PointCloudLibrary/pcl

openni_wrapper::DeviceXtionPro::getCurrentImage returns null pointer?

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#681 opened on May 19, 2014

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effort: trivialgood first issuekind: todomodule: io

Description

Not sure if this is necessarily wrong, but why do we have

boost::shared_ptr<openni_wrapper::Image> 
openni_wrapper::DeviceXtionPro::getCurrentImage (boost::shared_ptr<xn::ImageMetaData>) const throw ()
{
  return (boost::shared_ptr<Image> (reinterpret_cast<Image*> (0)));
}

when for the other devices we return an actual image:

boost::shared_ptr<openni_wrapper::Image> 
openni_wrapper::DevicePrimesense::getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_data) const throw ()
{
  return (boost::shared_ptr<openni_wrapper::Image> (new ImageYUV422 (image_data)));
}

Contributor guide

Tech stack
cpp
Domain
api
Issue type
bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
C++smart pointersOpenNI
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
80
Research direction
The issue shows that `openni wrapper::DeviceXtionPro::getCurrentImage` returns a null pointer, while the analogous function in `DevicePrimesense` returns a proper image. The fix should modify `getCurrentImage` in the Xtion Pro device class to return an actual image, likely `ImageYUV422` if the color format matches, otherwise researching the correct format. The relevant files are in `openni wrapper/src/`; see the implementation in `openni device primesense.cpp` as a reference. Check for any tests or changes in the repository since this issue was filed in 2014.