Program Listing for File depth_traits.hpp

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// Copyright (c) 2012, Willow Garage, Inc.
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/*
 * Author: Chad Rockey
 */

#ifndef DEPTHIMAGE_TO_LASERSCAN__DEPTH_TRAITS_HPP_
#define DEPTHIMAGE_TO_LASERSCAN__DEPTH_TRAITS_HPP_

#include <algorithm>
#include <cmath>
#include <cstdint>
#include <limits>
#include <vector>

namespace depthimage_to_laserscan
{

// Encapsulate differences between processing float and uint16_t depths
template<typename T>
struct DepthTraits {};

template<>
struct DepthTraits<uint16_t>
{
  static inline bool valid(uint16_t depth) {return depth != 0;}
  static inline float toMeters(uint16_t depth) {return depth * 0.001f;}  // originally mm
  static inline uint16_t fromMeters(float depth) {return std::lround(depth * 1000.0f);}
  // Already zero-filled
  static inline void initializeBuffer(std::vector<uint8_t> & buffer) {(void)buffer;}
};

template<>
struct DepthTraits<float>
{
  static inline bool valid(float depth) {return std::isfinite(depth);}
  static inline float toMeters(float depth) {return depth;}
  static inline float fromMeters(float depth) {return depth;}

  static inline void initializeBuffer(std::vector<uint8_t> & buffer)
  {
    float * start = reinterpret_cast<float *>(&buffer[0]);
    float * end = reinterpret_cast<float *>(&buffer[0] + buffer.size());
    std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
  }
};
}  // namespace depthimage_to_laserscan

#endif  // DEPTHIMAGE_TO_LASERSCAN__DEPTH_TRAITS_HPP_