Added additional abstraction around OpenNI wrapper data types.

This should allow switching between OpenNI 1/2 wrappers.
PointCloudLibrary · Aug 29, 2013 · 1ce09fc · 1ce09fc
1 parent 2a8c00c
commit 1ce09fc
Show file tree

Hide file tree

Showing 7 changed files with 68 additions and 11 deletions.
diff --git a/cuda/io/src/debayering.cu b/cuda/io/src/debayering.cu
@@ -254,8 +254,8 @@ namespace pcl
     	//pcl::ScopeTime t ("computeBilinear");
     	typename Storage<unsigned char>::type bayer_data (bayer_image->getWidth () * bayer_image->getHeight ());
     //	thrust::device_vector<unsigned char> bayer_data (bayer_image->getWidth () * bayer_image->getHeight ());
-    	thrust::copy ((unsigned char*)(bayer_image->getMetaData().Data()),
-    	              (unsigned char*)(bayer_image->getMetaData().Data() + bayer_image->getMetaData().DataSize()), 
+    	thrust::copy ((unsigned char*)(bayer_image->getData()),
+    	              (unsigned char*)(bayer_image->getData()) + bayer_image->getDataSize(), 
     	              bayer_data.begin ());
     //	thrust::device_vector<int> indices(bayer_image->getWidth () * bayer_image->getHeight ());
     //	thrust::sequence (indices.begin(), indices.end() );
@@ -273,10 +273,10 @@ namespace pcl
     template<template <typename> class Storage>
     void YUV2RGB<Storage>::compute (const boost::shared_ptr<openni_wrapper::Image>& yuv_image, RGBImageType& rgb_image) const
     {
-    	typename Storage<unsigned char>::type yuv_data (yuv_image->getMetaData().DataSize());
-    	thrust::copy ((unsigned char*)(yuv_image->getMetaData().Data()),
-    	              (unsigned char*)(yuv_image->getMetaData().Data() + yuv_image->getMetaData().DataSize()), 
-    	              yuv_data.begin ());
+    	typename Storage<unsigned char>::type yuv_data (yuv_image->getDataSize());
+		thrust::copy ((const unsigned char*)( yuv_image->getData() ),
+    	              (const unsigned char*)( yuv_image->getData()) + yuv_image->getDataSize(), 
+    	              yuv_data.begin() );
     	thrust::counting_iterator<int> first (0);
     	thrust::transform (first,
       	                 first + (int)(yuv_image->getWidth () * yuv_image->getHeight ()),
@@ -312,8 +312,8 @@ namespace pcl
     	//pcl::ScopeTime t ("computeBilinear");
     	typename Storage<unsigned char>::type bayer_data (bayer_image->getWidth () * bayer_image->getHeight ());
     //	thrust::device_vector<unsigned char> bayer_data (bayer_image->getWidth () * bayer_image->getHeight ());
-    	thrust::copy ((unsigned char*)(bayer_image->getMetaData().Data()),
-    	              (unsigned char*)(bayer_image->getMetaData().Data() + bayer_image->getMetaData().DataSize()), 
+    	thrust::copy ((unsigned char*)(bayer_image->getData()),
+    	              (unsigned char*)(bayer_image->getData()) + bayer_image->getDataSize(), 
     	              bayer_data.begin ());
 
     	thrust::counting_iterator<int> first (0);

diff --git a/cuda/io/src/disparity_to_cloud.cu b/cuda/io/src/disparity_to_cloud.cu
@@ -284,7 +284,7 @@ DisparityToCloud::compute (const boost::shared_ptr<openni_wrapper::DepthImage>&
 
   // Copy the depth data and the RGB data on the card
   typename Storage<float>::type depth (output->width * output->height);
-  unsigned short* depth_buffer = (unsigned short*)depth_image->getDepthMetaData ().Data ();
+  unsigned short* depth_buffer = (unsigned short*)depth_image->getData ();
 
   if (downsample)
   {

diff --git a/gpu/kinfu/CMakeLists.txt b/gpu/kinfu/CMakeLists.txt
@@ -6,7 +6,7 @@ set(SUBSYS_DEPS common visualization io gpu_containers geometry search)
 set(build FALSE)
 
 # OpenNI found?
-if(NOT OPENNI_FOUND OR NOT BUILD_OPENNI)
+if((NOT OPENNI_FOUND OR NOT BUILD_OPENNI) AND (NOT OPENNI2_FOUND OR NOT BUILD_OPENNI2))
     set(DEFAULT FALSE)
     set(REASON "OpenNI was not found or was disabled by the user.")
 else()

diff --git a/io/include/pcl/io/openni2_camera/openni_image.h b/io/include/pcl/io/openni2_camera/openni_image.h
@@ -164,6 +164,12 @@ namespace openni_wrapper
      */
     inline const openni::VideoFrameRef& getMetaData () const throw ();
 
+	// Get a const pointer to the raw depth buffer
+	inline const void* getData();
+
+	// Data buffer size in bytes
+	inline int getDataSize();
+
   protected:
     openni::VideoFrameRef image_md_;		// This is already a reference, so we don't need another pointer wrapper.
   } ;
@@ -175,6 +181,18 @@ namespace openni_wrapper
 
   Image::~Image () throw () { }
 
+  const void*
+  Image::getData()
+  {
+	  return image_md_.getData();
+  }
+
+  int
+  Image::getDataSize()
+  {
+	  return image_md_.getDataSize();
+  }
+
   unsigned
   Image::getWidth () const throw ()
   {

diff --git a/io/include/pcl/io/openni2_camera/openni_image_depth.h b/io/include/pcl/io/openni2_camera/openni_image_depth.h
@@ -154,6 +154,14 @@ namespace openni_wrapper
       inline unsigned long 
       getTimeStamp () const throw ();
 
+	  // Get a const pointer to the raw depth buffer
+	  inline const void*
+	  getData() { return depth_md_.getData(); }
+
+	  // Data buffer size in bytes
+	  inline int
+	  getDataSize() { return depth_md_.getDataSize(); }
+
     protected:
       openni::VideoFrameRef depth_md_;
       float baseline_;

diff --git a/io/include/pcl/io/openni_camera/openni_depth_image.h b/io/include/pcl/io/openni_camera/openni_depth_image.h
@@ -78,6 +78,15 @@ namespace openni_wrapper
         */
       inline const xn::DepthMetaData& 
       getDepthMetaData () const throw ();
+
+	  /** \brief method to access the raw internal data structure from OpenNI. If the data is accessed just read-only, then this method is faster than a fillXXX method
+        * \return a pointer to the actual depth data buffer.
+        */
+      inline const void*
+      getData () const throw ();
+
+	  inline int
+      getDataSize () const throw ();
 
       /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
         * \param[in] width the width of the desired disparity image.
@@ -176,6 +185,18 @@ namespace openni_wrapper
   {
     return *depth_md_;
   }
+
+  const void*
+  DepthImage::getData () const throw ()
+  {
+    return depth_md_->Data();
+  }
+
+  int
+  DepthImage::getDataSize () const throw ()
+  {
+    return depth_md_->DataSize();
+  }
 
   float
   DepthImage::getBaseline () const throw ()
@@ -226,4 +247,9 @@ namespace openni_wrapper
   }
 } // namespace
 #endif
-#endif //__OPENNI_DEPTH_IMAGE
+#elif HAVE_OPENNI2
+// Passthrough to openni2_wrapper
+#include <pcl/io/openni2_camera/openni_image_depth.h>
+//typedef openni_wrapper::DepthImage openni2_wrapper::DepthImage;
+
+#endif //__OPENNI_DEPTH_IMAGE__
diff --git a/io/include/pcl/io/openni_camera/openni_image.h b/io/include/pcl/io/openni_camera/openni_image.h
@@ -206,4 +206,9 @@ namespace openni_wrapper
   }
 } // namespace
 #endif
+#elif HAVE_OPENNI2
+// Passthrough to openni2_wrapper
+#include <pcl/io/openni2_camera/openni_image.h>
+//typedef openni_wrapper::Image openni2_wrapper::Image;
+
 #endif //__OPENNI_IMAGE__