1 /* 2 * Software License Agreement (BSD License) 3 * 4 * Point Cloud Library (PCL) - www.pointclouds.org 5 * Copyright (c) 2011, Willow Garage, Inc. 6 * Copyright (c) 2012-, Open Perception, Inc. 7 * 8 * All rights reserved. 9 * 10 * Redistribution and use in source and binary forms, with or without 11 * modification, are permitted provided that the following conditions 12 * are met: 13 * 14 * * Redistributions of source code must retain the above copyright 15 * notice, this list of conditions and the following disclaimer. 16 * * Redistributions in binary form must reproduce the above 17 * copyright notice, this list of conditions and the following 18 * disclaimer in the documentation and/or other materials provided 19 * with the distribution. 20 * * Neither the name of the copyright holder(s) nor the names of its 21 * contributors may be used to endorse or promote products derived 22 * from this software without specific prior written permission. 23 * 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 * POSSIBILITY OF SUCH DAMAGE. 36 * 37 */ 38 39 #pragma once 40 41 #include <pcl/pcl_config.h> 42 #include <pcl/memory.h> 43 #ifdef HAVE_OPENNI 44 45 #include <pcl/pcl_macros.h> 46 #include "openni_image.h" 47 48 namespace openni_wrapper 49 { 50 /** \brief This class provides methods to fill a RGB or Grayscale image buffer from underlying Bayer pattern image. 51 * \author Suat Gedikli <gedikli@willowgarage.com> 52 * \ingroup io 53 */ 54 class PCL_EXPORTS ImageBayerGRBG : public Image 55 { 56 public: 57 enum DebayeringMethod 58 { 59 Bilinear = 0, 60 EdgeAware, 61 EdgeAwareWeighted 62 }; 63 64 ImageBayerGRBG (pcl::shared_ptr<xn::ImageMetaData> image_meta_data, DebayeringMethod method) noexcept; 65 ~ImageBayerGRBG () noexcept; 66 67 inline Encoding getEncoding()68 getEncoding () const override 69 { 70 return (BAYER_GRBG); 71 } 72 73 void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step = 0) const override; 74 void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step = 0) const override; 75 bool isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const override; 76 inline void setDebayeringMethod (const DebayeringMethod& method) noexcept; 77 inline DebayeringMethod getDebayeringMethod () const throw (); 78 inline static bool resizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height); 79 80 81 protected: 82 DebayeringMethod debayering_method_; 83 }; 84 85 void setDebayeringMethod(const ImageBayerGRBG::DebayeringMethod & method)86 ImageBayerGRBG::setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& method) noexcept 87 { 88 debayering_method_ = method; 89 } 90 91 ImageBayerGRBG::DebayeringMethod getDebayeringMethod()92 ImageBayerGRBG::getDebayeringMethod () const throw () 93 { 94 return debayering_method_; 95 } 96 97 bool resizingSupported(unsigned input_width,unsigned input_height,unsigned output_width,unsigned output_height)98 ImageBayerGRBG::resizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) 99 { 100 return (output_width <= input_width && output_height <= input_height && input_width % output_width == 0 && input_height % output_height == 0 ); 101 } 102 } // namespace 103 104 #endif 105