Unify OpenNI 1.x and 2.x grabber data types

[kwaegel]

Right now the two OpenNI grabbers return different image data types, which makes switching between the two difficult.

I propose changing the OpenNI 1.x grabber to use a metadata wrapper and return the same image types as the 2.x grabber (pcl::io::image, etc.). This should make the rest of the processing pipeline source-agnostic, at least between these two grabbers.

Untested example class:

#pragma once
#ifndef __OPENNI_METADATA_WRAPPER__
#define __OPENNI_METADATA_WRAPPER__

#include <pcl/pcl_config.h>

#if defined(HAVE_OPENNI)

#include <pcl/io/image_metadata_wrapper.h>
#include <pcl/io/openni_camera/openni.h>

namespace openni_wrapper
{
  class OpenniFrameWrapper : public pcl::io::FrameWrapper
  {
    public:
      OpenniFrameWrapper(boost::shared_ptr<xn::ImageMetaData> metadata)
        : metadata_(metadata)
      {}

      virtual inline const void* getData() const   { return metadata_->Data();       }
      virtual inline unsigned getDataSize() const  { return metadata_->DataSize ();  }
      virtual inline unsigned getWidth() const     { return metadata_->XRes ();      }
      virtual inline unsigned getHeight() const    { return metadata_->YRes ();      }
      virtual inline unsigned getFrameID() const   { return metadata_->FrameID();    }
      virtual inline uint64_t getTimestamp() const { return metadata_->Timestamp (); }

      const inline boost::shared_ptr<xn::ImageMetaData> getMetaData() const { return metadata_; }

    private:
      boost::shared_ptr<xn::ImageMetaData> metadata_;
  };

} // namespace
#endif // HAVE_OPENNI

#endif // __OPENNI_METADATA_WRAPPER__

[jspricke]

Sounds good! Do you have time to do it?

[kwaegel]

Possibly, but I may not have much free time until August.

I don't think this will be a huge code change, but I also don't (currently) have a system that can build and run tests against OpenNI 1.x.

[kwaegel]

I made a first pass at updating the image classes, available at this branch. It compiles with Clang 3.4, but I have _not_ tested it with hardware.

[stale]

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.

[kunaltyagi]

@kwaegel if you're still around, you should create a PR when you have the code. I'm closing this since it's been 6 years, but you can reopen if you have interest in upstreaming you patch.