depth_to_pointcloud.h

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#ifndef DEPTH_TO_POINTCLOUD_H_
#define DEPTH_TO_POINTCLOUD_H_

#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>

#include <vector>
#include <assert.h>

class DepthToPointCloud
{
public:
  DepthToPointCloud();
  virtual ~DepthToPointCloud();

  void initialize(sensor_msgs::ImageConstPtr depth_msg,
                  sensor_msgs::CameraInfoConstPtr camera_info_msg);

  template<typename Point2D_T, typename Point3D_T>
    void depthTo3DPoint(Point2D_T& image_pos, float depth, Point3D_T& point)
  {
    assert(image_pos.x<projection_map_x_.size());
    assert(image_pos.y<projection_map_y_.size());

    point.x = projection_map_x_[(unsigned int)image_pos.x] * depth;
    point.y = projection_map_y_[(unsigned int)image_pos.y] * depth;
    point.z = depth;
  }


protected:
  // projection matrix
  std::vector<float> projection_map_x_;
  std::vector<float> projection_map_y_;
};

#endif /* DEPTH_TO_POINTCLOUD_H_ */