Point Cloud Library (PCL) 1.12.1
openni_depth_image.h
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38
39#pragma once
40
41#include <pcl/pcl_config.h>
42#include <pcl/memory.h>
43#ifdef HAVE_OPENNI
44
45#include "openni.h"
46
47//#include <pcl/pcl_macros.h> // <-- because current header is included in NVCC-compiled code and contains <Eigen/Core>. Consider <pcl/pcl_exports.h>
48#include <pcl/pcl_exports.h>
49#include "openni_exception.h"
50
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 = pcl::shared_ptr<DepthImage>;
60 using ConstPtr = pcl::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 (pcl::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) noexcept;
72
73 /** \brief Destructor. Never throws an exception. */
74 inline virtual ~DepthImage () noexcept;
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 pcl::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 (pcl::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) noexcept
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
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
188 {
189 return focal_length_;
190 }
191
192 XnUInt64
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
This class provides methods to fill a depth or disparity image.
pcl::shared_ptr< DepthImage > Ptr
pcl::shared_ptr< const DepthImage > ConstPtr
XnUInt64 getNoSampleValue() const
method to access the no-sample value, that indicates pixels where no disparity could be determined fo...
unsigned long getTimeStamp() const
const xn::DepthMetaData & getDepthMetaData() const
method to access the internal data structure from OpenNI.
float getBaseline() const
method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
XnUInt64 getShadowValue() const
method to access the shadow value, that indicates pixels lying in shadow in the depth image.
virtual ~DepthImage() noexcept
Destructor.
float getFocalLength() const
method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
Defines functions, macros and traits for allocating and using memory.
#define PCL_EXPORTS
Definition: pcl_macros.h:323