openni2_metadata_wrapper.h

/*
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 * 
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2012, Willow Garage, Inc.
 * Copyright (c) 2012-, Open Perception, Inc.
 * Copyright (c) 2014, respective authors.
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#pragma once
 
#if defined(HAVE_OPENNI2)
 
#include <pcl/pcl_config.h>
 
#include <pcl/io/image_metadata_wrapper.h>
#include <pcl/io/openni2/openni.h>
 
namespace pcl
{
  namespace io
  {
    namespace openni2
    {
      class Openni2FrameWrapper : public pcl::io::FrameWrapper
      {
        public:
          Openni2FrameWrapper (const openni::VideoFrameRef& metadata)
            : metadata_(metadata)
          {}
 
          inline const void*
          getData () const override
          {
            return (metadata_.getData ());
          }
 
          inline unsigned
          getDataSize () const override
          {
            return (metadata_.getDataSize ());
          }
 
          inline unsigned
          getWidth () const override
          {
            return (metadata_.getWidth ());
          }
 
          inline unsigned
          getHeight () const override
          {
            return (metadata_.getHeight ());
          }
 
          inline unsigned
          getFrameID () const override
          {
            return (metadata_.getFrameIndex ());
          }
 
          inline std::uint64_t
          getTimestamp () const override
          {
            return (metadata_.getTimestamp ());
          }
 
 
          const inline openni::VideoFrameRef&
          getMetaData () const
          {
            return (metadata_);
          }
 
        private:
          openni::VideoFrameRef metadata_; // Internally reference counted
      };
 
    } // namespace
  }
}
#endif // HAVE_OPENNI2