xtion_depth_image.hpp

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/**************************************************************************
 *  Copyright 2012 KISS Institute for Practical Robotics                  *
 *                                                                        *
 *  This file is part of libkovan.                                        *
 *                                                                        *
 *  libkovan is free software: you can redistribute it and/or modify      *
 *  it under the terms of the GNU General Public License as published by  *
 *  the Free Software Foundation, either version 2 of the License, or     *
 *  (at your option) any later version.                                   *
 *                                                                        *
 *  libkovan 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 General Public License for more details.                          *
 *                                                                        *
 *  You should have received a copy of the GNU General Public License     *
 *  along with libkovan. Check the LICENSE file in the project root.      *
 *  If not, see <http://www.gnu.org/licenses/>.                           *
 **************************************************************************/

#ifndef _XTION_DEPTH_IMAGE_HPP_
#define _XTION_DEPTH_IMAGE_HPP_

#include "depth_image.hpp"
#include "geom.hpp"

namespace depth
{
  class XtionDepthDriverImpl;
  
  class EXPORT_SYM XtionDepthImage : public DepthImage
  {
  public:
    XtionDepthImage(const void *const data, const uint32_t size, const uint32_t width,
      const uint32_t height, const uint16_t orientation, XtionDepthDriverImpl *const impl);
    virtual ~XtionDepthImage();
    virtual void setOrientation(const uint16_t orientation);
    
    virtual uint16_t orientation() const;
    
    virtual uint32_t height() const;

    virtual uint32_t width() const;

    virtual uint16_t depthAt(const uint32_t row, const uint32_t column) const;
    
    virtual void depth(uint16_t *const data, const uint32_t offset, const uint32_t size) const;

    virtual Point3<int32_t> pointAt(const uint32_t row, const uint32_t column) const;
    
    const void *data() const;
  
  private:
    const void *_data;
    uint32_t _size;
    uint32_t _width;
    uint32_t _height;
    uint16_t _orientation;
    XtionDepthDriverImpl *_impl;
  };
}

#endif