Point Cloud Library (PCL) 1.15.0
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openni2_metadata_wrapper.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2009-2012, Willow Garage, Inc.
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38 */
39
40#pragma once
41
42#if defined(HAVE_OPENNI2)
43
44#include <pcl/pcl_config.h>
45
46#include <pcl/io/image_metadata_wrapper.h>
47#include <pcl/io/openni2/openni.h>
48
49namespace pcl
50{
51 namespace io
52 {
53 namespace openni2
54 {
55 class Openni2FrameWrapper : public pcl::io::FrameWrapper
56 {
57 public:
58 Openni2FrameWrapper (const openni::VideoFrameRef& metadata)
59 : metadata_(metadata)
60 {}
61
62 inline const void*
63 getData () const override
64 {
65 return (metadata_.getData ());
66 }
67
68 inline unsigned
69 getDataSize () const override
70 {
71 return (metadata_.getDataSize ());
72 }
73
74 inline unsigned
75 getWidth () const override
76 {
77 return (metadata_.getWidth ());
78 }
79
80 inline unsigned
81 getHeight () const override
82 {
83 return (metadata_.getHeight ());
84 }
85
86 inline unsigned
87 getFrameID () const override
88 {
89 return (metadata_.getFrameIndex ());
90 }
91
92 inline std::uint64_t
93 getTimestamp () const override
94 {
95 return (metadata_.getTimestamp ());
96 }
97
98
99 const inline openni::VideoFrameRef&
100 getMetaData () const
101 {
102 return (metadata_);
103 }
104
105 private:
106 openni::VideoFrameRef metadata_; // Internally reference counted
107 };
108
109 } // namespace
110 }
111}
112#endif // HAVE_OPENNI2
Pure abstract interface to wrap native frame data types.
PCL_EXPORTS std::string getTimestamp(const std::chrono::time_point< std::chrono::system_clock > &time=std::chrono::system_clock::now())
Returns a timestamp in local time as string formatted like boosts to_iso_string see https://www....
Definition timestamp.h:25