openni_wrapper::DepthImage Class Reference

This class provides methods to fill a depth or disparity image. More...

#include <pcl/io/openni_camera/openni_depth_image.h>

Public Types
typedef boost::shared_ptr < DepthImage >	Ptr
typedef boost::shared_ptr < const DepthImage >	ConstPtr
Public Member Functions
	DepthImage (boost::shared_ptr< xn::DepthMetaData > depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
	Constructor.
virtual	~DepthImage () throw ()
	Destructor.
const xn::DepthMetaData &	getDepthMetaData () const throw ()
	method to access the internal data structure from OpenNI.
void	fillDisparityImage (unsigned width, unsigned height, float *disparity_buffer, unsigned line_step=0) const
	fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
void	fillDepthImage (unsigned width, unsigned height, float *depth_buffer, unsigned line_step=0) const
	fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
void	fillDepthImageRaw (unsigned width, unsigned height, unsigned short *depth_buffer, unsigned line_step=0) const
	fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
float	getBaseline () const throw ()
	method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
float	getFocalLength () const throw ()
	method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
XnUInt64	getShadowValue () const throw ()
	method to access the shadow value, that indicates pixels lying in shadow in the depth image.
XnUInt64	getNoSampleValue () const throw ()
	method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
unsigned	getWidth () const throw ()
unsigned	getHeight () const throw ()
unsigned	getFrameID () const throw ()
unsigned long	getTimeStamp () const throw ()
Protected Attributes
boost::shared_ptr < xn::DepthMetaData >	depth_md_
float	baseline_
float	focal_length_
XnUInt64	shadow_value_
XnUInt64	no_sample_value_

Detailed Description

This class provides methods to fill a depth or disparity image.

Author:: Suat Gedikli

Definition at line 56 of file openni_depth_image.h.

Member Typedef Documentation

typedef boost::shared_ptr<const DepthImage> openni_wrapper::DepthImage::ConstPtr

Definition at line 60 of file openni_depth_image.h.

typedef boost::shared_ptr<DepthImage> openni_wrapper::DepthImage::Ptr

Definition at line 59 of file openni_depth_image.h.

Constructor & Destructor Documentation

openni_wrapper::DepthImage::DepthImage	(	boost::shared_ptr< xn::DepthMetaData >	depth_meta_data,
		float	baseline,
		float	focal_length,
		XnUInt64	shadow_value,
		XnUInt64	no_sample_value
	)			throw () `[inline]`

Constructor.

Parameters:

`[in]`	depth_meta_data	the actual data from the OpenNI library
`[in]`	baseline	the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
`[in]`	focal_length	focal length of the "stereo" frame.
`[in]`	shadow_value	defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
`[in]`	no_sample_value	defines which values in the depth data are indicating that no depth (disparity) could be determined .

Attention:: The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.

Definition at line 165 of file openni_depth_image.h.

openni_wrapper::DepthImage::~DepthImage ( ) throw () [inline, virtual]

Destructor.

Never throws an exception.

Definition at line 172 of file openni_depth_image.h.

Member Function Documentation

void openni_wrapper::DepthImage::fillDepthImage	(	unsigned	width,
		unsigned	height,
		float *	depth_buffer,
		unsigned	line_step = `0`
	)			const

fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.

Parameters:

`[in]`	width	width the width of the desired depth image.
`[in]`	height	height the height of the desired depth image.
`[in,out]`	depth_buffer	the float pointer to the actual memory buffer to be filled with the depth values.
`[in]`	line_step	if only a rectangular sub region of the buffer needs to be filled, then line_step is the width in bytes (not floats) of the original width of the depth buffer.

void openni_wrapper::DepthImage::fillDepthImageRaw	(	unsigned	width,
		unsigned	height,
		unsigned short *	depth_buffer,
		unsigned	line_step = `0`
	)			const

fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.

Parameters:

`[in]`	width	width the width of the desired raw image.
`[in]`	height	height the height of the desired raw image.
`[in,out]`	depth_buffer	the unsigned short pointer to the actual memory buffer to be filled with the raw values.
`[in]`	line_step	if only a rectangular sub region of the buffer needs to be filled, then line_step is the width in bytes (not floats) of the original width of the depth buffer.

void openni_wrapper::DepthImage::fillDisparityImage	(	unsigned	width,
		unsigned	height,
		float *	disparity_buffer,
		unsigned	line_step = `0`
	)			const

fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.

Parameters:

`[in]`	width	the width of the desired disparity image.
`[in]`	height	the height of the desired disparity image.
`[in,out]`	disparity_buffer	the float pointer to the actual memory buffer to be filled with the disparity values.
`[in]`	line_step	if only a rectangular sub region of the buffer needs to be filled, then line_step is the width in bytes (not floats) of the original width of the depth buffer.

float openni_wrapper::DepthImage::getBaseline ( ) const throw () [inline]

method to access the baseline of the "stereo" frame that was used to retrieve the depth image.

Returns:: baseline in meters

Definition at line 181 of file openni_depth_image.h.

References baseline_.

const xn::DepthMetaData & openni_wrapper::DepthImage::getDepthMetaData ( ) const throw () [inline]

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

Returns:: the actual depth data of type xn::DepthMetaData.

Definition at line 175 of file openni_depth_image.h.

References depth_md_.

float openni_wrapper::DepthImage::getFocalLength ( ) const throw () [inline]

method to access the focal length of the "stereo" frame that was used to retrieve the depth image.

Returns:: focal length in pixels

Definition at line 187 of file openni_depth_image.h.

References focal_length_.

unsigned openni_wrapper::DepthImage::getFrameID ( ) const throw () [inline]

Returns:: an ascending id for the depth frame

Attention:: not necessarily synchronized with other streams

Definition at line 217 of file openni_depth_image.h.

References depth_md_.

unsigned openni_wrapper::DepthImage::getHeight ( ) const throw () [inline]

Returns:: the height of the depth image

Definition at line 211 of file openni_depth_image.h.

References depth_md_.

XnUInt64 openni_wrapper::DepthImage::getNoSampleValue ( ) const throw () [inline]

method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.

Returns:: no-sample value

Definition at line 199 of file openni_depth_image.h.

References no_sample_value_.

XnUInt64 openni_wrapper::DepthImage::getShadowValue ( ) const throw () [inline]

method to access the shadow value, that indicates pixels lying in shadow in the depth image.

Returns:: shadow value

Definition at line 193 of file openni_depth_image.h.

References shadow_value_.

unsigned long openni_wrapper::DepthImage::getTimeStamp ( ) const throw () [inline]

Returns:: a ascending timestamp for the depth frame

Attention:: its not the system time, thus can not be used directly to synchronize different sensors. But definitely synchronized with other streams

Definition at line 223 of file openni_depth_image.h.

References depth_md_.

unsigned openni_wrapper::DepthImage::getWidth ( ) const throw () [inline]