113 lines
3.2 KiB
C++
113 lines
3.2 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009-2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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* Copyright (c) 2014, respective authors.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#if defined(HAVE_OPENNI2)
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#include <pcl/pcl_config.h>
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#include <pcl/io/image_metadata_wrapper.h>
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#include <pcl/io/openni2/openni.h>
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namespace pcl
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{
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namespace io
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{
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namespace openni2
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{
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class Openni2FrameWrapper : public pcl::io::FrameWrapper
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{
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public:
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Openni2FrameWrapper (const openni::VideoFrameRef& metadata)
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: metadata_(metadata)
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{}
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inline const void*
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getData () const override
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{
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return (metadata_.getData ());
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}
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inline unsigned
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getDataSize () const override
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{
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return (metadata_.getDataSize ());
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}
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inline unsigned
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getWidth () const override
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{
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return (metadata_.getWidth ());
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}
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inline unsigned
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getHeight () const override
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{
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return (metadata_.getHeight ());
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}
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inline unsigned
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getFrameID () const override
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{
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return (metadata_.getFrameIndex ());
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}
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inline std::uint64_t
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getTimestamp () const override
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{
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return (metadata_.getTimestamp ());
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}
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const inline openni::VideoFrameRef&
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getMetaData () const
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{
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return (metadata_);
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}
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private:
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openni::VideoFrameRef metadata_; // Internally reference counted
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};
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} // namespace
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}
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}
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#endif // HAVE_OPENNI2
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