41 #include <pcl/pcl_config.h>
42 #include <pcl/make_shared.h>
48 #include <pcl/pcl_exports.h>
49 #include "openni_exception.h"
50 #include <pcl/io/boost.h>
80 inline const xn::DepthMetaData&
81 getDepthMetaData () const throw ();
91 fillDisparityImage (
unsigned width,
unsigned height,
float* disparity_buffer,
unsigned line_step = 0) const;
101 fillDepthImage (
unsigned width,
unsigned height,
float* depth_buffer,
unsigned line_step = 0) const;
111 fillDepthImageRaw (
unsigned width,
unsigned height,
unsigned short* depth_buffer,
unsigned line_step = 0) const;
117 getBaseline () const throw ();
123 getFocalLength () const throw ();
129 getShadowValue () const throw ();
135 getNoSampleValue () const throw ();
139 getWidth () const throw ();
143 getHeight () const throw ();
149 getFrameID () const throw ();
156 getTimeStamp () const throw ();
162 XnUInt64 shadow_value_;
163 XnUInt64 no_sample_value_;
167 : depth_md_ (std::move(depth_meta_data))
168 , baseline_ (baseline)
169 , focal_length_ (focal_length)
170 , shadow_value_ (shadow_value)
171 , no_sample_value_ (no_sample_value) { }
175 const xn::DepthMetaData&
190 return focal_length_;
196 return shadow_value_;
202 return no_sample_value_;
208 return depth_md_->XRes ();
214 return depth_md_->YRes ();
220 return depth_md_->FrameID ();
226 return static_cast<unsigned long> (depth_md_->Timestamp ());