return focal_length_;
190  }
191 
192  XnUInt64
193  DepthImage::getShadowValue () const throw ()
194  {
195  return shadow_value_;
196  }
197 
198  XnUInt64
200  {
201  return no_sample_value_;
202  }
203 
204  unsigned
205  DepthImage::getWidth () const throw ()
206  {
207  return depth_md_->XRes ();
208  }
209 
210  unsigned
211  DepthImage::getHeight () const throw ()
212  {
213  return depth_md_->YRes ();
214  }
215 
216  unsigned
217  DepthImage::getFrameID () const throw ()
218  {
219  return depth_md_->FrameID ();
220  }
221 
222  unsigned long
223  DepthImage::getTimeStamp () const throw ()
224  {
225  return static_cast<unsigned long> (depth_md_->Timestamp ());
226  }
227 } // namespace
228 #endif
XnUInt64 getNoSampleValue() const
method to access the no-sample value, that indicates pixels where no disparity could be determined fo...
XnUInt64 getShadowValue() const
method to access the shadow value, that indicates pixels lying in shadow in the depth image...
boost::shared_ptr< DepthImage > Ptr
This class provides methods to fill a depth or disparity image.
float getFocalLength() const
method to access the focal length of the "stereo" frame that was used to retrieve the depth image...
boost::shared_ptr< const DepthImage > ConstPtr
float getBaseline() const
method to access the baseline of the "stereo" frame that was used to retrieve the depth image...
const xn::DepthMetaData & getDepthMetaData() const
method to access the internal data structure from OpenNI.
virtual ~DepthImage()
Destructor.
#define PCL_EXPORTS
Definition: pcl_macros.h:227
unsigned long getTimeStamp() const