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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
#ifndef _XNV_DEPTH_MAP_H_
#define _XNV_DEPTH_MAP_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnVDepthRepresentation.h"
#include "XnVDepthMatrix.h"
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
/**
* This is a specific representation of the depth, and implements XnVDepthRepresentation.
* This object holds the depth using XnVDepthMatrix.
* A XnVDepthMap instance should be initialized either by XnVStreamDetails or
* by another XnVDepthMap instance using the Clone method.
* If initialization was done using a buffer and resolution, it may not be valid
* for certain algorithms, which need the internal XnVStreamDetails
* and/or XnVRealWorldTranslator.
*/
class XN_EE_CORE_API XnVDepthMap : public XnVDepthRepresentation
{
public:
/**
* Create a Depth Map.
* Depth map is invalid - must later be Initialize()d or Clone()d.
*/
XnVDepthMap();
/**
* Create a Depth Map.
* Buffer used will be the input stream's buffer.
*
* @param [in] pStream Stream describing the depth map.
* @param [in] bIsLive TRUE if the map is connected to a stream and updated. After each map update, UnderlyingStreamUpdated should be called.
* @param [in] bWaitForDataUpdate TRUE to make the map update its properties only after a call to UnderlyingStreamUpdated.
*/
XnVDepthMap(XnVStream* pStream, XnBool bIsLive = FALSE, XnBool bWaitForDataUpdate = FALSE);
/**
* Create a Depth Map.
* Buffer used will be the one supplied as parameter.
*
* @param [in] pBuffer The buffer to be used as the depth map.
* @param [in] nXRes X resolution of depth map.
* @param [in] nYRes Y resolution of depth map.
*/
XnVDepthMap(XnDepthPixel* pBuffer, XnUInt16 nXRes, XnUInt16 nYRes);
virtual ~XnVDepthMap();
/**
* Clone the depth map into another.
* Buffer used in other depth map is allocated and copied from this one.
*
* @param [out] dmOther The other depth map, that will have the same data as this one.
*/
XnStatus Clone(XnVDepthMap& dmOther) const;
/**
* Initialize the depth map based on another. It will take the other depth map's meta data
* such as stream information.
* Buffer used is allocate and cleared.
*
* @param [in] dmOther The other depth map, which will be the base for this one.
* @param [in] nXRes X resolution for this depth map.
* @param [in] nYRes Y resolution for this depth map.
* @param [in] nXOffset X-axis offset into the other depth map.
* @param [in] nYOffset Y-axis offset into the other depth map.
*/
XnStatus Initialize(const XnVDepthMap& dmOther, XnUInt16 nXRes, XnUInt16 nYRes, XnUInt16 nXOffset = 0, XnUInt16 nYOffset = 0);
XnDepthPixel* Data();
const XnDepthPixel* Data() const;
XnDepthPixel& operator[](XnUInt32 nIndex);
const XnDepthPixel& operator[](XnUInt32 nIndex) const;
XnDepthPixel& operator()(XnInt32 nX, XnInt32 nY);
const XnDepthPixel& operator()(XnInt32 nX, XnInt32 nY) const;
void Clear();
XnStatus SetBuffer(void* pBuffer, XnUInt16 nXRes, XnUInt16 nYRes);
XnStatus ReAdjust(XnUInt16 nXRes, XnUInt16 nYRes);
XnStatus CopyFrom(const XnVDepthMap& dm, XnUInt64 nTimestamp = 0);
protected:
XnStatus ReadPropertiesFromStream();
XnVDepthMatrix m_pDepth;
};
#endif //_XNV_DEPTH_MAP_H_
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